Damping control method and equipment based on magnetorheological damper and medium

Abstract

The invention discloses a shock absorption control method and equipment based on a magnetorheological damper and a medium, belongs to the technical field of shock absorption control systems, and aims to solve the technical problems that an existing shock absorption system of a vehicle body is poor in shock absorption effect, cannot well inhibit the bumping state of the vehicle body and is poor in shock absorption control effect under complex road surface conditions. The method comprises the steps that vehicle body vibration collection is conducted through a sensor to obtain vehicle body acceleration; according to the weighting factor corresponding to the acceleration of the vehicle body, motion fuzzy control is achieved, and the motion state of the vehicle body is determined; according to the vehicle body motion state and the road surface state, damping force control is conducted on the wheel suspension system, and damping force is obtained; and carrying out mutual weighted correlation on the shock absorption damping forces of the wheels, and determining a control current value of each magnetorheological damper. And through fine control over the damping system, the damping system and a wheel suspension system are greatly optimized, and the bumping state of the vehicle body is better restrained.

Description

Technical Field

[0001] The present application relates to the field of shock absorption control systems, and in particular to a shock absorption control method, device and medium based on a magnetorheological damper. Background Art

[0002] With the rapid development of intelligent automobile technology, the comfort of drivers and passengers and the stability of the whole vehicle have gradually become important factors in people's choice of vehicles. The suspension system of a car is an important factor in ensuring the comfort and stability of the vehicle. The suspension refers to the assembly of all force transmission connection devices between the frame and the axle. Its function is to transmit the vertical reaction force (support force), longitudinal reaction force (traction and braking force), lateral reaction force and the torque caused by these reaction forces from the road surface on the wheels to the frame (or load-bearing body) to ensure the normal driving of the car.

[0003] Magnetorheological damper, also known as MR damper, can control the damping force of magnetorheological damper by adjusting the input current and changing the magnetic field in the throttle hole, thereby meeting a certain impact resistance and shock absorption effect.

[0004] The shock absorption system of existing vehicles can achieve different shock absorption effects under different road conditions. Under relatively complex road conditions, the vehicle is prone to violent bumps, left-right swaying, and vehicle pitching due to the poor shock absorption effect of the general suspension system during driving, which greatly affects the riding experience of the driver and passengers, cannot well ensure the smoothness of the vehicle, and reduces the vehicle's operational stability and the comfort of the driver and passengers. At the same time, the vehicle's shock absorption control system is also difficult to achieve accurate control of different shock absorption effects based on different road conditions. Summary of the invention

[0005] The embodiments of the present application provide a shock absorption control method, device and medium based on a magnetorheological damper, which are used to solve the following technical problems: the shock absorption system of existing vehicles has poor shock absorption effect under complex road conditions and cannot effectively suppress the bumpy state of the vehicle body, which greatly reduces the riding experience of the driver and passengers.

[0006] The present application embodiment adopts the following technical solutions:

[0007] On the one hand, an embodiment of the present application provides a shock absorption control method based on a magnetorheological damper, comprising: collecting the surrounding environment information of a vehicle, and identifying the road state of the road type information in the surrounding environment information to obtain the road state on which the vehicle is traveling; collecting the vehicle body vibration through a body sensor preset in the vehicle to obtain the vehicle body acceleration; wherein the body acceleration includes: vertical acceleration, horizontal acceleration and pitch acceleration; performing motion fuzzy control on the vehicle according to the weighting factor corresponding to the body acceleration to obtain the vehicle body motion state; controlling the damping force of the wheel suspension system of the vehicle according to the body motion state and the road state to obtain the shock absorption damping force of the wheel; performing weighted correlation on the shock absorption damping forces of the wheels to determine the control current value of each magnetorheological damper; wherein the magnetorheological damper is pre-installed in the wheel suspension system.

[0008] The embodiment of the present application obtains the road conditions on which the vehicle is traveling and the vibration conditions of the vehicle itself, combines the magnetorheological damper with the vehicle's own wheel suspension system, and then performs motion blur control on each wheel of the vehicle based on the characteristics of the vehicle's vibration, namely the up and down, left and right, and front pitch characteristics. The shock absorbing damping force of each wheel is reasonably allocated based on weighting factors, road conditions, vehicle body acceleration and other conditional factors, so that the vehicle can maintain the dynamic stability of the vehicle body to the greatest extent and minimize the vibration of the vehicle. In addition, based on the combination of the magnetorheological damper, the shock absorbing damping force can be better controlled, thereby greatly optimizing the vehicle's original shock absorbing system and wheel suspension system, better suppressing the bumpy state of the vehicle body, and improving the riding experience of the driver and passengers.

