Self-learning method of electromagnetic valve in active suspension, medium, controller, active suspension and vehicle

Abstract

The invention discloses a self-learning method for an electromagnetic valve in an active suspension, a medium, a controller and a vehicle, and the self-learning method comprises the steps: obtaining a target correction coefficient corresponding to the current of the electromagnetic valve according to the target height and the actual height of the active suspension under the same current of the electromagnetic valve; in order to solve the problem that the damping adjustment performance is attenuated after the performance of the electromagnetic valve in the active suspension is attenuated, a target correction coefficient corresponding to the current of the electromagnetic valve is obtained according to the target height and the actual height of the active suspension under the same current of the electromagnetic valve, and the obtained target correction coefficient is adaptive to the electromagnetic valve with the performance attenuated. The current passing through the electromagnetic valve is corrected by using the target correction coefficient, so that the active suspension system and the damping adjusting system thereof can exert the optimal performance.

Description

Technical Field

[0001] The present invention relates to the technical field of active suspension control, and in particular to a self-learning method of a solenoid valve in an active suspension, a medium, a controller, an active suspension and a vehicle. Background Art

[0002] Active suspension is a type of suspension that can automatically generate and adjust main parameters such as main force, damping, stiffness, height, etc. as the vehicle's driving conditions change, bringing more intelligent experience and a more comfortable riding experience to the car.

[0003] One of the damping adjustment solutions for related hydraulic active suspensions is to use solenoid valves as actuators to control the damping. As mechanical parts, solenoid valves will wear out and torsion springs will age over the years, leading to performance degradation and making it difficult for active suspensions to perform at their best. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art to at least a certain extent. To this end, one purpose of the present invention is to propose a self-learning method for a solenoid valve in an active suspension, which uses a self-learning method to modify the control strategy to adapt the solenoid valve after performance attenuation, so that the active suspension system and its damping adjustment system can play the best performance.

[0005] A second objective of the present invention is to provide a control method for an active suspension.

[0006] A third object of the present invention is to provide a computer-readable storage medium.

[0007] A fourth object of the present invention is to provide a controller.

[0008] A fifth objective of the present invention is to provide an active suspension.

[0009] A sixth object of the present invention is to provide a vehicle.

[0010] To achieve the above-mentioned purpose, the first aspect of the present invention proposes a self-learning method for a solenoid valve in an active suspension, the self-learning method comprising: obtaining a target correction coefficient corresponding to the solenoid valve current according to the target height and actual height of the active suspension under the same solenoid valve current.

[0011] According to the self-learning method of the solenoid valve in the active suspension of the embodiment of the present invention, in order to solve the problem of the damping adjustment performance attenuating after the solenoid valve performance attenuates, the target correction coefficient corresponding to the solenoid valve current is obtained according to the target height and actual height of the active suspension under the same solenoid valve current. The obtained target correction coefficient is adapted to the solenoid valve after the performance is attenuated. When the target correction coefficient is used to correct the current passing through the solenoid valve, the active suspension system and its damping adjustment system can perform at their best performance.

[0012] In addition, the self-learning method of the solenoid valve in the active suspension according to the above embodiment of the present invention may also have the following additional technical features:

[0013] According to an embodiment of the present invention, before obtaining the target correction coefficient corresponding to the solenoid valve current according to the target height and actual height of the active suspension under the same solenoid valve current, the self-learning method further includes: determining that a solenoid valve self-learning enable signal is received.

[0014] According to one embodiment of the present invention, before obtaining the target correction coefficient corresponding to the solenoid valve current based on the target height and actual height of the active suspension under the same solenoid valve current, the self-learning method includes: determining that the speed deviation value between the actual speed of the actuator in the active suspension and the target speed is less than or equal to a preset speed threshold.

[0015] According to an embodiment of the present invention, obtaining a target correction coefficient corresponding to the solenoid valve current according to the target height and the actual height of the active suspension under the same solenoid valve current includes:

[0016] A target correction coefficient corresponding to the solenoid valve current is determined according to a height difference between the target height and the actual height.

