Continuous damping control circuit, method, vehicle, storage medium and program product

Abstract

The invention discloses a continuous damping control circuit and method, a vehicle, a storage medium and a program product. Wherein the first end of the driving circuit is connected with the power supply end of the continuous damping control proportional valve circuit, the second end of the driving circuit is connected with the output end of the continuous damping control proportional valve circuit, and the driving circuit at least comprises a backflow path and a discharge path and is connected between the first end and the second end of the driving circuit in parallel; the current sampling circuit is arranged on a loop formed by the driving circuit and the continuous damping control proportional valve circuit and used for collecting current flowing through the continuous damping control proportional valve circuit; the first end and the second end of the switching tube are connected to a power supply circuit of the continuous damping control proportional valve circuit; the first control end of the controller is connected with the third end of the driving circuit, the second control end is connected with the third end of the switching tube, and the sampling end is connected with the output end of the current sampling circuit. The technical problems that a driving circuit of a continuous damping control system is complex and the occupied area is too large are solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a continuous damping control circuit, method, vehicle, storage medium and program product. Background Art

[0002] The vehicle's CDC (Continuous Damping Control) system is an important component of modern vehicle active suspension control. It can monitor the vehicle's driving status in real time, dynamically adjust the damping force of the shock absorber or damper, and improve the vehicle's driving comfort and handling stability.

[0003] For the continuous damping control system of the vehicle, the relevant technology usually adopts an H-bridge (a circuit with a layout shape similar to the letter H) full-bridge drive or half-bridge drive circuit, but the drive circuit is complex and occupies a large board area, which is not conducive to cost reduction and system integration and miniaturization.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] Embodiments of the present invention provide a continuous damping control circuit, method, vehicle, storage medium and program product to at least solve the technical problem that the driving circuit of the continuous damping control system is complex and occupies too large a board area.

[0006] According to one aspect of an embodiment of the present invention, a continuous damping control circuit is provided, comprising: a drive circuit, a first end of which is connected to a power supply end of a continuous damping control proportional valve circuit, a second end of which is connected to an output end of the continuous damping control proportional valve circuit, and at least comprises a return path and a discharge path, and is connected in parallel between the first end and the second end of the drive circuit; a current sampling circuit, which is arranged on a loop formed by the drive circuit and the continuous damping control proportional valve circuit, and is used to collect current flowing through the continuous damping control proportional valve circuit; a switch tube, a first end and a second end of which are connected to a power supply line of the continuous damping control proportional valve circuit, the power supply line comprising a line from a power supply to a power supply end of the continuous damping control proportional valve circuit, and a line between an output end of the continuous damping control proportional valve circuit and a ground; a controller, a first control end of which is connected to a third end of the drive circuit, a second control end of which is connected to a third end of the switch tube, and a sampling end of which is connected to an output end of the current sampling circuit, and is used to control the operation of the return path, and control the on or off of the switch tube based on the current, or control the operation of the discharge path, and control the off of the switch tube.

[0007] In one embodiment of the present application, the return path includes: a first transistor, a first end of which is connected to the first end of the driving circuit, a second end of which is connected to the second end of the driving circuit, and a third end of which is connected to the third end of the driving circuit; a first resistor, which is connected in series between the first end and the third end of the first transistor; and a controller controls the conduction or shutoff of the first transistor based on the working state of the continuous damping control proportional valve circuit to control the operation of the return path or the discharge path.

[0008] In one embodiment of the present application, the driving circuit also includes: a second transistor, a first end of which is connected to the third end of the driving circuit, a second end of which is connected to the third end of the first transistor, and the third end is grounded; a second resistor, which is connected in series between the second end of the second transistor and the third end of the first transistor; and a controller controls the second transistor to be turned on or off based on the working state of the continuous damping control proportional valve circuit, so as to control the conduction or off of the first transistor.

[0009] In one implementation of the present application, the discharge path includes: a third resistor connected in series between the first end of the drive circuit and the second end of the drive circuit.

[0010] In one embodiment of the present application, the current sampling circuit includes: a fourth resistor, which is connected in series between the power supply and the power supply end of the continuous damping control proportional valve circuit, or connected in series between the output end of the continuous damping control proportional valve circuit and the second end of the drive circuit; an amplifier, wherein the first input end is connected to the first end of the fourth resistor, the second input end is connected to the second end of the fourth circuit, and the output end is connected to the output end of the current sampling circuit.

[0011] In one embodiment of the present application, the current sampling circuit includes: an amplifier, a first input terminal connected to a first terminal of a driving circuit, a second input terminal connected to a second terminal of the driving circuit, and an output terminal connected to an output terminal of the current sampling circuit.