[0009] In a feasible implementation manner, the vehicle's surrounding environment information is collected, and the road surface type information in the surrounding environment information is identified to obtain the road surface state of the vehicle, which specifically includes: using a vehicle-mounted camera to collect images of the vehicle's surrounding environment to obtain a surrounding environment image, and performing content analysis on the surrounding environment image to determine the surrounding environment information; wherein the surrounding environment information at least includes: road surface type information, weather information, air visibility information and road obstacle information; according to the road obstacle information, 3D modeling is performed on the road surface to be traveled on, and non-horizontal areas of the road surface to be traveled on are determined; wherein the non-horizontal area includes: a raised area and a sunken area; according to the distribution of several of the raised areas and several of the sunken areas, and through the road surface type information, the road surface state of the road surface to be traveled on is identified to obtain the road surface state of the vehicle to be traveled on; the road surface state of the vehicle to be traveled on is integrated with the road surface state of the vehicle's historical travel to obtain the road surface state of the vehicle.

[0010] The embodiment of the present application can provide a reference standard for the subsequent distribution of shock absorbing damping force for each wheel by identifying the road surface condition, so as to facilitate the adaptive adjustment of the size of the shock absorbing damping force to be distributed according to different road bump conditions, thereby improving the vehicle's ability to suppress bumpy sections and enhancing the vehicle's comfort.

[0011] In a feasible implementation manner, the body vibration of the vehicle is collected by a body sensor preset in the vehicle to obtain the body acceleration of the vehicle, which specifically includes: obtaining the body information of the vehicle through the body sensor according to the road surface state on which the vehicle is traveling; wherein the body information at least includes: the body center of mass, the body vertical movement angle, the body horizontal movement angle and the front pitch angle; determining the vertical movement distance of the vehicle through the body center of mass and the body vertical movement angle; and obtaining the vertical acceleration of the vehicle according to the vertical movement distance and the corresponding vertical axis moment of inertia; determining the horizontal movement distance of the vehicle through the body center of mass and the body horizontal movement angle; and obtaining the horizontal acceleration of the vehicle according to the horizontal movement distance and the corresponding horizontal axis moment of inertia; determining the front pitch distance of the vehicle through the body center of mass and the front pitch angle; and obtaining the pitch acceleration of the vehicle according to the front pitch distance and the distance between the front and rear axles of the vehicle wheels; wherein the body acceleration consists of the vertical acceleration, the horizontal acceleration and the pitch acceleration.

[0012] In a feasible implementation manner, before performing motion blur control on the vehicle according to the weighting factor corresponding to the vehicle body acceleration to obtain the vehicle body motion state, the method further includes: performing correlation control on the vertical acceleration, the horizontal acceleration and the pitch acceleration according to the dynamic balance control strategy of the wheel suspension system so that a mutually restrictive control relationship is formed among the vertical acceleration, the horizontal acceleration and the pitch acceleration, and the control strategy relationship of the vehicle body acceleration is obtained; performing vibration suppression control on the vehicle according to the control strategy relationship among the vertical acceleration, the horizontal acceleration and the pitch acceleration to obtain the weighting factor corresponding to the vehicle body acceleration; wherein the weighting factors include: a vertical weighting factor, a horizontal weighting factor and a pitch weighting factor.