[0017] According to an embodiment of the present invention, determining the target correction coefficient corresponding to the solenoid valve current according to the height difference between the target height and the actual height includes: if the absolute value of the height difference is less than or equal to a preset height threshold, recording the current correction coefficient corresponding to the solenoid valve current as the target correction coefficient corresponding to the solenoid valve current;

[0018] If the absolute value of the height difference is less than or equal to a preset height threshold, the current correction coefficient is increased when the height difference is greater than 0, and is decreased when the height difference is less than 0, and the target correction coefficient is obtained according to the adjusted correction coefficient.

[0019] According to an embodiment of the present invention, obtaining the target correction coefficient according to the adjusted correction coefficient includes:

[0020] updating the solenoid valve current according to the adjusted correction coefficient, and determining an actual height of the active suspension under the updated solenoid valve current;

[0021] Return to the step of determining the target correction coefficient corresponding to the solenoid valve current according to the height difference between the target height and the actual height, until the absolute value of the height difference is less than or equal to the preset height threshold.

[0022] According to an embodiment of the present invention, the actual height is obtained by the active suspension after the current of the solenoid valve reaches the solenoid valve current with a delay of a preset time.

[0023] According to an embodiment of the present invention, the actual height is obtained by measuring the height of the active suspension under the solenoid valve current for multiple times and taking an average value.

[0024] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present invention proposes a control method for an active suspension, the control method comprising: using a target correction coefficient to correct the current passing through the solenoid valve, wherein the target correction coefficient is obtained by a self-learning method of the solenoid valve in the active suspension according to any one of claims 1-8.

[0025] To achieve the above objectives, the third aspect of the present invention proposes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the self-learning method of the solenoid valve in the active suspension proposed in the first aspect of the present invention is implemented.

[0026] To achieve the above-mentioned purpose, the fourth aspect of the present invention proposes a controller, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the self-learning method of the solenoid valve in the active suspension proposed in the first aspect of the present invention is implemented.

[0027] To achieve the above-mentioned purpose, the fifth aspect of the present invention proposes an active suspension, including an actuator, a solenoid valve, and a controller, wherein the controller is connected to the actuator and the solenoid valve, and the controller executes the control method of the active suspension proposed in the fourth aspect of the present invention.

[0028] To achieve the above-mentioned purpose, a sixth embodiment of the present invention provides a vehicle, comprising the active suspension provided in the fifth embodiment of the present invention.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a flow chart of a self-learning method of a solenoid valve in an active suspension according to an embodiment of the present invention;

[0031] Figure 2 is a flow chart of determining a target correction coefficient corresponding to a solenoid valve current according to an embodiment of the present invention;

[0032] Figure 3 is a flow chart of adjusting the current correction coefficient corresponding to the solenoid valve current according to an embodiment of the present invention;

[0033] Figure 4 It is a flow chart of a self-learning method of a solenoid valve according to a specific embodiment of the present invention;

[0034] Figure 5 is a flow chart of a self-learning method of a solenoid valve according to another specific embodiment of the present invention;

[0035] Figure 6 is a flow chart of a control method of an active suspension according to an embodiment of the present invention;

[0036] Figure 7 is a schematic structural diagram of an active suspension according to an embodiment of the present invention;

[0037] Figure 8 is a structural block diagram of a controller according to an embodiment of the present invention;

[0038] Fig. 9 is a schematic diagram of an active suspension according to an embodiment of the present invention;

[0039] Fig.10 Schematic diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0041] With the development of society and the improvement of people's living standards, more and more cars have entered people's daily lives. Just as a means of transportation, it can no longer meet people's needs for cars. More and more people have increasing demands for car intelligence, comfort and other performance. How to improve the level of intelligence and ride comfort of cars has become one of the urgent problems to be solved, and it will also become an important driving factor for the development of the automobile industry. Active suspension is a kind of suspension that can automatically generate and adjust the main parameters such as main power, damping, stiffness, height, etc. as the driving conditions of the car change. It can bring more intelligent experience and more comfortable riding experience to the car. With the discovery of new materials, the gradual improvement of manufacturing processes and the development of intelligent control strategies, active suspension has become more and more mature, gradually replacing passive suspension to become one of the main suspensions.