[0012] In one embodiment of the present application, the current sampling circuit also includes: a fifth resistor, a first end of which is connected to the first end of the fourth resistor or the first end of the driving circuit, and a second end of which is connected to the first input end of the amplifier; a sixth resistor, a first end of which is connected to the first input end of the amplifier, and a second end of which is grounded; a seventh resistor, a first end of which is connected to the second end of the fourth resistor or the second end of the driving circuit, and a second end of which is connected to the second input end of the amplifier; and an eighth resistor, a first end of which is connected to the second input end of the amplifier, and a second end of which is connected to the output end of the amplifier.

[0013] In one implementation manner of the present application, the current sampling circuit further includes: a first capacitor connected in series between the first end of the fifth resistor and the first end of the seventh resistor.

[0014] In one implementation of the present application, the system further includes: a diode, the positive electrode of which is connected to the first end of the driving circuit, and the negative electrode of which is connected to the power supply end of the continuous damping control proportional valve circuit.

[0015] In one embodiment of the present application, a continuous damping controlled proportional valve circuit includes: an inductor, a first end of which is connected to a power supply end of the continuous damping controlled proportional valve circuit; a ninth resistor, which is connected in series between a second end of the inductor and an output end of the continuous damping controlled proportional valve circuit; and a second capacitor, which is connected in series between the power supply end and the output end of the continuous damping controlled proportional valve circuit.

[0016] According to another aspect of an embodiment of the present invention, a continuous damping control method is also provided, which is applied to the above-mentioned continuous damping control circuit, including: determining the working state of the continuous damping control proportional valve circuit; when the working state is a first working state, controlling the return path to work, collecting the current flowing through the continuous damping control proportional valve circuit, and controlling the on or off of the switch tube based on the current to make the current within a preset range; when the working state is a second working state, controlling the discharge path to work, and controlling the switch tube to turn off to reduce the current.

[0017] According to another aspect of an embodiment of the present invention, a vehicle is provided, comprising: the above-mentioned continuous damping control circuit.

[0018] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0020] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0021] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0022] In an embodiment of the present invention, a driving circuit, a first end of which is connected to a power supply end of a continuous damping control proportional valve circuit, a second end of which is connected to an output end of the continuous damping control proportional valve circuit, at least comprises a return path and a discharge path, and is connected in parallel between the first end and the second end of the driving circuit; a current sampling circuit, which is arranged on a loop formed by the driving circuit and the continuous damping control proportional valve circuit, and is used to collect the current flowing through the continuous damping control proportional valve circuit; a switch tube, a first end and a second end of which are connected to a power supply line of the continuous damping control proportional valve circuit, the power supply line comprising a line from a power supply to a power supply end of the continuous damping control proportional valve circuit, and a line between an output end of the continuous damping control proportional valve circuit and a ground; a controller, a first control end of which is connected to a third end of the driving circuit, a second control end of which is connected to a third end of the switch tube, and a sampling end of which is connected to an output end of the current sampling circuit, and is used to control the operation of the return path, and control the conduction or shutoff of the switch tube based on the current, or control the operation of the discharge path, and control the shutoff of the switch tube. It is easy to notice that the board area is reduced by the return path and the discharge path in the driving circuit. At the same time, the constant current control is realized by using the switching tube, so as to achieve the purpose of simplifying the driving circuit, thereby achieving the technical effect of simplifying the circuit and reducing the board area, and further solving the technical problem that the driving circuit of the continuous damping control system is complex and occupies too large a board area. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a schematic diagram of a continuous damping control circuit according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of an optional continuous damping control circuit according to an embodiment of the present invention;

[0026] Figure 3 is a circuit diagram of an optional continuous damping control circuit according to an embodiment of the present invention;

[0027] Figure 4 is a flow chart of a continuous damping control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] According to an embodiment of the present invention, an embodiment of a continuous damping control circuit is provided.

[0031] An embodiment of the present application provides a continuous damping control circuit. The continuous damping control circuit can be used to provide a continuous damping control function of a vehicle for a preset application scenario. The above-mentioned preset application scenarios may include the following scenarios in the vehicle field: commuting automatic driving scenarios, artificial intelligence (AI) driving scenarios for family cars, automatic parking assist (APA) scenarios (such as memory parking for owned parking spaces in garages, smart parking for designated parking spaces in parking lots, etc.), and smart navigation assistance (Navigation Guided Pilot, NGP) scenarios in urban areas or high-speed areas. In addition, the above-mentioned preset application scenarios may also include, but are not limited to: driving scenarios of smart driving trucks or unmanned trucks in the field of logistics and transportation, driving scenarios of self-driving agricultural vehicles in the agricultural field, etc.