[0013] In a feasible implementation manner, according to the weighting factor corresponding to the vehicle body acceleration, the vehicle is subjected to motion fuzzy control to obtain the vehicle body motion state, specifically including: judging the weight size of the vertical weighting factor, the horizontal weighting factor and the pitch weighting factor; if the vertical weighting factor is greater than the horizontal weighting factor and the pitch weighting factor, the vertical acceleration of the vehicle is the main suppression object for vehicle body stability, and the vertical acceleration is subjected to motion fuzzy control through a preset fuzzy set to suppress the vertical vibration corresponding to the vertical acceleration, so as to obtain the first suppressed vehicle body state of the vehicle; wherein the fuzzy set is generated by a triangular distribution with a shape similar to a normal distribution as a membership function, and the fuzzy set at least includes: a vehicle body vertical acceleration set, a vehicle body vertical velocity set, ... A set of vehicle pitch angles, a set of vehicle pitch angular velocity, a set of vehicle horizontal accelerations, and a set of vehicle horizontal velocity; if the horizontal weighting factor is greater than the vertical weighting factor and the pitch weighting factor, the horizontal acceleration of the vehicle is the main suppression object for vehicle body stability, and the horizontal acceleration is subjected to motion fuzzy control through the fuzzy set to obtain the second suppressed body state of the vehicle; if the pitch weighting factor is greater than the horizontal weighting factor and the vertical weighting factor, the pitch acceleration is the main suppression object for vehicle body stability, and the pitch acceleration is subjected to motion fuzzy control through the fuzzy set to obtain the third suppressed body state of the vehicle; wherein the body motion state includes: the first suppressed body state, the second suppressed body state, and the third suppressed body state.

[0014] The embodiment of the present application can better adjust the shock absorbing damping force corresponding to each wheel under different vehicle body acceleration conditions by determining the first vehicle body suppression state, the second vehicle body suppression state and the third vehicle body suppression state, so as to adapt to the shock absorbing performance of the wheel suspension system under different road sections and different vehicle body bumps.

[0015] In a feasible implementation manner, the damping force of the wheel suspension system of the vehicle is controlled according to the vehicle body motion state and the road surface state to obtain the shock absorbing damping force of the wheel, which specifically includes: judging the state of the vehicle body motion state; if the vehicle body motion state is the first suppressed vehicle body state or the second suppressed vehicle body state, collecting the instantaneous linear extrusion spring force of each wheel in the wheel suspension system of the vehicle according to the road surface state; wherein the instantaneous linear extrusion spring force is the instantaneous extrusion deformation force of the shock absorbing spring in the wheel suspension system; according to the instantaneous linear extrusion deformation force of each wheel Spring force, based on a preset vehicle shock absorption comfort index, the shock absorption damping force of all wheels is determined; wherein, the vehicle shock absorption comfort index is a vehicle suspension shock absorption force index that provides riding comfort to the driver and passengers; if the vehicle body movement state is the third suppressed vehicle body state, the instantaneous linear extrusion spring force of the front wheel in the wheel suspension system of the vehicle is collected, and according to the instantaneous linear extrusion spring force of the front wheel, based on the preset vehicle shock absorption comfort index, the shock absorption damping force of the individual front wheel is determined; wherein, the shock absorption damping force of the wheel is composed of the shock absorption damping force of all wheels and the shock absorption damping force of the individual front wheel.

[0016] In a feasible implementation manner, the shock absorbing damping forces of the wheels are weightedly correlated with each other to determine the control current value of each magnetorheological damper, specifically including: according to the movement state of the vehicle body, the shock absorbing damping forces of all wheels are coordinated and correlated with the shock absorbing damping forces of the individual front wheels by means of weighted terms of a preset differential equation to obtain the shock absorbing damping force corresponding to each wheel; through the wheel suspension system, the shock absorbing damping force corresponding to each wheel is converted into corresponding electrical energy to obtain the control voltage value and control current value of each magnetorheological damper.

[0017] In a feasible implementation manner, after the shock absorbing damping forces of the wheels are weightedly correlated with each other and the control current value of each magnetorheological damper is determined, the method further includes: adjusting the current of each magnetorheological damper respectively by corresponding to the control current value and the control voltage value to obtain the coil current value of each magnetorheological damper; and adjusting and controlling the magnetic field in the throttle hole in each magnetorheological damper according to the coil current value, and changing the resistance of the magnetorheological fluid flowing through the throttle hole, so that the damping force of each magnetorheological damper is adjusted accordingly.

[0018] In the second aspect, an embodiment of the present application also provides a shock absorption control device based on a magnetorheological damper, the device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor so that the at least one processor can execute a shock absorption control method based on a magnetorheological damper as described in any of the above embodiments.

[0019] In the third aspect, an embodiment of the present application also provides a non-volatile computer storage medium, characterized in that the storage medium is a non-volatile computer-readable storage medium, and the non-volatile computer-readable storage medium stores at least one program, each of which includes instructions, and when the instructions are executed by a terminal, the terminal executes a shock absorption control method based on a magnetorheological damper as described in any of the above-mentioned embodiments.