[0042] One of the damping adjustment solutions for hydraulic active suspension is to use solenoid valves as actuators to control the damping size. The tension and compression damping size of the active suspension is controlled by controlling the opening size of the solenoid valves in the tension and compression circuits, thereby adjusting the damping size in real time so that the car can achieve the best performance when driving on different roads. After the solenoid valve performance decays, the previous control strategy cannot achieve the target damping size and the active suspension cannot perform at its best.

[0043] In order to solve the above problems, the embodiment of the present invention provides a self-learning method of a solenoid valve in an active suspension, a medium, a controller, and a vehicle. Figure 1-10 And specific implementation methods are described in detail for the self-learning method of the solenoid valve in the active suspension of the embodiment of the present invention, as well as the medium, the controller, and the vehicle.

[0044] Figure 1 FIG. 1 is a flow chart of a self-learning method of a solenoid valve in an active suspension according to an embodiment of the present invention. Figure 1 As shown, the self-learning methods of the solenoid valve in the active suspension include:

[0045] S101, obtaining a target correction coefficient corresponding to the solenoid valve current according to the target height and the actual height of the active suspension under the same solenoid valve current.

[0046] In order to solve the problem that the damping adjustment performance also decays after the performance of the solenoid valve decays, the embodiment of the present invention adopts a self-learning method to correct the control strategy of the solenoid valve in the active suspension after the performance of the solenoid valve of the active suspension damping adjustment decays, so that the key parameters of the control strategy are automatically adjusted to adapt to the solenoid valve after the performance decay, so that the active suspension system and its damping adjustment system can perform at their best performance.

[0047] Specifically, when the control strategy of the solenoid valve in the active suspension is corrected, the target height and actual height of the active suspension under different solenoid valve currents are obtained, and the target correction coefficient corresponding to different solenoid valve currents is obtained according to the actual height and required height of the active suspension under the same solenoid valve current. Therefore, when adjusting the damping of the active suspension, the current passing through the solenoid valve is corrected using the target correction coefficient, so that the control strategy of the solenoid valve can adapt to the optimal control of the solenoid valve at this time, so that the active suspension system can play the best performance.

[0048] Specifically, when performing damping adjustment of the active suspension, the current corresponding to the solenoid valve is determined according to the driving condition of the vehicle, and the target correction coefficient corresponding to the current is determined according to the current and the target correction coefficient corresponding to the solenoid valve current determined above. The target correction coefficient corresponding to the current is used to correct the current passing through the solenoid valve, thereby controlling the opening size of the solenoid valve in the tension and compression circuits, so that the active suspension can perform at its best performance.

[0049] In one embodiment of the present invention, before obtaining the target correction coefficient corresponding to the solenoid valve current according to the target height and the actual height of the active suspension under the same solenoid valve current, the self-learning method of the solenoid valve in the active suspension may further include:

[0050] Confirm that the solenoid valve self-learning enable signal is received.

[0051] Specifically, the control strategy of the solenoid valve in the active suspension can be actively corrected periodically, such as every six months or one year. The control strategy of the solenoid valve in the active suspension can also be actively corrected after the solenoid valve performance degradation is detected. When the control strategy of the solenoid valve in the active suspension is actively corrected, a solenoid valve self-learning enable signal can be sent to the active suspension controller to control the solenoid valve to automatically correct the control strategy in a self-learning manner.