[0032] Figure 1 is a schematic diagram of a continuous damping control circuit according to an embodiment of the present invention, such as Figure 1 As shown, the circuit includes:

[0033] The driving circuit 10 has a first end connected to the power supply end of the continuous damping control proportional valve circuit and a second end connected to the output end of the continuous damping control proportional valve circuit, and at least includes a return path and a discharge path, which are connected in parallel between the first end and the second end of the driving circuit.

[0034] The above-mentioned drive circuit is a circuit for controlling and driving an actuator. The actuator can be a CDC proportional valve, but is not limited to this. The CDC proportional valve is a key component for realizing active damping control in the vehicle suspension system. By adjusting the current flowing through the CDC proportional valve, the damping force of the suspension can be adjusted to improve the vehicle's handling stability and ride comfort. The drive circuit is responsible for providing a return path and a discharge path for the controller, so that the controller can control the current flowing through the CDC proportional valve by adjusting the state of the switch tube, thereby adjusting the damping force of the suspension. The above-mentioned continuous damping control proportional valve circuit is an equivalent circuit for simulating a CDC proportional valve.

[0035] The above-mentioned return path is a low-impedance path in the drive circuit that facilitates current return and reduces energy loss when the actuator is powered by a constant current.

[0036] The above-mentioned discharge path is a high-impedance path in the drive circuit that facilitates the current to quickly release the energy in the actuator when rapid discharge is required, that is, rapid reduction of the current in the actuator, and can achieve rapid shutdown or current reduction.

[0037] The power supply end of the above-mentioned continuous damping control proportional valve circuit is usually connected to a power supply to provide the continuous damping control proportional valve circuit with the voltage required for operation.

[0038] The output end of the above-mentioned continuous damping control proportional valve circuit is an output interface of the continuous damping control proportional valve circuit, which is connected to the actuator and is used to provide a control signal or current to the actuator.

[0039] In an optional embodiment, the controller adjusts the current in the continuous damping control proportional valve circuit by controlling the state of the switch tube. Under constant current control conditions, the return path of the drive circuit is turned on. Under fast response control conditions, such as when the current is greatly reduced or quickly turned off, the return path of the drive circuit is closed, and the current is quickly dissipated through the discharge path to achieve a fast shutdown function.

[0040] The current sampling circuit 12 is arranged on a loop consisting of a driving circuit and a continuous damping control proportional valve circuit, and is used to collect the current flowing through the continuous damping control proportional valve circuit.

[0041] The above-mentioned current sampling circuit is a circuit used to detect the magnitude of the current in the circuit. It can monitor the current flowing through the proportional valve and provide current feedback information to the control circuit to ensure accurate adjustment of the damping force.

[0042] In an optional embodiment, the current sampling circuit collects current through a small resistor of known resistance. When current flows through the resistor, a voltage proportional to the current is generated. The voltage can be amplified into a larger, easily measured signal. The current flowing through the continuous damping control proportional valve circuit is collected by measuring the amplified voltage signal.

[0043] The current sampling circuit can provide the controller with real-time current feedback information, so that the controller can control the state of the switch tube according to the current current value and realize precise control of the proportional valve current, thereby optimizing the performance of the continuous damping control circuit and improving the driving comfort and handling stability of the vehicle.

[0044] In another optional embodiment, a current galvanometer may be installed in the current sampling circuit to detect the current flowing through the continuous damping control proportional valve circuit.

[0045] The switch tube 14 has a first end and a second end connected to a power supply circuit of a continuous damping control proportional valve circuit. The power supply circuit includes a circuit from a power supply to a power supply end of the continuous damping control proportional valve circuit, and a circuit between an output end of the continuous damping control proportional valve circuit and ground.

[0046] The switch tube is a low-side switch tube, which can be a MOS (Metal-Oxide-Semiconductor Field-Effect Transistor) tube or a triode, which is used to control the power supply state of the continuous damping control proportional valve circuit to achieve constant current control. The switch tube is used as a low-side switch, and the intermittent shutdown of the CDC is controlled by the PWM (Pulse Width Modulation) of the controller, thereby achieving current control.

[0047] The above-mentioned power supply circuit can provide a stable and reliable power supply for the continuous damping control proportional valve circuit, and at the same time provide necessary connections for the continuous damping control proportional valve circuit.