[0020] The present application provides a shock absorption control method, device and medium based on magnetorheological damper. By acquiring the road surface state on which the vehicle is traveling and the vibration state of the vehicle itself, the magnetorheological damper is combined with the vehicle's own wheel suspension system. Then, according to the characteristics of the vehicle vibration, namely the up and down, left and right, and the pitch of the front of the vehicle, motion fuzzy control is performed on each wheel of the vehicle. According to the weighting factor, road surface state, vehicle body acceleration and other conditional factors, the shock absorption damping force of each wheel is reasonably allocated so that the vehicle can maintain the dynamic stability of the vehicle body to the greatest extent and minimize the vibration of the vehicle. In addition, on the basis of combining with the magnetorheological damper, the shock absorption damping force can be further controlled, which greatly optimizes the original shock absorption system and wheel suspension system of the vehicle, better suppresses the bumpy state of the vehicle body, and improves the riding experience of the driver and passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 A flow chart of a vibration reduction control method based on a magnetorheological damper provided in an embodiment of the present application;

[0023] Figure 2 A diagram showing the combination of a wheel suspension system and a magnetorheological damper provided in an embodiment of the present application;

[0024] Figure 3A schematic structural diagram of a shock absorption control device based on a magnetorheological damper provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0026] The present application embodiment provides a vibration control method based on a magnetorheological damper, such as Figure 1 As shown, the vibration reduction control method based on the magnetorheological damper specifically includes steps S101-S105:

[0027] S101, collecting the surrounding environment information of the vehicle, and performing road surface state recognition on the road surface type information in the surrounding environment information to obtain the road surface state on which the vehicle is traveling.

[0028] Specifically, the vehicle's surroundings are captured by a vehicle-mounted camera to obtain a surrounding image, and the surrounding image is analyzed to determine surrounding information, wherein the surrounding information includes at least: road type information, weather information, air visibility information, and road obstacle information.

[0029] Furthermore, according to the road obstacle information, 3D modeling is performed on the road surface to be traveled, and non-horizontal areas of the road surface to be traveled are determined, wherein the non-horizontal areas include: raised areas and sunken areas.

[0030] Furthermore, according to the distribution of the plurality of raised areas and the plurality of sunken areas, and through the road type information, the road surface state of the road to be traveled is identified to obtain the road surface state on which the vehicle is to travel. The road surface state on which the vehicle is to travel is integrated with the road surface state of the vehicle's historical travel to obtain the road surface state on which the vehicle is to travel.

[0031] In one embodiment, when in use, the on-board camera is used to collect information about the target road area and the surrounding environment, and the information is transmitted to the road analysis module to perform content analysis on the surrounding environment image, mark the corresponding road obstacle information, and establish a 3D model of the coordinate area to determine the position of the bumpy area of ​​the road to be driven on. Then, according to the distribution of the bumpy area, it is matched with the road type to determine the state of the road to be driven on. Then, by combining the road state of the historical driving with the road state to be driven on, the final state of the road on which the vehicle is driving can be determined, so as to provide a reference standard for the distribution of the shock absorbing damping force corresponding to each wheel of the vehicle according to the determined road state, so that the vehicle has better vibration suppression resistance.

[0032] S102: Collect the vibration of the vehicle body through the body sensor preset in the vehicle to obtain the body acceleration of the vehicle, wherein the body acceleration includes: vertical acceleration, horizontal acceleration and pitch acceleration.

[0033] Specifically, according to the road surface state on which the vehicle is traveling, the vehicle body information is obtained through the vehicle body sensor, wherein the vehicle body information at least includes: the center of mass of the vehicle body, the vertical movement angle of the vehicle body, the horizontal movement angle of the vehicle body, and the pitch angle of the front of the vehicle.

[0034] Furthermore, the vertical movement distance of the vehicle is determined by the center of mass of the vehicle body and the vertical movement angle of the vehicle body, and the vertical acceleration of the vehicle is obtained according to the vertical movement distance and the corresponding vertical axis moment of inertia.

[0035] The horizontal movement distance of the vehicle is determined by the center of mass of the vehicle body and the horizontal movement angle of the vehicle body, and the horizontal acceleration of the vehicle is obtained according to the horizontal movement distance and the corresponding horizontal axis moment of inertia.