[0052] In one embodiment of the present invention, before obtaining a target correction coefficient corresponding to the solenoid valve current according to a target height and an actual height of the active suspension under the same solenoid valve current, a self-learning method of the solenoid valve in the active suspension may include:

[0053] It is determined that a speed deviation value between an actual speed of an actuator in the active suspension and a target speed is less than or equal to a preset speed threshold.

[0054] It should be noted that even under the same solenoid valve current, different rotation speeds of the motor in the actuator (hydraulic pump+motor) will result in different target heights of the active suspension.

[0055] Since the target height of the active suspension is determined based on the speed of the motor in the actuator and the current passing through the solenoid valve, before correcting the control strategy of the solenoid valve in the active suspension, in order to prevent the active suspension from not performing at its best due to damage to the hydraulic pump, it is necessary to ensure that the hydraulic pump is not damaged before correcting the correction coefficient corresponding to the solenoid valve current.

[0056] Specifically, the active suspension controller can be used to detect whether the actual speed of the motor in the actuator reaches the target speed, determine whether the hydraulic pump is damaged, and determine whether the solenoid valve self-learning reaches the enabling condition.

[0057] It is feasible to control the target speed signal source to set the target speed of the motor in the actuator, and the active suspension controller makes a decision based on the solenoid valve self-learning enable signal and the set target speed, and controls the actuator of the active suspension to start working, that is, controls the motor to reach the target speed. According to the actual speed and target speed of the motor detected by the sensor, the speed deviation value is calculated to determine whether the correction coefficient self-learning has reached the enabling condition. If the speed deviation value is less than or equal to the preset speed threshold, it means that the hydraulic pump is normal, and it can be determined that the correction coefficient self-learning has reached the enabling condition. After the correction coefficient self-learning is enabled, the correction coefficient self-learning is performed. If the speed deviation value is greater than the preset speed threshold, it is necessary to overhaul the actuator, active suspension system, etc., so that the correction coefficient self-learning can be performed after the speed deviation value is less than or equal to the preset speed threshold.

[0058] The target speed in the embodiment of the present invention is the speed within the normal working range of the motor in the actuator. For example, when the normal working speed range of the motor is 1000-6000 rpm, the target speed can be set to 3000 rpm. The embodiment of the present invention does not limit the specific value of the target speed.

[0059] When the embodiment of the present invention performs self-learning of the correction coefficient, the motor in the actuator is kept at the same speed, the solenoid valve current is set, and the actual height of the active suspension corresponding to different solenoid valve currents and the pre-calibrated active suspension target height corresponding to different solenoid valve currents at the motor speed are obtained. According to the actual height and target height at the same motor speed and solenoid valve current, the current correction coefficient corresponding to the solenoid valve current is adjusted, and the final corrected correction coefficient is updated to the active suspension controller, so that the optimal control strategy for the solenoid valve after performance attenuation can be obtained, so that the active suspension system and its damping adjustment system can play the best performance.

[0060] In one embodiment of the present invention, the actual height of the active suspension may be collected using a height sensor.

[0061] In one embodiment of the present invention, the target height of the active suspension under different motor speeds and solenoid valve currents may be pre-stored in a memory and acquired according to the motor speed and the solenoid valve current.

[0062] In one embodiment of the present invention, setting the solenoid valve current may include: the initial current is 0, and each time the actual height of the active suspension is obtained, the current increases by a preset step length until the current reaches a preset current threshold.

[0063] In one embodiment of the present invention, the preset current threshold is the maximum current of the solenoid valve. Exemplarily, the preset current threshold is 1600 mA (milliamperes). The embodiment of the present invention obtains the actual height of the active suspension corresponding to multiple different solenoid valve currents within the current threshold working current range, and adjusts the current correction coefficients corresponding to the multiple different solenoid valve currents.