[0048] In an optional embodiment, the switch tube is a MOS tube as an example for explanation. When the gate of the switch tube receives the driving signal sent by the controller, the switch tube will be turned on, allowing current to flow freely between the first end and the second end. Conversely, when the control signal disappears or is adjusted to a level that turns off the switch tube, the switch tube will prevent the current from flowing. The main function of the switch tube in the continuous damping control circuit is to achieve current control. By adjusting the on-time of the switch tube, that is, the duty cycle of the PWM signal, the controller can accurately control the current flowing through the proportional valve, thereby adjusting the damping force. When it is necessary to quickly reduce the damping force or enter the protection mode, the controller can quickly turn off the switch tube and interrupt the current, thereby achieving rapid response and protection.

[0049] The controller 16 has a first control end connected to the third end of the driving circuit, a second control end connected to the third end of the switch tube, and a sampling end connected to the output end of the current sampling circuit, and is used to control the operation of the return path and control the conduction or shutdown of the switch tube based on the current, or control the operation of the discharge path and control the shutdown of the switch tube.

[0050] The controller can receive sensor signals and generate control signals according to a preset control strategy to control the drive circuit and the switch tube to adjust the damping force, wherein the sensor information may include but is not limited to the vehicle state, road conditions, etc. The controller can provide a fast discharge switch for the drive circuit, provide a PWM signal for the switch tube, and receive the current feedback output of the current sampling circuit.

[0051] In an optional embodiment, the controller may receive signals from vehicle sensors and feedback signals from current sampling circuits, perform real-time data processing, and apply control algorithms based on the results of signal processing to calculate appropriate PWM signal duty cycles and drive circuit control signals, wherein the applied control algorithms may include but are not limited to PID (Proportional-Integral-Differential) control, adaptive control, etc. Then, the switch tube is driven based on the PWM signal duty cycle, and the state of the transistor in the drive circuit is controlled based on the drive circuit control signal, thereby achieving precise control of the continuous damping control proportional valve circuit.

[0052] A preferred embodiment is described below. Figure 2 is a schematic diagram of an optional continuous damping control circuit according to an embodiment of the present invention, such as Figure 2As shown, the switch tube is connected to the drive circuit and the current sampling circuit respectively, the continuous damping control proportional valve circuit is connected to the drive circuit and the current sampling circuit respectively, and the diode is located between the drive circuit and the continuous damping control proportional valve circuit. The drive circuit, the current sampling circuit, the switch tube, the continuous damping control proportional valve circuit and the diode each play a role and cooperate with each other. Through the intelligent control of the controller, the current is precisely adjusted, thereby achieving continuous and dynamic control of the vehicle suspension damping force, improving the driving comfort and handling stability of the vehicle.

[0053] In summary, the working mechanism between the drive circuit, current sampling circuit, switch tube, and controller is as follows: the current sampling circuit monitors the current in the continuous damping control proportional valve circuit and sends the monitored current feedback signal to the sampling end of the controller. The controller executes the control algorithm based on the received current feedback signal and the vehicle status information to determine the PWM signal duty cycle and control signal. If the current needs to be adjusted, the controller will change the duty cycle of the PWM signal; if rapid discharge is required, the controller will control the state of the transistor in the drive circuit through the control signal to discharge the current through the discharge path. The controller outputs the control signal to the drive circuit and the duty cycle of the PWM signal to the switch tube. The transistor in the drive circuit adjusts the state of the return path and the discharge path according to the control signal; the switch tube adjusts its conduction time according to the duty cycle of the PWM signal, thereby controlling the current flowing through the proportional valve.

[0054] In an embodiment of the present invention, a driving circuit, a first end of which is connected to a power supply end of a continuous damping control proportional valve circuit, a second end of which is connected to an output end of the continuous damping control proportional valve circuit, at least comprises a return path and a discharge path, and is connected in parallel between the first end and the second end of the driving circuit; a current sampling circuit, which is arranged on a loop formed by the driving circuit and the continuous damping control proportional valve circuit, and is used to collect the current flowing through the continuous damping control proportional valve circuit; a switch tube, a first end and a second end of which are connected to a power supply line of the continuous damping control proportional valve circuit, the power supply line comprising a line from a power supply to a power supply end of the continuous damping control proportional valve circuit, and a line between an output end of the continuous damping control proportional valve circuit and a ground; a controller, a first control end of which is connected to a third end of the driving circuit, a second control end of which is connected to a third end of the switch tube, and a sampling end of which is connected to an output end of the current sampling circuit, and is used to control the operation of the return path, and control the conduction or shutoff of the switch tube based on the current, or control the operation of the discharge path, and control the shutoff of the switch tube. It is easy to notice that the board area is reduced by the return path and the discharge path in the driving circuit. At the same time, the constant current control is realized by using the switching tube, so as to achieve the purpose of simplifying the driving circuit, thereby achieving the technical effect of simplifying the circuit and reducing the board area, and further solving the technical problem that the driving circuit of the continuous damping control system is complex and occupies too large a board area.