[0036] The vehicle's front pitch distance is determined by the center of mass of the vehicle and the pitch angle of the front of the vehicle. The vehicle's pitch acceleration is obtained based on the front pitch distance and the distance between the front and rear axles of the vehicle's wheels. The vehicle's body acceleration consists of vertical acceleration, horizontal acceleration, and pitch acceleration.

[0037] In one embodiment, Figure 2 This is a combination effect diagram of a wheel suspension system and a magnetorheological damper provided in an embodiment of the present application, such as Figure 2As shown, the body sensor is used to record the vibration information of the body in real time, and the vertical movement angle, horizontal movement angle and pitch angle of the vehicle front are obtained according to the built-in wheel suspension system. The instantaneous acceleration of the body under different vibrations, namely the vertical acceleration, horizontal acceleration and pitch acceleration, is obtained according to the displacement of the body center and different body parts due to vibration and the moment of inertia in space, thereby determining the bumpy vibration state of the body at this time.

[0038] S103 . Perform motion fuzzy control on the vehicle according to the weighting factor corresponding to the vehicle body acceleration to obtain the vehicle body motion state.

[0039] Specifically, according to the dynamic balance control strategy of the wheel suspension system, the vertical acceleration, horizontal acceleration and pitch acceleration are correlated and controlled so that a mutually restrictive control relationship is formed among the vertical acceleration, horizontal acceleration and pitch acceleration, and a control strategy relationship of the vehicle body acceleration is obtained.

[0040] Furthermore, according to the control strategy relationship between the vertical acceleration, the horizontal acceleration and the pitch acceleration, the vehicle is subjected to vibration suppression control to obtain a weighting factor corresponding to the vehicle body acceleration, wherein the weighting factor includes: a vertical weighting factor, a horizontal weighting factor and a pitch weighting factor.

[0041] Furthermore, the weight values ​​of the vertical weighting factor, the horizontal weighting factor and the pitch weighting factor are judged.

[0042] If the vertical weighting factor is greater than the horizontal weighting factor and the pitch weighting factor, the vertical acceleration of the vehicle is the main object of body stability suppression, and the vertical acceleration is subjected to motion fuzzy control through a preset fuzzy set to suppress the vertical vibration corresponding to the vertical acceleration, thereby obtaining the first suppressed body state of the vehicle. The fuzzy set is generated by a triangular distribution similar to a normal distribution as a membership function, and the fuzzy set includes at least: a body vertical acceleration set, a body vertical velocity set, a body pitch angle set, a body pitch angular velocity set, a body horizontal acceleration set, and a body horizontal velocity set.

[0043] If the horizontal weighting factor is greater than the vertical weighting factor and the pitch weighting factor, the horizontal acceleration of the vehicle is the main suppression object for body stability. Through the fuzzy set, the horizontal acceleration is subjected to motion fuzzy control to obtain the second suppressed body state of the vehicle.

[0044] If the pitch weighting factor is greater than the horizontal weighting factor and the vertical weighting factor, the pitch acceleration is the main suppression object for vehicle body stability, and the pitch acceleration is subjected to motion fuzzy control through fuzzy sets to obtain the third suppression vehicle body state of the vehicle. The vehicle body motion state includes: the first suppression vehicle body state, the second suppression vehicle body state and the third suppression vehicle body state.

[0045] As a feasible implementation method, through the control strategy relationship between vertical acceleration, horizontal acceleration and pitch acceleration, the weighting factor corresponding to the vehicle body acceleration, and then the weight size of the vertical weighting factor, horizontal weighting factor and pitch weighting factor is judged, so as to determine the primary and secondary causes of vehicle body vibration, and then determine the main suppression object of vehicle body stability, and according to the fuzzy set, perform motion fuzzy control on the acceleration of the main suppression object, so as to obtain the suppressed vehicle body state that needs vibration suppression, that is, the vehicle body vibration state that needs to be mainly adjusted.

[0046] S104: Control the damping force of the wheel suspension system of the vehicle according to the vehicle body motion state and the road surface state to obtain the shock absorbing damping force of the wheel.

[0047] Specifically, the vehicle body motion state is judged. If the vehicle body motion state is the first suppressed vehicle body state or the second suppressed vehicle body state, the instantaneous linear extrusion spring force of each wheel in the vehicle's wheel suspension system is collected according to the road surface state. The instantaneous linear extrusion spring force is the instantaneous extrusion deformation force of the shock absorbing spring in the wheel suspension system.