[0064] As a specific example, when obtaining the actual height of the active suspension corresponding to different solenoid valve currents, the initial current of the solenoid valve can be set to 0mA, the preset step size can be set to 100mA, and after the solenoid valve is controlled to work at 0mA, the actual height of the active suspension is obtained. After obtaining the actual height of the vehicle when the solenoid valve works at 0mA, the working current of the solenoid valve is controlled to increase by the preset step size, that is, the control current is increased by 100mA, and the actual height of the active suspension when the solenoid valve works at 100mA is obtained. And so on, until the working current of the solenoid valve reaches the preset current threshold.

[0065] As another specific example, after obtaining the actual height of the active suspension when the solenoid valve works at 0 mA, after determining the target correction coefficient corresponding to 0 mA, the current can be controlled to increase by 100 mA to obtain the actual height of the active suspension when the solenoid valve works at 100 mA, and determine the target correction coefficient corresponding to the solenoid valve working at 100 mA. This process is repeated until the working current of the solenoid valve reaches the preset current threshold.

[0066] It should be noted that the embodiment of the present invention does not limit the order of obtaining the actual height of the active suspension corresponding to different solenoid valve currents and calculating the target correction coefficient corresponding to different solenoid valve currents, and can be set according to actual needs.

[0067] In one embodiment of the present invention, the actual height is obtained by the active suspension after the current of the solenoid valve reaches the solenoid valve current and then a preset time is delayed.

[0068] Specifically, before obtaining the actual height of the active suspension, that is, after controlling the solenoid valve to operate with a current of 0mA, 100mA, etc., the actual height of the active suspension is obtained by delaying a preset time, so as to obtain the actual height of the active suspension after the vehicle height is stabilized, thereby improving the accuracy of the actual height obtained.

[0069] In one embodiment of the present invention, the actual height is obtained by measuring the height of the active suspension under the solenoid valve current for multiple times and taking the average value.

[0070] Specifically, in order to reduce random errors and improve the accuracy of the actual height obtained, the actual height of the active suspension may be measured multiple times after a preset delay, and the average of the actual heights measured multiple times is taken as the actual height.

[0071] Before obtaining the actual height each time, the embodiment of the present invention delays a preset time to determine whether the actual height is stable. After the actual height is stable, the average value of the actual heights measured multiple times is used as the actual height of the vehicle, so that the actual height is more accurate and the interference of random errors is reduced.

[0072] In one embodiment of the present invention, Figure 2 As shown, according to the height difference between the target height and the actual height, the target correction coefficient corresponding to the solenoid valve current is determined, including:

[0073] If the absolute value of the height difference is less than or equal to the preset height threshold, the current correction coefficient corresponding to the solenoid valve current is recorded as the target correction coefficient corresponding to the solenoid valve current;

[0074] If the absolute value of the height difference is less than or equal to the preset height threshold, the current correction coefficient is increased when the height difference is greater than 0, and the current correction coefficient is reduced when the height difference is less than 0, and the target correction coefficient is obtained according to the adjusted correction coefficient.

[0075] Specifically, the target correction coefficient corresponding to each solenoid valve current is determined based on the height difference between the target height corresponding to each solenoid valve current and the actual height. The height difference is calculated by subtracting the difference between the target height corresponding to the solenoid valve current and the actual height to obtain the height difference. The magnitude relationship between the height difference and the preset height threshold is determined. If the absolute value of the height difference is less than or equal to the preset height threshold, the current correction coefficient corresponding to the solenoid valve current is recorded as the target correction coefficient corresponding to the solenoid valve current. It should be noted that the current correction coefficient corresponding to different solenoid valve currents is the target correction coefficient obtained from the last self-learning, and the initial correction coefficient corresponding to different solenoid valve currents is 1.

[0076] If the absolute value of the height difference is greater than the preset height threshold, the current correction coefficient is increased when the height difference is greater than 0, and the current correction coefficient is reduced when the height difference is less than 0, and the target correction coefficient is obtained according to the adjusted correction coefficient.

