Continuous damping control circuits, methods, vehicles, storage media, and program products

Abstract

This invention discloses a continuous damping control circuit, method, vehicle, storage medium, and program product. The circuit includes: a drive circuit, with a first terminal connected to the power supply terminal of a continuous damping control proportional valve circuit and a second terminal connected to the output terminal of the continuous damping control proportional valve circuit, comprising at least a return path and a discharge path, connected in parallel between the first and second terminals of the drive circuit; a current sampling circuit, disposed in the loop formed by the drive circuit and the continuous damping control proportional valve circuit, used to collect the current flowing through the continuous damping control proportional valve circuit; a switching transistor, with its first and second terminals connected to the power supply line of the continuous damping control proportional valve circuit; and a controller, with a first control terminal connected to the third terminal of the drive circuit, a second control terminal connected to the third terminal of the switching transistor, and a sampling terminal connected to the output terminal of the current sampling circuit. This invention solves the technical problem of complex drive circuits and excessive board area in continuous damping control systems.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to a continuous damping control circuit, method, vehicle, storage medium, and program product. Background Technology

[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 and dynamically adjust the damping force of the shock absorbers or dampers to improve the vehicle's driving comfort and handling stability.

[0003] For vehicle continuous damping control systems, the relevant technologies usually adopt H-bridge (a circuit with a layout shape similar to the letter H) full-bridge drive or half-bridge drive circuit. However, 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 solutions have been proposed so far. Summary of the Invention

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

[0006] According to one aspect of the present invention, a continuous damping control circuit is provided, comprising: a drive circuit, a first terminal connected to the power supply terminal of a continuous damping control proportional valve circuit, a second terminal connected to the output terminal of the continuous damping control proportional valve circuit, comprising at least a return path and a discharge path, and connected in parallel between the first terminal and the second terminal of the drive circuit; a current sampling circuit, disposed in a loop composed of the drive circuit and the continuous damping control proportional valve circuit, for collecting the current flowing through the continuous damping control proportional valve circuit; a switching transistor, a first terminal and a second terminal connected to the power supply line of the continuous damping control proportional valve circuit, the power supply line comprising a line from the power supply to the power supply terminal of the continuous damping control proportional valve circuit and a line between the output terminal of the continuous damping control proportional valve circuit and ground; and a controller, a first control terminal connected to the third terminal of the drive circuit, a second control terminal connected to the third terminal of the switching transistor, and a sampling terminal connected to the output terminal of the current sampling circuit, for controlling the operation of the return path and controlling the switching transistor to turn on or off based on the current, or controlling the operation of the discharge path and controlling the switching transistor to turn off.

[0007] In one embodiment of this application, the return path includes: a first transistor, with a first end connected to a first end of a driving circuit, a second end connected to a second end of the driving circuit, and a third end connected to a third end of the driving circuit; a first resistor connected in series between the first end and the third end of the first transistor; and a controller controlling the conduction or cutoff of the first transistor based on the operating state of the continuously damped proportional valve circuit, so as to control the operation of the return path or the discharge path.

[0008] In one embodiment of this application, the driving circuit further includes: a second transistor, the first end of which is connected to the third end of the driving circuit, the second end of which is connected to the third end of the first transistor, and the third end being 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, based on the operating state of the continuously damped proportional valve circuit, controls the second transistor to be turned on or off, thereby controlling the first transistor to be turned on or off.

[0009] In one embodiment of this application, the discharge path includes a third resistor connected in series between the first terminal and the second terminal of the driving circuit.

[0010] In one embodiment of this application, the current sampling circuit includes: a fourth resistor, connected in series between the power supply and the power supply terminal of the continuously damped control proportional valve circuit, or connected in series between the output terminal of the continuously damped control proportional valve circuit and the second terminal of the drive circuit; and an amplifier, with a first input terminal connected to the first terminal of the fourth resistor, a second input terminal connected to the second terminal of the fourth circuit, and an output terminal connected to the output terminal of the current sampling circuit.