[0048] Furthermore, according to the instantaneous linear extrusion spring force of each wheel, based on the preset vehicle shock absorption comfort index, the shock absorption damping force of all wheels is determined. The vehicle shock absorption comfort index is a vehicle suspension shock absorption force index that provides ride comfort for the driver and passengers.

[0049] If the vehicle body motion state is the third suppressed vehicle body state, the instantaneous linear extrusion spring force of the front wheel in the vehicle's wheel suspension system is collected, and the shock absorption damping force of the individual front wheel is determined based on the instantaneous linear extrusion spring force of the front wheel and the preset vehicle shock absorption comfort index. The shock absorption damping force of the wheel is composed of the shock absorption damping force of all wheels and the shock absorption damping force of the individual front wheel.

[0050] In one embodiment, Figure 2As shown, based on the reference standard of road conditions, and according to the difference in instantaneous linear extrusion spring force of each wheel in different vehicle body motion states, the shock absorption damping force corresponding to each wheel is finally determined by pre-setting the vehicle shock absorption comfort index as the evaluation index, that is, according to different vehicle body vibration conditions and vehicle body states that need to be suppressed, the shock absorption damping force that each wheel needs to provide is determined separately to achieve the suppression control of the shock absorption of the whole vehicle, thereby ensuring the riding comfort of the driver and passengers to the greatest extent. Among them, if there is only the third suppressed vehicle body state, it only requires separate shock absorption for the front wheels to determine the shock absorption damping force of the separate front wheels.

[0051] S105, weighted correlation is performed between the shock absorption damping forces of the wheels to determine the control current value of each magnetorheological damper. The magnetorheological damper is pre-installed in the wheel suspension system.

[0052] Specifically, according to the vehicle body motion state, the damping force of all wheels is coordinated and associated with the damping force of the front wheel through the weighted terms of the preset differential equation to obtain the damping force corresponding to each wheel. The damping force corresponding to each wheel is converted into corresponding electrical energy through the wheel suspension system to obtain the control voltage value and control current value of each magnetorheological damper.

[0053] Furthermore, the current of each magnetorheological damper is adjusted respectively by corresponding control current value and control voltage value to obtain the coil current value of each magnetorheological damper.

[0054] Furthermore, according to the coil current value, the magnetic field in the throttle hole of each magnetorheological damper is adjusted and controlled, and the resistance of the magnetorheological fluid flowing through the throttle hole is changed, so that the damping force of each magnetorheological damper is adjusted accordingly.

[0055] In addition, the present application also provides a vibration control device based on a magnetorheological damper, such as Figure 3 As shown, the vibration reduction control device 300 based on the magnetorheological damper specifically includes:

[0056] At least one processor 301; and a memory 302 in communication with the at least one processor 301; wherein the memory 302 stores instructions executable by the at least one processor 301, so that the at least one processor 301 can execute:

[0057] Collecting the surrounding environment information of the vehicle, and performing road surface state recognition on the road surface type information in the surrounding environment information to obtain the road surface state on which the vehicle is traveling;

[0058] The vehicle body vibration is collected by a body sensor preset in the vehicle to obtain the vehicle body acceleration; wherein the vehicle body acceleration includes: vertical acceleration, horizontal acceleration and pitch acceleration;

[0059] According to the weighting factor corresponding to the vehicle body acceleration, the vehicle is subjected to motion fuzzy control to obtain the vehicle body motion state;

[0060] According to the vehicle body motion state and road surface state, the damping force of the vehicle wheel suspension system is controlled to obtain the shock absorbing damping force of the wheel;

[0061] The shock absorbing damping forces of the wheels are mutually weighted and correlated to determine the control current value of each magnetorheological damper; wherein the magnetorheological damper is pre-installed in the wheel suspension system.