[0077] In one embodiment of the present invention, Figure 2 As shown, the target correction coefficient is obtained according to the adjusted correction coefficient, including:

[0078] S201, updating the solenoid valve current according to the adjusted correction coefficient, and determining the actual height of the active suspension under the updated solenoid valve current;

[0079] S202, returning to the step of determining a target correction coefficient corresponding to the solenoid valve current according to the height difference between the target height and the actual height, until the absolute value of the height difference is less than or equal to a preset height threshold.

[0080] Specifically, the current of the solenoid valve is updated according to the adjusted correction coefficient, the solenoid valve is controlled to work with the corrected current, and the actual height of the active suspension when the solenoid valve works with the corrected current is obtained by the above method to obtain the corrected actual height. The height difference between the target height and the actual height is calculated, and the size relationship between the height difference and the preset height threshold is determined, and whether the absolute value of the height difference is less than or equal to the preset height threshold. If the absolute value of the height difference is still greater than the preset height threshold, the current correction coefficient continues to be adjusted until the height difference is less than or equal to the preset height threshold. When the height deviation value is less than or equal to the preset height threshold, the correction coefficient corresponding to the height difference being less than or equal to the preset height threshold is recorded, and recorded as the target correction coefficient corresponding to the solenoid valve current.

[0081] The embodiment of the present invention automatically adjusts the correction coefficient according to the difference between the required height and the actual height until the optimal correction coefficient is found and recorded, and updated to the control strategy to keep the active suspension control in the optimal state.

[0082] In one embodiment of the present invention, the increase or decrease range of the current correction coefficient is dynamically adjusted according to the height difference and the range of the last adjustment. The embodiment of the present invention does not limit the increase or decrease range of the correction coefficient.

[0083] As a specific embodiment, Figure 4 and Figure 5 As shown in the figure, after the performance of the active suspension damping control solenoid valve decays, the solenoid valve self-learning enable signal can be manually given. At this time, the self-learning control function of the active suspension damping control solenoid valve is enabled, and the self-learning of the active suspension damping control solenoid valve starts to work. It should be noted that the opening of the solenoid valve is controlled by the given current i. The larger the current, the smaller the opening of the solenoid valve, and the corresponding damping is greater.

[0084] First, the target speed of the active suspension hydraulic pump is given as n1, and the solenoid valve current i is initially set to 0. The relationship between the actual speed of the motor in the actuator and the set target speed is judged. When the actual speed is within the set target speed range, the correction coefficient is set cyclically.

[0085] When i is less than 1600mA, firstly delay for a certain time ti1 to determine whether the actual height is stable. If the actual height is stable, then record the actual height three times and take the average value as the actual height of the active suspension. Compare the actual height with the target height corresponding to the solenoid valve current.

[0086] If the height difference between the target height and the actual height is not within the preset range, determine whether the height difference between the target height and the actual height is greater than zero. If the height difference is greater than zero, increase the current correction coefficient corresponding to the solenoid valve current. If the height difference is less than zero, reduce the current correction coefficient corresponding to the solenoid valve current. Use the corrected correction coefficient to adjust the solenoid valve current, then delay ti1 time to measure the actual height of the active suspension again, and calculate whether the height difference between the target height and the actual height is within the preset range. This cycle ends until the height difference is within a certain range.

[0087] If the height difference is within a certain range, the height adjustment is considered to be completed, and the current correction coefficient is considered to be the target correction coefficient, which is recorded as the current correction coefficient and set as the target correction coefficient corresponding to the solenoid valve current; then the solenoid valve current of the next cycle is set until the solenoid valve current is greater than 1600mA, and the cycle ends. The correction coefficient row vector calculated and retained at this time is the optimal correction coefficient corresponding to each solenoid valve current. By updating the correction coefficient row vector at this time to the controller, the control strategy of the active suspension damping control after self-learning can be obtained, which can enable the active suspension system and its damping adjustment system to perform at their best performance.