[0011] In one embodiment of this 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 the output terminal of the current sampling circuit.

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

[0013] In one embodiment of this 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 embodiment of this application, the system further includes a diode, with its positive terminal connected to the first terminal of the driving circuit and its negative terminal connected to the power supply terminal of the continuously damped control proportional valve circuit.

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

[0016] According to another aspect of the present invention, a continuous damping control method is also provided, applied to the above-mentioned continuous damping control circuit, comprising: determining the operating state of the continuous damping control proportional valve circuit; when the operating state is a first operating state, controlling the return path to operate, collecting the current flowing through the continuous damping control proportional valve circuit, and controlling the switching transistor to turn on or off based on the current, so that the current is within a preset range; when the operating state is a second operating state, controlling the discharge path to operate, and controlling the switching transistor to turn off, so that the current is reduced.

[0017] According to another aspect of the present invention, a vehicle is also provided, including the aforementioned continuous damping control circuit.

[0018] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0019] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0020] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0021] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0022] In this embodiment of the invention, the driving circuit has a first terminal connected to the power supply terminal of the continuously damped proportional valve circuit and a second terminal connected to the output terminal of the continuously damped proportional valve circuit. It includes at least a return path and a discharge path, connected in parallel between the first and second terminals of the driving circuit. A current sampling circuit is configured in the loop formed by the driving circuit and the continuously damped proportional valve circuit to collect the current flowing through the continuously damped proportional valve circuit. A switching transistor has a first terminal and a second terminal connected to the power supply line of the continuously damped proportional valve circuit. The power supply line includes a line from the power source to the power supply terminal of the continuously damped proportional valve circuit and a line between the output terminal of the continuously damped proportional valve circuit and ground. A controller has a first control terminal connected to the third terminal of the driving circuit, a second control terminal connected to the third terminal of the switching transistor, and a sampling terminal connected to the output terminal of the current sampling circuit. It is used to control the operation of the return path and, based on the current, control the switching transistor to turn on or off, or control the operation of the discharge path and control the switching transistor to turn off. It is easy to notice that by using the return and discharge paths in the drive circuit, the board area is reduced. At the same time, constant current control is achieved by using a switching transistor, which simplifies the drive circuit. This achieves the technical effect of simplifying the circuit and reducing the board area, thereby solving the technical problem of the complex drive circuit and excessive board area of ​​the continuous damping control system. Attached Figure Description

[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 This is a schematic diagram of a continuous damping control circuit according to an embodiment of the present invention;

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

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

[0027] Figure 4 This is a flowchart of a continuous damping control method according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

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

[0031] This application provides a continuous damping control circuit. The continuous damping control circuit can be used to provide continuous damping control functionality for vehicles in preset application scenarios. These preset application scenarios can include the following scenarios in the vehicle field: autonomous driving scenarios for commuting, artificial intelligence (AI) assisted driving scenarios for family cars, automatic parking assistance (APA) scenarios (such as memory parking for self-owned parking spaces in garages, intelligent parking for designated parking spaces in parking lots, etc.), and intelligent navigation assistance (NGP) scenarios in urban or highway areas. Furthermore, the above preset application scenarios may also include, but are not limited to: driving scenarios for intelligent driving trucks or unmanned trucks in the logistics and transportation field, and driving scenarios for autonomous agricultural vehicles in the agricultural field.

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

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

[0034] The aforementioned drive circuit controls and drives the actuator, which can be a CDC proportional valve, but is not limited to it. The CDC proportional valve is a key component in vehicle suspension systems for achieving active damping control. By adjusting the current flowing through the CDC proportional valve, the suspension damping force can be adjusted, improving vehicle handling stability and ride comfort. The drive circuit provides the controller with return and discharge paths, enabling the controller to control the current flowing through the CDC proportional valve by adjusting the state of the switching transistor, thereby adjusting the suspension damping force. The aforementioned continuous damping control proportional valve circuit is an equivalent circuit used to simulate a CDC proportional valve.