[0062] The embodiment of the present application obtains the road conditions on which the vehicle is traveling and the vibration conditions of the vehicle itself, combines the magnetorheological damper with the vehicle's own wheel suspension system, and then performs motion blur control on each wheel of the vehicle based on the characteristics of the vehicle's vibration, namely the up and down, left and right, and front pitch characteristics. The shock absorbing damping force of each wheel is reasonably allocated based on weighting factors, road conditions, vehicle body acceleration and other conditional factors, so that the vehicle can maintain the dynamic stability of the vehicle body to the greatest extent and minimize the vibration of the vehicle. In addition, based on the combination of the magnetorheological damper, the shock absorbing damping force can be better controlled, thereby greatly optimizing the vehicle's original shock absorbing system and wheel suspension system, better suppressing the bumpy state of the vehicle body, and improving the riding experience of the driver and passengers.

[0063] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0064] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0065] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0066] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0067] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0068] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0069] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A vibration control method based on magnetorheological damper, characterized in that: The method comprises: Collecting the surrounding environment information of the vehicle, and performing road surface state recognition on the road surface type information in the surrounding environment information to obtain the road surface state on which the vehicle is traveling; By using a body sensor preset in the vehicle, the body vibration of the vehicle is collected to obtain the body acceleration of the vehicle; wherein the body acceleration includes: vertical acceleration, horizontal acceleration and pitch acceleration; Performing motion fuzzy control on the vehicle according to a weighting factor corresponding to the vehicle body acceleration to obtain a body motion state of the vehicle; Controlling the damping force of the wheel suspension system of the vehicle according to the vehicle body motion state and the road surface state to obtain the shock absorbing damping force of the wheel; The shock absorbing damping forces of the wheels are mutually weighted and correlated to determine the control current value of each magnetorheological damper; wherein the magnetorheological damper is pre-installed in the wheel suspension system.

2. A vibration control method based on a magnetorheological damper according to claim 1, characterized in that: Collecting the surrounding environment information of the vehicle, and performing road surface state recognition on the road surface type information in the surrounding environment information to obtain the road surface state on which the vehicle is traveling, specifically includes: The vehicle's surrounding environment is imaged by a vehicle-mounted camera to obtain a surrounding environment image, and the surrounding environment image is analyzed to determine the surrounding environment information; wherein the surrounding environment information includes at least: road type information, weather information, air visibility information, and road obstacle information; According to the road obstacle information, 3D modeling is performed on the road surface to be traveled, and a non-horizontal area of ​​the road surface to be traveled is determined; wherein the non-horizontal area includes: a raised area and a sunken area; According to the distribution of the plurality of raised areas and the plurality of sunken areas and through the road type information, the road surface state of the road surface to be traveled is identified to obtain the road surface state on which the vehicle is to travel; The road surface state on which the vehicle is to travel is integrated with the road surface state on which the vehicle has traveled in the past to obtain the road surface state on which the vehicle is traveling.

3. The vibration reduction control method based on magnetorheological damper according to claim 1, characterized in that: By using a body sensor preset in the vehicle, the body vibration of the vehicle is collected to obtain the body acceleration of the vehicle, which specifically includes: According to the road surface state on which the vehicle is traveling, the vehicle body information of the vehicle is obtained through the vehicle body sensor; wherein the vehicle body information at least includes: the center of mass of the vehicle body, the vertical movement angle of the vehicle body, the horizontal movement angle of the vehicle body and the pitch angle of the front of the vehicle; Determine the vertical movement distance of the vehicle by the center of mass of the vehicle body and the vertical movement angle of the vehicle body; and obtain the vertical acceleration of the vehicle according to the vertical movement distance and the vertical axis moment of inertia corresponding thereto; Determine the horizontal movement distance of the vehicle by the center of mass of the vehicle body and the horizontal movement angle of the vehicle body; and obtain the horizontal acceleration of the vehicle according to the horizontal movement distance and the horizontal axis moment of inertia corresponding thereto; Determine the pitch distance of the front of the vehicle by using the center of mass of the vehicle body and the pitch angle of the front of the vehicle; and obtain the pitch acceleration of the vehicle according to the pitch distance of the front of the vehicle and the distance between the front and rear axles of the vehicle wheels; The vehicle body acceleration is composed of the vertical acceleration, the horizontal acceleration and the pitch acceleration.