[0055] Figure 3 is a circuit diagram of an optional continuous damping control circuit according to an embodiment of the present invention, such as Figure 3 As shown, the driving circuit includes resistor R1, resistor R2, transistor Q2, MOS tube Q1, and MOS tube R3. The continuous damping control proportional valve circuit includes inductor L1, capacitor C1, and resistor R4. The switch tube is Q3. The current sampling circuit includes resistor R5, capacitor C2, resistor R6, resistor R7, resistor R8, resistor R9, and amplifier U1. The return path includes Q1 and R1. The driving circuit includes Q2 and R2. In addition, the continuous damping control circuit also includes a diode D1. The controller can connect the fast discharge switch of the driving circuit, provide a pulse width modulation signal for the switch tube Q3, power the continuous damping control valve, and receive current feedback output. It should be noted that the switch tube Q3 can also be replaced with an NPN (Negative Positive Negative) type transistor. The controller is not in Figure 3 Winning bid.

[0056] In one embodiment of the present application, the return path includes: a first transistor, a first end of which is connected to the first end of the driving circuit, a second end of which is connected to the second end of the driving circuit, and a third end of which is connected to the third end of the driving circuit; a first resistor, which is connected in series between the first end and the third end of the first transistor; and a controller controls the conduction or shutoff of the first transistor based on the working state of the continuous damping control proportional valve circuit to control the operation of the return path or the discharge path.

[0057] The first transistor is a return tube for controlling a return path. The first end of the first transistor may be a drain, the second end of the first transistor may be a source, and the third end of the first transistor may be a gate.

[0058] The first resistor mentioned above is a bias resistor.

[0059] In an optional embodiment, the first transistor is Figure 3 When Q1 is turned on, it provides a low impedance return path for the current under normal operating conditions, thereby reducing energy loss and temperature rise. In the fast discharge mode, Q1 will be turned off, forcing the current to discharge through R3.

[0060] The first resistor is Figure 3 The resistor R1 in the circuit is connected in series between the first terminal of Q1 and the third terminal of Q1. When there is no control signal input, R1 can ensure that Q1 remains in the off state to prevent the current from flowing meaninglessly. In addition, R1 helps to stabilize the voltage of the gate of Q1, thereby ensuring reliable control of the transistor.

[0061] In one embodiment of the present application, the driving circuit also includes: a second transistor, a first end of which is connected to the third end of the driving circuit, a second end of which is connected to the third end of the first transistor, and the third end is grounded; a second resistor, which is connected in series between the second end of the second transistor and the third end of the first transistor; and a controller controls the second transistor to be turned on or off based on the working state of the continuous damping control proportional valve circuit, so as to control the conduction or off of the first transistor.

[0062] The second transistor mentioned above can be used as a control transistor, the first end of the second transistor can be a collector, the second end of the second transistor can be an emitter, the third end of the second transistor can be a base, and the second transistor can be a triode.

[0063] The second resistor mentioned above is a current limiting resistor.

[0064] In an optional embodiment, the second transistor is Figure 3 The controller controls Q2 in the circuit, which can change the voltage of the gate of Q1, thereby controlling the conduction state of Q1. When Q2 is turned on, the gate voltage of Q1 drops, Q1 is turned off, and the current begins to discharge through the discharge path R3.

[0065] The second resistor is Figure 3 R2 in the circuit is connected in series between the second terminal of Q2 and the third terminal of Q1. R2 limits the current passing through Q2 to prevent excessive control current from damaging circuit components. At the same time, the existence of R2 also ensures that Q1 can stably remain in the off state when there is no control signal.

[0066] In one implementation of the present application, the discharge path includes: a third resistor connected in series between the first end of the drive circuit and the second end of the drive circuit.

[0067] The third resistor mentioned above is a discharge resistor.

[0068] In an optional embodiment, the third resistor is Figure 3 R3 in the circuit is connected in series between the first end of the drive circuit and the second end of the drive circuit. When the circuit needs to discharge quickly or enter the protection mode, the current will pass through R3, generate heat and quickly consume it, so as to quickly reduce the current in the proportional valve circuit, thereby achieving instant adjustment of the damping force.

[0069] In one embodiment of the present application, the current sampling circuit includes: a fourth resistor, which is connected in series between the power supply and the power supply end of the continuous damping control proportional valve circuit, or connected in series between the output end of the continuous damping control proportional valve circuit and the second end of the drive circuit; an amplifier, wherein the first input end is connected to the first end of the fourth resistor, the second input end is connected to the second end of the fourth circuit, and the output end is connected to the output end of the current sampling circuit.

[0070] The fourth resistor mentioned above is a small-resistance current-sense resistor.