[0035] The aforementioned 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 rapid release of energy in the actuator when rapid discharge is required, that is, when the current in the actuator is rapidly reduced. This path can achieve rapid shutdown or current reduction.

[0037] The power supply terminal of the aforementioned continuously damped control proportional valve circuit is typically connected to a power source to provide the voltage required for the circuit to operate.

[0038] The output terminal of the aforementioned continuously damped proportional valve circuit is the output interface of the continuously damped proportional valve circuit, which is connected to the actuator to provide control signals or current to the actuator.

[0039] In one alternative embodiment, the controller regulates the current in the continuously damped proportional valve circuit by controlling the state of the switching transistor. Under constant current control, the return path of the drive circuit is open. Under fast response control, such as when the current decreases significantly or is quickly shut off, the return path of the drive circuit is closed, and the current is quickly dissipated through the discharge path, achieving a fast shutdown function.

[0040] The current sampling circuit 12 is set in the loop consisting of the drive 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.

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

[0042] In one alternative embodiment, the current sampling circuit acquires 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 measurable signal. The current flowing through the continuously damped proportional valve circuit is acquired by measuring the amplified voltage signal.

[0043] The current sampling circuit can provide the controller with real-time current feedback information, enabling the controller to control the state of the switching transistor according to the current current value, thereby achieving precise control of the proportional valve current, optimizing the performance of the continuous damping control circuit, and improving the vehicle's driving comfort and handling stability.

[0044] In another alternative embodiment, a galvanometer can be installed in the current sampling circuit to detect the current flowing through the continuously damped proportional valve circuit.

[0045] The switching transistor 14 has its first and second terminals connected to the power supply line of the continuously damped proportional valve circuit. The power supply line includes the line from the power source to the power supply terminal of the continuously damped proportional valve circuit, and the line between the output terminal of the continuously damped proportional valve circuit and ground.

[0046] The aforementioned switching transistor is a low-side switching transistor, which can be a MOS (Metal-Oxide-Semiconductor Field-Effect Transistor) or a bipolar transistor. It is used to control the power supply state of the continuously damped proportional valve circuit to achieve constant current control. As a low-side switch, the switching transistor is intermittently turned off by the CDC (Diverterless Cruise Control) via PWM (Pulse Width Modulation) control of the controller, thereby achieving current control.

[0047] The aforementioned power supply line can provide a stable and reliable power supply for the continuously damped control proportional valve circuit, and at the same time provide the necessary connection for the continuously damped control proportional valve circuit.

[0048] In one optional embodiment, using a MOSFET as the switching transistor, the transistor turns on when its gate receives a drive signal from the controller, allowing current to flow freely between its first and second terminals. Conversely, when the control signal disappears or is adjusted to a level that turns the transistor off, the transistor blocks current flow. The main function of the switching transistor in the continuous damping control circuit is to achieve current control. By adjusting the on-time of the transistor, i.e., the duty cycle of the PWM signal, the controller can precisely control the current flowing through the proportional valve, thereby adjusting the damping force. When a rapid reduction in damping force or entry into protection mode is required, the controller can quickly turn off the transistor, interrupting the current, thus achieving rapid response and protection.

[0049] The controller 16 has a first control terminal connected to the third terminal of the drive circuit, a second control terminal connected to the third terminal of the switching transistor, and a sampling terminal connected to the output terminal of the current sampling circuit. It is used to control the operation of the return path and control the switching transistor to turn on or off based on the current, or to control the operation of the discharge path and control the switching transistor to turn off.

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

[0051] In one optional embodiment, the controller can receive signals from vehicle sensors and feedback signals from the current sampling circuit, perform real-time data processing, and, based on the signal processing results, apply a control algorithm to calculate an appropriate PWM signal duty cycle and drive circuit control signal. The applied control algorithm may include, but is not limited to, PID (Proportional Integral-Derivative) control, adaptive control, etc. Then, based on the PWM signal duty cycle, the controller drives the switching transistor, and based on the drive circuit control signal, controls the state of the transistor in the drive circuit, thereby achieving precise control of the continuously damped proportional valve circuit.