[0088] The self-learning method of the solenoid valve in the active suspension of the embodiment of the present invention is to solve the problem that the damping adjustment performance decays after the solenoid valve performance decays. After the performance of the solenoid valve of the active suspension damping adjustment decays, the target correction coefficient corresponding to the solenoid valve current is obtained according to the actual height and target height of the active suspension under the same solenoid valve current. The target correction coefficient is adapted to the solenoid valve after the performance decay. When the target correction coefficient is used to correct the current passing through the solenoid valve, the active suspension system and its damping adjustment system can perform at their best performance.

[0089] The invention provides a control method for an active suspension.

[0090] Figure 6 FIG. 1 is a flow chart of a control method of an active suspension according to an embodiment of the present invention. Figure 6 As shown, the control method of the active suspension may include:

[0091] S301, correcting the current passing through the solenoid valve using a target correction coefficient, wherein the target correction coefficient is obtained according to the self-learning method of the solenoid valve in the active suspension.

[0092] A schematic diagram of an active suspension according to an embodiment of the present invention is shown in FIG. Figure 7 As shown, Figure 7 Where Zs is the sprung mass displacement, Zw is the unsprung mass displacement, ms is the sprung mass, mw is the unsprung mass, ks is the suspension stiffness, C is the suspension damping, F is the active suspension active force, kw is the tire stiffness, and q is the road input.

[0093] When performing damping adjustment of the active suspension, the embodiment of the present invention determines the current of the solenoid valve under the driving condition according to the vehicle's driving condition, determines the target correction coefficient corresponding to the current according to the current and the target correction coefficient corresponding to the solenoid valve current determined above, and uses the target correction coefficient to correct the current passing through the solenoid valve, thereby controlling the opening size of the solenoid valve in the tension and compression circuits, so that the active suspension can exert its best performance.

[0094] The control method of the active suspension of the embodiment of the present invention automatically corrects the solenoid valve control strategy in a self-learning manner after the performance of the solenoid valve for active suspension damping adjustment has decayed, and adjusts the opening of the solenoid valve so that the solenoid valve can be restored to the optimal control, thereby enabling the active suspension system to perform at its best performance.

[0095] The present invention provides a computer-readable storage medium.

[0096] In this embodiment, a computer program is stored on a computer-readable storage medium. When the computer program is executed by a processor, the self-learning method of the solenoid valve in the active suspension as described above is implemented.

[0097] The invention provides a controller.

[0098] In this embodiment, the controller may include a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the self-learning method of the solenoid valve in the active suspension as described above is implemented.

[0099] Figure 8 4 is a structural block diagram of a controller according to an embodiment of the present invention.

[0100] like Figure 8 As shown, the controller 500 includes: a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the controller 500 may also include a transceiver 504. It should be noted that in actual applications, the transceiver 504 is not limited to one, and the structure of the controller 500 does not constitute a limitation on the embodiments of the present invention.

[0101] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of the present invention. Processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0102] The bus 502 may include a path to transmit information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0103] The memory 503 is used to store the self-learning method of the solenoid valve in the active suspension of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 501. The processor 501 is used to execute the computer program stored in the memory 503 to implement the content shown in the above method embodiment.

[0104] Among them, the controller 500 includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The controller 500 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0105] The computer-readable storage medium and the controller of the embodiments of the present invention can restore the solenoid valve to optimal control after the performance of the solenoid valve decays, so that the active suspension system can exert the best performance.

[0106] The invention provides an active suspension.

[0107] Fig. 9 Schematic diagram of an active suspension according to an embodiment of the present invention. Fig. 9 As shown, the active suspension 100 may include an actuator, a solenoid valve, and a controller. The controller is connected to the actuator and the solenoid valve, and the controller executes the control method of the active suspension as described above.

[0108] The active suspension of the embodiment of the present invention can restore the solenoid valve to the optimal control after the performance of the solenoid valve decays, so that the active suspension system can exert the best performance.

[0109] The present invention provides a vehicle.

[0110] Fig.10 Schematic diagram of a vehicle according to an embodiment of the present invention. Fig.10 As shown, vehicle 1000 may include active suspension 100 as described above.