[0071] The amplifier is a voltage amplifier used to enhance the signal amplitude and can amplify the small voltage change of the fourth resistor to a signal level that is easy to be detected.

[0072] In an optional embodiment, the fourth resistor is Figure 3 R5 in the circuit is connected in series in the power supply circuit. Its function is to convert the current flowing through the resistor into a small voltage difference between the two ends, which is convenient for the amplifier to detect. By detecting the voltage across R5, the current flowing through the continuous damping control proportional valve circuit can be monitored in real time, providing real-time current feedback information for the controller.

[0073] The amplifier is Figure 3 U1 in the circuit is used to amplify the tiny voltage signal across the current-sense resistor R5 to a level that can be read by the controller.

[0074] In one embodiment of the present application, the current sampling circuit includes: an amplifier, a first input terminal connected to a first terminal of a driving circuit, a second input terminal connected to a second terminal of the driving circuit, and an output terminal connected to an output terminal of the current sampling circuit.

[0075] In an optional embodiment, the current sampling circuit may also include only an amplifier without including the fourth resistor. In this case, the current sampling circuit may include only an amplifier without including the fourth resistor. Figure 3 Q1 in the circuit acts as a sampling resistor, connecting the input of the amplifier to Figure 3 Detect at both ends of R3 in the Figure 3 Q3 in the circuit acts as a sampling resistor, connecting the input of the amplifier to Figure 3 The detection is performed across the drain and source of Q3.

[0076] In one embodiment of the present application, the current sampling circuit also includes: a fifth resistor, a first end of which is connected to the first end of the fourth resistor or the first end of the driving circuit, and a second end of which is connected to the first input end of the amplifier; a sixth resistor, a first end of which is connected to the first input end of the amplifier, and a second end of which is grounded; a seventh resistor, a first end of which is connected to the second end of the fourth resistor or the second end of the driving circuit, and a second end of which is connected to the second input end of the amplifier; and an eighth resistor, a first end of which is connected to the second input end of the amplifier, and a second end of which is connected to the output end of the amplifier.

[0077] The fifth resistor, the sixth resistor, the seventh resistor and the eighth resistor are resistors used to adjust the voltage gain of the amplifier.

[0078] In an optional embodiment, the fifth resistor, the sixth resistor, the seventh resistor, and the eighth resistor are respectively Figure 3R6, R7, R8, and R9 in the circuit jointly adjust the voltage gain of the amplifier to meet the requirements of different current detection ranges. By adjusting the values ​​of R6, R7, R8, and R9, the proportional relationship between the output voltage and the input voltage of the amplifier can be changed, so that the controller can accurately read the current size.

[0079] In one implementation manner of the present application, the current sampling circuit further includes: a first capacitor connected in series between the first end of the fifth resistor and the first end of the seventh resistor.

[0080] The first capacitor mentioned above is a filter capacitor.

[0081] In an optional embodiment, the first capacitor is Figure 3 C2 is connected in series between the fifth resistor R6 and the seventh resistor R8 to filter out high-frequency interference in the current signal, thereby improving the accuracy of current detection and the stability of loop control.

[0082] In one implementation of the present application, the system further includes: a diode, the positive electrode of which is connected to the first end of the driving circuit, and the negative electrode of which is connected to the power supply end of the continuous damping control proportional valve circuit.

[0083] The above-mentioned diode is a freewheeling diode, which is used to protect circuit components.

[0084] In an alternative embodiment, the diode is Figure 3 D1 in the circuit has its positive electrode connected to the first end of the drive circuit and its negative electrode connected to the power supply end of the continuous damping control proportional valve circuit, providing a natural discharge path for the current in the proportional valve when Q3 is turned off, avoiding voltage spikes caused by sudden current interruption and protecting circuit components.

[0085] In one embodiment of the present application, a continuous damping controlled proportional valve circuit includes: an inductor, a first end of which is connected to a power supply end of the continuous damping controlled proportional valve circuit; a ninth resistor, which is connected in series between a second end of the inductor and an output end of the continuous damping controlled proportional valve circuit; and a second capacitor, which is connected in series between the power supply end and the output end of the continuous damping controlled proportional valve circuit.

[0086] The above-mentioned inductor, the ninth resistor and the second capacitor constitute an equivalent model of the CDC proportional valve, which respectively represent the inductance, resistance and parasitic capacitance inside the proportional valve.

[0087] In an alternative embodiment, the inductor is Figure 3 The main function of L1 in the circuit is to store energy and smooth the current, so that the current can continue to flow even when the switch tube Q3 is turned off, thereby achieving continuous control of the damping force.