[0052] The following description uses a preferred embodiment. Figure 2 This 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 switching transistor is connected to both the drive circuit and the current sampling circuit, and the continuous damping control proportional valve circuit is connected to both the drive circuit and the current sampling circuit. The diode is located between the drive circuit and the continuous damping control proportional valve circuit. The drive circuit, current sampling circuit, switching transistor, continuous damping control proportional valve circuit, and diode each play their respective roles and cooperate with each other. Through the intelligent control of the controller, precise adjustment of the current is achieved, thereby realizing continuous and dynamic control of the vehicle suspension damping force, improving the vehicle's driving comfort and handling stability.

[0053] In summary, the working mechanism between the drive circuit, current sampling circuit, switching transistor, and controller is as follows: The current sampling circuit monitors the current in the continuously damped proportional valve circuit and sends the monitored current feedback signal to the sampling terminal of the controller. Based on the received current feedback signal and vehicle status information, the controller executes the control algorithm to determine the duty cycle of the PWM signal and the control signal. If the current needs adjustment, the controller changes the duty cycle of the PWM signal; if rapid discharge is required, the controller controls the state of the transistor in the drive circuit through the control signal, allowing the current to discharge through the discharge path. The controller outputs the control signal to the drive circuit and the duty cycle of the PWM signal to the switching transistor. The transistor in the drive circuit adjusts the state of the return path and discharge path according to the control signal; the switching transistor adjusts its conduction time according to the duty cycle of the PWM signal, thereby controlling the magnitude of the current flowing through the proportional valve.

[0054] In this embodiment of the invention, the driving circuit has a first terminal connected to the power supply terminal of the continuously damped proportional valve circuit and a second terminal connected to the output terminal of the continuously damped proportional valve circuit. It includes at least a return path and a discharge path, connected in parallel between the first and second terminals of the driving circuit. A current sampling circuit is configured in the loop formed by the driving circuit and the continuously damped proportional valve circuit to collect the current flowing through the continuously damped proportional valve circuit. A switching transistor has a first terminal and a second terminal connected to the power supply line of the continuously damped proportional valve circuit. The power supply line includes a line from the power source to the power supply terminal of the continuously damped proportional valve circuit and a line between the output terminal of the continuously damped proportional valve circuit and ground. A controller has a first control terminal connected to the third terminal of the driving circuit, a second control terminal connected to the third terminal of the switching transistor, and a sampling terminal connected to the output terminal of the current sampling circuit. It is used to control the operation of the return path and, based on the current, control the switching transistor to turn on or off, or control the operation of the discharge path and control the switching transistor to turn off. It is easy to notice that by using the return and discharge paths in the drive circuit, the board area is reduced. At the same time, constant current control is achieved by using a switching transistor, which simplifies the drive circuit. This achieves the technical effect of simplifying the circuit and reducing the board area, thereby solving the technical problem of the complex drive circuit and excessive board area of ​​the continuous damping control system.

[0055] Figure 3 This 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 drive circuit includes resistors R1 and R2, transistor Q2, MOSFET Q1, and MOSFET R3. The continuous damping control proportional valve circuit includes inductor L1, capacitor C1, and resistor R4, with switch 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 drive circuit includes Q2 and R2. Additionally, the continuous damping control circuit includes diode D1. The controller can connect to the fast discharge switch of the drive circuit, provide a pulse width modulation signal to switch Q3, power the continuous damping control valve, and receive current feedback output. It should be noted that switch Q3 can also be replaced with an NPN (Negative Positive Negative) transistor; the controller does not... Figure 3 The bid was successful.

[0056] In one embodiment of this application, the return path includes: a first transistor, with a first end connected to a first end of a driving circuit, a second end connected to a second end of the driving circuit, and a third end connected to a third end of the driving circuit; a first resistor connected in series between the first end and the third end of the first transistor; and a controller controlling the conduction or cutoff of the first transistor based on the operating state of the continuously damped proportional valve circuit, so as to control the operation of the return path or the discharge path.