[0111] The vehicle of the embodiment of the present invention can restore the solenoid valve to the optimal control after the performance of the solenoid valve decays, so that the active suspension system can exert the best performance.

[0112] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0113] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0114] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0115] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0116] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0117] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0118] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0119] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A self-learning method for a solenoid valve in an active suspension, characterized in that: The self-learning method comprises: According to the target height and the actual height of the active suspension under the same solenoid valve current, a target correction coefficient corresponding to the solenoid valve current is obtained.

2. The self-learning method of the solenoid valve in the active suspension according to claim 1, characterized in that: Before obtaining the target correction coefficient corresponding to the solenoid valve current according to the target height and the actual height of the active suspension under the same solenoid valve current, the self-learning method further includes: Confirm that the solenoid valve self-learning enable signal is received.

3. The self-learning method of the solenoid valve in the active suspension according to claim 1, characterized in that: Before obtaining a target correction coefficient corresponding to the solenoid valve current according to the target height and the actual height of the active suspension under the same solenoid valve current, the self-learning method includes: It is determined that a speed deviation value between an actual speed of an actuator in the active suspension and a target speed is less than or equal to a preset speed threshold.

4. The self-learning method of the solenoid valve in the active suspension according to claim 1, characterized in that: The step of obtaining a target correction coefficient corresponding to the solenoid valve current according to the target height and the actual height of the active suspension under the same solenoid valve current includes: A target correction coefficient corresponding to the solenoid valve current is determined according to a height difference between the target height and the actual height.

5. The self-learning method of the solenoid valve in the active suspension according to claim 4, characterized in that: The step of determining a target correction coefficient corresponding to the electromagnetic valve current according to a height difference between the target height and the actual height includes: If the absolute value of the height difference is less than or equal to the preset height threshold, the current correction coefficient corresponding to the solenoid valve current is recorded as the target correction coefficient corresponding to the solenoid valve current; If the absolute value of the height difference is less than or equal to a preset height threshold, the current correction coefficient is increased when the height difference is greater than 0, and is decreased when the height difference is less than 0, and the target correction coefficient is obtained according to the adjusted correction coefficient.

6. The self-learning method of the solenoid valve in the active suspension according to claim 5, characterized in that: The step of obtaining the target correction coefficient according to the adjusted correction coefficient includes: updating the solenoid valve current according to the adjusted correction coefficient, and determining an actual height of the active suspension under the updated solenoid valve current; Return to the step of determining the target correction coefficient corresponding to the solenoid valve current according to the height difference between the target height and the actual height, until the absolute value of the height difference is less than or equal to the preset height threshold.

7. The self-learning method of the solenoid valve in the active suspension according to claim 4, characterized in that: The actual height is obtained by the active suspension after the current of the solenoid valve reaches the solenoid valve current after a delay of a preset time.

8. The self-learning method of the solenoid valve in the active suspension according to claim 7, characterized in that: The actual height is obtained by measuring the height of the active suspension under the solenoid valve current for multiple times and taking an average value.

9. A control method for an active suspension, characterized in that: The control method comprises: The current passing through the solenoid valve is corrected using a target correction coefficient, wherein the target correction coefficient is obtained according to a self-learning method for the solenoid valve in an active suspension according to any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the self-learning method of the solenoid valve in the active suspension according to any one of claims 1 to 8 is implemented.

11. A controller, comprising a memory and a processor, wherein a computer program is stored in the memory, characterized in that: When the computer program is executed by the processor, the self-learning method of the solenoid valve in the active suspension according to any one of claims 1 to 8 is implemented.

12. An active suspension, characterized in that: The active suspension comprises an actuator, a solenoid valve, and a controller, wherein the controller is connected to the actuator and the solenoid valve, and the controller executes the control method of the active suspension as claimed in claim 9.

13. A vehicle, characterized in that: Comprising the active suspension as claimed in claim 12.

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