[0088] The ninth resistor is Figure 3R4 in the figure is the parasitic resistor in the continuous damping control proportional valve circuit, representing the resistance inside the proportional valve. When current flows through the proportional valve, R4 will produce a certain power loss, the size of which reflects the current intensity flowing through the proportional valve and has an indirect impact on the control strategy.

[0089] The second capacitor is Figure 3 C1 in the figure is a parasitic capacitor in the continuous damping control proportional valve circuit, which is used to filter out the fluctuation of the power supply voltage and ensure that the current control in the proportional valve circuit is more stable. The existence of C1 helps to reduce the change of damping force caused by power supply fluctuations and improve the response speed and control accuracy of the system.

[0090] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0091] According to an embodiment of the present invention, an embodiment of a continuous damping control method is provided. It should be noted that the method can be implemented by the above-mentioned continuous damping control circuit, and the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. Moreover, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here. Figure 4 is a flow chart of a continuous damping control method according to an embodiment of the present invention. Figure 4 The continuous damping control method comprises:

[0092] Step S402, determining the working state of the continuous damping control proportional valve circuit.

[0093] In an optional embodiment, the current flowing through the proportional valve can be monitored in real time by a current sampling circuit. If the current is stable and close to a preset value, the circuit is in a steady-state constant current state. The controller can also receive a system demand signal and determine whether a quick response is required, such as quick shutdown or significant current reduction, according to the system demand signal. If the system requires a quick adjustment of the current, the circuit enters a quick response state.

[0094] Step S404, when the working state is the first working state, control the return path to work, collect the current flowing through the continuous damping control proportional valve circuit, and control the on or off of the switch tube based on the current to make the current within a preset range.

[0095] The first working state in the above steps is a steady-state constant current state.

[0096] The preset range in the above steps is a pre-set range, which can be preset according to actual application conditions, and no limitation is imposed on the specific values ​​involved in the preset range.

[0097] In an optional embodiment, the base voltages of the first transistor and the second transistor can be increased so that both the first transistor and the second transistor are turned on, providing a low-resistance return path for the proportional valve, thereby reducing the power consumption of the third resistor. Then, the fourth resistor and the amplifier are used to detect the current flowing through the proportional valve, and the current information is fed back to the control system. If the detected current is higher than the preset value, the duty cycle of the PWM signal is reduced to increase the switch-off time and reduce the current; if the detected current is lower than the preset value, the duty cycle of the PWM signal is increased to increase the switch-on time and increase the current. By adjusting the duty cycle of the PWM signal, fine control of the current of the proportional valve is achieved, so that it is maintained within the preset range, and high-precision constant current control is achieved.

[0098] Step S406, when the working state is the second working state, control the discharge path to work, and control the switch tube to turn off to reduce the current.

[0099] The second working state in the above steps is a fast response state.

[0100] In an optional embodiment, the PWM signal of the switch tube can be set to zero, so that the switch tube is completely turned off, and the power supply to the proportional valve is cut off, thereby turning off the PWM input of the switch tube. Then, the voltage of the first transistor and the second transistor is lowered, so that both the first transistor and the second transistor are turned off. At this time, the current in the proportional valve will be quickly discharged through the diode and the third resistor, and the current will decrease rapidly. Due to the low impedance characteristics of the third resistor, the residual current in the proportional valve can be quickly consumed to achieve rapid shutdown. At the same time, the diode acts as a freewheeling diode, ensuring a smooth transition of the current at the switching moment and avoiding voltage spikes.

[0101] An embodiment of the present application also provides a vehicle, comprising: a continuous damping control circuit.

[0102] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0103] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0104] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0105] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0106] In the above embodiments of the present invention, 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.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0109] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0111] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A continuous damping control circuit, characterized in that: include: A drive circuit, wherein a first end of the drive circuit is connected to a power supply end of a continuous damping control proportional valve circuit, a second end of the drive circuit is connected to an output end of the continuous damping control proportional valve circuit, and the drive circuit at least comprises: a return path and a discharge path, connected in parallel between the first end of the drive circuit and the second end of the drive circuit; A current sampling circuit, arranged on a loop consisting of the driving circuit and the continuous damping control proportional valve circuit, for collecting the current flowing through the continuous damping control proportional valve circuit; A switch tube, wherein the first end and the second end of the switch tube are connected to a power supply circuit of the continuous damping control proportional valve circuit, wherein the power supply circuit includes a circuit from a power supply to a power supply end of the continuous damping control proportional valve circuit, and a circuit between an output end of the continuous damping control proportional valve circuit and a ground; A controller, wherein the first control end of the controller is connected to the third end of the drive circuit, the second control end of the controller is connected to the third end of the switch tube, and the sampling end of the controller is connected to the output end of the current sampling circuit, and is used to control the operation of the return path and control the on or off of the switch tube based on the current, or control the operation of the discharge path and control the switch tube to be turned off.