[0057] The first transistor mentioned above is a return current transistor used to control the return current path. The first terminal of the first transistor can be the drain, the second terminal can be the source, and the third terminal can be the gate.

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

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

[0060] The first resistor is Figure 3 The resistor R1 is connected in series between the first and third terminals of Q1. When there is no control signal input, R1 ensures that Q1 remains off, preventing unnecessary current flow. Furthermore, R1 helps stabilize the gate voltage of Q1, thus ensuring reliable transistor control.

[0061] In one embodiment of this application, the driving circuit further includes: a second transistor, the first end of which is connected to the third end of the driving circuit, the second end of which is connected to the third end of the first transistor, and the third end being 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, based on the operating state of the continuously damped proportional valve circuit, controls the second transistor to be turned on or off, thereby controlling the first transistor to be turned on or off.

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

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

[0064] In one alternative embodiment, the second transistor is Figure 3 In the circuit, Q2, controlled by the controller, can change the gate voltage of Q1, thereby controlling the conduction state of Q1. When Q2 is on, the gate voltage of Q1 drops, Q1 is turned off, and current begins to discharge through the discharge path R3.

[0065] The second resistor is Figure 3 R2 is connected in series between the second terminal of Q2 and the third terminal of Q1. R2 limits the current flowing through Q2, preventing excessive control current from damaging circuit components. At the same time, the presence of R2 ensures that Q1 remains stably off when there is no control signal.

[0066] In one embodiment of this application, the discharge path includes a third resistor connected in series between the first terminal and the second terminal of the driving circuit.

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

[0068] In one optional embodiment, the third resistor is Figure 3 R3 is connected in series between the first and second terminals of the drive circuit. When the circuit needs to discharge quickly or enter protection mode, current flows through R3, generating heat which is quickly dissipated, thereby rapidly reducing the current in the proportional valve circuit and achieving instantaneous adjustment of the damping force.

[0069] In one embodiment of this application, the current sampling circuit includes: a fourth resistor, connected in series between the power supply and the power supply terminal of the continuously damped control proportional valve circuit, or connected in series between the output terminal of the continuously damped control proportional valve circuit and the second terminal of the drive circuit; and an amplifier, with a first input terminal connected to the first terminal of the fourth resistor, a second input terminal connected to the second terminal of the fourth circuit, and an output terminal connected to the output terminal of the current sampling circuit.

[0070] The fourth resistor mentioned above is a small-value current-sensing resistor.

[0071] The amplifier described above is a voltage amplifier used to enhance signal amplitude, which can amplify the small voltage change of the fourth resistor to a signal level that is easily detectable.

[0072] In one alternative embodiment, the fourth resistor is Figure 3 R5, connected in series in the power supply line, converts the current flowing through it into a small voltage difference across its terminals, facilitating amplifier detection. By detecting the voltage across R5, the current flowing through the continuously damped proportional valve circuit can be monitored in real time, providing real-time current feedback information to the controller.

[0073] Amplifier is Figure 3 U1 in the figure is used to amplify the small voltage signal across the current sensing resistor R5 to a level that can be read by the controller.

[0074] In one embodiment of this 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 the output terminal of the current sampling circuit.

[0075] In an alternative embodiment, the current sampling circuit may also include only the amplifier, excluding the fourth resistor. In this case, using Figure 3 Q1 acts as a sampling resistor, connecting the amplifier input to... Figure 3 Detection is performed at both ends of R3, or using Figure 3 Q3 in the circuit acts as a sampling resistor, connecting the amplifier input to... Figure 3 The drain and source terminals of Q3 in the process are tested.

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

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

[0078] In one 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 amplifier work together to 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 ratio between the amplifier's output voltage and input voltage can be changed, allowing the controller to accurately read the current magnitude.

[0079] In one embodiment of this 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 one alternative embodiment, the first capacitor is Figure 3 C2 in the circuit 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 embodiment of this application, the system further includes a diode, with its positive terminal connected to the first terminal of the driving circuit and its negative terminal connected to the power supply terminal of the continuously damped control proportional valve circuit.

[0083] The diodes mentioned above are freewheeling diodes, used to protect circuit components.

[0084] In one alternative embodiment, the diode is Figure 3 D1 in the circuit has its positive terminal connected to the first terminal of the drive circuit and its negative terminal connected to the power supply terminal of the continuously damped proportional valve circuit. This provides 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 the circuit components.

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

[0086] The aforementioned inductor, ninth resistor, and second capacitor constitute the equivalent model of the CDC proportional valve, representing the inductance, resistance, and parasitic capacitance inside the proportional valve, respectively.

[0087] In one alternative embodiment, the inductor is Figure 3 L1 in the circuit primarily functions to store energy and smooth the current, ensuring continuous current flow even when the switch Q3 is turned off, thereby enabling continuous control of the damping force.

[0088] The ninth resistor is Figure 3R4 in the diagram is the parasitic resistance in the continuously damped proportional valve circuit, representing the internal resistance of the proportional valve. When current flows through the proportional valve, R4 will generate a certain power loss, the magnitude 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 diagram is a parasitic capacitance in the continuous damping control proportional valve circuit. It is used to filter out fluctuations in the power supply voltage, ensuring more stable current control in the proportional valve circuit. The presence of C1 helps reduce changes in damping force caused by power supply fluctuations, thereby improving the system's response speed and control accuracy.

[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 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 continuous damping control circuit described above. The steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here. Figure 4 This is a flowchart of a continuous damping control method according to an embodiment of the present invention, such as... Figure 4 The continuous damping control method includes:

[0092] Step S402: Determine the operating state of the continuous damping control proportional valve circuit.

[0093] In one optional embodiment, the current flowing through the proportional valve can be monitored in real time via 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. Alternatively, the controller can receive system demand signals and determine whether a rapid response is needed, such as rapid shutdown or a significant reduction in current. If the system requires rapid current adjustment, the circuit enters a rapid 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 switching transistor to turn on or off based on the current so that the current is within the 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 that can be preset according to the actual application situation. Here, no restrictions are placed on the specific values ​​involved in the preset range.

[0097] In one optional embodiment, the base voltages of the first and second transistors can be increased, turning both transistors on and providing a low-resistance return path for the proportional valve, thus reducing the power consumption of the third resistor. Then, the current flowing through the proportional valve is detected using a fourth resistor and an amplifier, and this current information is fed back to the control system. If the detected current is higher than a preset value, the duty cycle of the PWM signal is reduced, increasing the turn-off time of the switching transistor and decreasing the current; if the detected current is lower than the preset value, the duty cycle of the PWM signal is increased, increasing the turn-on time of the switching transistor and increasing the current. By adjusting the duty cycle of the PWM signal, fine control of the proportional valve current is achieved, keeping it within a preset range, thus realizing high-precision constant current control.

[0098] In step S406, when the working state is the second working state, the discharge path is controlled to work, and the switching transistor is controlled to turn off, so as to reduce the current.

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

[0100] In one optional embodiment, the PWM signal of the switching transistor can be set to zero, completely turning off the switching transistor and cutting off the power supply to the proportional valve, thereby shutting off the PWM input of the switching transistor. Then, the voltages of the first and second transistors are pulled low, turning them both off. At this time, the current in the proportional valve will discharge rapidly through the diode and the third resistor, and the current will decrease rapidly. Due to the low impedance characteristics of the third resistor, the remaining current in the proportional valve can be quickly consumed, achieving rapid turn-off. At the same time, the diode, as a freewheeling diode, ensures a smooth current transition at the moment of switching, avoiding voltage spikes.

[0101] Embodiments of this application also provide a vehicle, including a continuous damping control circuit.