2. The continuous damping control circuit according to claim 1, characterized in that: The return path includes: a first transistor, wherein a first end of the first transistor is connected to a first end of the driving circuit, a second end of the first transistor is connected to a second end of the driving circuit, and a third end of the first transistor is connected to a third end of the driving circuit; A first resistor is connected in series between the first terminal of the first transistor and the third terminal of the first transistor; The controller is used to control the on or off state of the first transistor based on the working state of the continuous damping control proportional valve circuit, so as to control the operation of the return path or the discharge path.

3. The continuous damping control circuit according to claim 2, characterized in that: The driving circuit further includes: a second transistor, wherein a first terminal of the second transistor is connected to a third terminal of the driving circuit, a second terminal of the second transistor is connected to a third terminal of the first transistor, and a third terminal of the second transistor is grounded; a second resistor connected in series between the second terminal of the second transistor and the third terminal of the first transistor; The controller is used to control the second transistor to be turned on or off based on the working state of the continuous damping control proportional valve circuit, so as to control the first transistor to be turned on or off.

4. The continuous damping control circuit according to claim 1, characterized in that: The discharge path includes: A third resistor is connected in series between the first end of the driving circuit and the second end of the driving circuit.

5. The continuous damping control circuit according to claim 1, characterized in that: The current sampling circuit comprises: a fourth resistor, connected in series between the power supply and the power supply end of the continuous damping control proportional valve circuit, or connected in series between the output end of the continuous damping control proportional valve circuit and the second end of the drive circuit; An amplifier, wherein a first input terminal of the amplifier is connected to a first terminal of the fourth resistor, a second input terminal of the amplifier is connected to a second terminal of the fourth circuit, and an output terminal of the amplifier is connected to an output terminal of the current sampling circuit.

6. The continuous damping control circuit according to claim 1, characterized in that: The current sampling circuit comprises: An amplifier, wherein a first input terminal of the amplifier is connected to a first terminal of the driving circuit, a second input terminal of the amplifier is connected to a second terminal of the driving circuit, and an output terminal of the amplifier is connected to an output terminal of the current sampling circuit.

7. The continuous damping control circuit according to claim 5 or 6, characterized in that: The current sampling circuit also includes: a fifth resistor, wherein a first end of the fifth resistor is connected to the first end of the fourth resistor or the first end of the driving circuit, and a second end of the fifth resistor is connected to the first input end of the amplifier; a sixth resistor, wherein a first end of the sixth resistor is connected to the first input end of the amplifier, and a second end of the sixth resistor is grounded; a seventh resistor, wherein a first end of the seventh resistor is connected to the second end of the fourth resistor or the second end of the driving circuit, and a second end of the seventh resistor is connected to the second input end of the amplifier; An eighth resistor, wherein a first end of the eighth resistor is connected to the second input end of the amplifier, and a second end of the eighth resistor is connected to the output end of the amplifier.

8. The continuous damping control circuit according to claim 7, characterized in that: The current sampling circuit also includes: A first capacitor is connected in series between the first end of the fifth resistor and the first end of the seventh resistor.

9. The continuous damping control circuit according to claim 1, characterized in that: Also includes: A diode, wherein the anode of the diode is connected to the first end of the drive circuit, and the cathode of the diode is connected to the power supply end of the continuous damping control proportional valve circuit.

10. The continuous damping control circuit according to claim 1, characterized in that: The continuous damping control proportional valve circuit comprises: an inductor, a first end of the inductor being connected to a power supply end of the continuous damping control proportional valve circuit; a ninth resistor connected in series between the second end of the inductor and the output end of the continuous damping control proportional valve circuit; A second capacitor is connected in series between a power supply end of the continuous damping control proportional valve circuit and an output end of the continuous damping control proportional valve circuit.

11. A continuous damping control method, characterized in that: Applied to the continuous damping control circuit according to any one of claims 1 to 10, the method comprising: Determining the operating state of the continuous damping control proportional valve circuit; When the working state is the first working state, the return path is controlled to work, the current flowing through the continuous damping control proportional valve circuit is collected, and the switch tube is controlled to be turned on or off based on the current, so that the current is within a preset range; When the working state is the second working state, the discharge path is controlled to work, and the switch tube is controlled to be turned off, so that the current is reduced.

12. A vehicle, characterized in that: include: A continuous damping control circuit as claimed in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the method according to claim 11.

14. A computer program product, characterized in that A computer program is included which, when executed by a processor, implements the method according to claim 11.

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