[0102] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0103] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0104] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0105] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0106] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

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

[0109] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0110] If the integrated unit is implemented as 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0111] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A continuous damping control circuit, characterized in that, include: The driving circuit has a first end connected to the power supply end of the continuously damped control proportional valve circuit and a second end connected to the output end of the continuously damped control proportional valve circuit. The driving circuit includes at least a return path and a discharge path, which are connected in parallel between the first end and the second end of the driving circuit. A current sampling circuit is set in the loop composed of the drive 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 switching transistor, the first and second ends of which are connected to the power supply line of the continuously damped proportional valve circuit. The power supply line includes a line between the power source and the power supply terminal of the continuously damped proportional valve circuit, and a line between the output terminal of the continuously damped proportional valve circuit and ground. The controller has a first control terminal connected to the third terminal of the drive circuit, a second control terminal connected to the third terminal of the switching transistor, and a sampling terminal connected to the output terminal of the current sampling circuit. It is used to control the operation of the return path and control the switching transistor to turn on or off based on the current, or to control the operation of the discharge path and control the switching transistor to turn off. The return path includes: a first transistor, with a first terminal connected to a first terminal of the driving circuit, a second terminal connected to a second terminal of the driving circuit, and a third terminal connected to a third terminal of the driving circuit; and a first resistor connected in series between the first terminal and the third terminal of the first transistor. The controller is used to control the on / off state of the first transistor based on the operating state of the continuous damping control proportional valve circuit, thereby controlling the operation of the return path or the discharge path.

2. The continuous damping control circuit according to claim 1, characterized in that, The driving circuit also includes: The second transistor has a first terminal connected to the third terminal of the driving circuit, a second terminal connected to the third terminal of the first transistor, and the third terminal of the second transistor grounded. The second resistor is 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 turn on or off based on the operating state of the continuous damping control proportional valve circuit, thereby controlling the first transistor to turn on or off.

3. 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 terminal and the second terminal of the driving circuit.

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

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

6. The continuous damping control circuit according to claim 4 or 5, characterized in that, The current sampling circuit also includes: The fifth resistor has its first end connected to the first end of the fourth resistor or the first end of the driving circuit, and its second end connected to the first input end of the amplifier. The sixth resistor has its first end connected to the first input terminal of the amplifier, and its second end grounded. The seventh resistor has its first end connected to the second end of the fourth resistor or the second end of the driving circuit, and its second end connected to the second input terminal of the amplifier. The eighth resistor has its first end connected to the second input terminal of the amplifier and its second end connected to the output terminal of the amplifier.

7. The continuous damping control circuit according to claim 6, characterized in that, The current sampling circuit also includes: The first capacitor is connected in series between the first terminal of the fifth resistor and the first terminal of the seventh resistor.

8. 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 terminal of the driving circuit, and the cathode of the diode is connected to the power supply terminal of the continuously damped control proportional valve circuit.

9. The continuous damping control circuit according to claim 1, characterized in that, The continuous damping control proportional valve circuit includes: An inductor, the first end of which is connected to the power supply terminal of the continuously damped proportional valve circuit; The ninth resistor is connected in series between the second terminal of the inductor and the output terminal of the continuous damping control proportional valve circuit; The second capacitor is connected in series between the power supply terminal and the output terminal of the continuous damping control proportional valve circuit.

10. A continuous damping control method, characterized in that, The method, applied to the continuous damping control circuit according to any one of claims 1 to 9, comprises: Determine the operating state of the continuously damped 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 switching transistor is controlled to turn on or off based on the current so that the current is within a preset range. When the operating state is the second operating state, the discharge path is controlled to operate, and the switching transistor is controlled to turn off, so as to reduce the current.

11. A vehicle, characterized in that, include: The continuous damping control circuit according to any one of claims 1 to 9.

12. 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, it controls the device containing the computer-readable storage medium to perform the continuous damping control method of claim 10.

13. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the continuous damping control method according to claim 10.

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