4. The vibration control method based on magnetorheological damper according to claim 1, characterized in that: Before performing motion fuzzy control on the vehicle according to the weighting factor corresponding to the vehicle body acceleration to obtain the vehicle body motion state, the method further includes: According to the dynamic balance control strategy of the wheel suspension system, the vertical acceleration, the horizontal acceleration and the pitch acceleration are controlled in association so that a mutually restrictive control relationship is formed among the vertical acceleration, the horizontal acceleration and the pitch acceleration, and a control strategy relationship of the vehicle body acceleration is obtained; According to the control strategy relationship among the vertical acceleration, the horizontal acceleration and the pitch acceleration, the vehicle is subjected to vibration suppression control to obtain a weighting factor corresponding to the vehicle body acceleration; wherein the weighting factor includes: a vertical weighting factor, a horizontal weighting factor and a pitch weighting factor.

5. A vibration control method based on a magnetorheological damper according to claim 4, characterized in that: According to the weighting factor corresponding to the vehicle body acceleration, the vehicle is subjected to motion fuzzy control to obtain the vehicle body motion state, specifically including: Determining the weight values ​​of the vertical weighting factor, the horizontal weighting factor, and the pitch weighting factor; If the vertical weighting factor is greater than the horizontal weighting factor and the pitch weighting factor, the vertical acceleration of the vehicle is the main suppression object of vehicle body stability, and the vertical acceleration is subjected to motion fuzzy control through a preset fuzzy set to suppress the vertical vibration corresponding to the vertical acceleration, thereby obtaining a first suppressed vehicle body state of the vehicle; wherein the fuzzy set is generated by a triangular distribution similar to a normal distribution as a membership function, and the fuzzy set at least includes: a vehicle body vertical acceleration set, a vehicle body vertical velocity set, a vehicle body pitch angle set, a vehicle body pitch angular velocity set, a vehicle body horizontal acceleration set, and a vehicle body horizontal velocity set; If the horizontal weighting factor is greater than the vertical weighting factor and the pitch weighting factor, the horizontal acceleration of the vehicle is the main suppression object of vehicle body stability, and the horizontal acceleration is subjected to motion fuzzy control through the fuzzy set to obtain a second suppressed vehicle body state of the vehicle; If the pitch weighting factor is greater than the horizontal weighting factor and the vertical weighting factor, the pitch acceleration is the main suppression object for vehicle body stability, and the pitch acceleration is subjected to motion fuzzy control through the fuzzy set to obtain a third suppressed vehicle body state of the vehicle; The vehicle body movement state includes: the first vehicle body suppression state, the second vehicle body suppression state and the third vehicle body suppression state.

6. The vibration reduction control method based on magnetorheological damper according to claim 1, characterized in that: According to the vehicle body motion state and the road surface state, the damping force of the wheel suspension system of the vehicle is controlled to obtain the shock absorbing damping force of the wheel, specifically including: Performing state judgment on the movement state of the vehicle body; If the vehicle body motion state is the first suppressed vehicle body state or the second suppressed vehicle body state, then according to the road surface state, the instantaneous linear extrusion spring force of each wheel in the wheel suspension system of the vehicle is collected; wherein the instantaneous linear extrusion spring force is the instantaneous extrusion deformation force of the shock absorbing spring in the wheel suspension system; According to the instantaneous linear extrusion spring force of each wheel, based on a preset vehicle shock absorption comfort index, the shock absorption damping force of all wheels is determined; wherein the vehicle shock absorption comfort index is a vehicle suspension shock absorption force index provided to the driver and passengers for riding comfort; If the vehicle body motion state is the third suppressed vehicle body state, collecting the instantaneous linear squeezing spring force of the front wheel in the wheel suspension system of the vehicle, and determining the shock absorbing damping force of the individual front wheel according to the instantaneous linear squeezing spring force of the front wheel and based on a preset vehicle shock absorbing comfort index; The shock absorbing damping force of the wheels is composed of the shock absorbing damping force of all the wheels and the shock absorbing damping force of the single front wheel.

7. The vibration reduction control method based on magnetorheological damper according to claim 1, characterized in that: The shock absorbing damping forces of the wheels are mutually weighted and correlated to determine the control current value of each magnetorheological damper, specifically including: According to the vehicle body motion state, the shock absorbing damping force of all wheels and the shock absorbing damping force of the single front wheel are coordinated and associated controlled by a weighted term of a preset differential equation to obtain the shock absorbing damping force corresponding to each wheel; The shock absorbing damping force corresponding to each wheel is converted into corresponding electrical energy through the wheel suspension system to obtain a control voltage value and a control current value of each magnetorheological damper.

8. A vibration reduction control method based on a magnetorheological damper according to claim 7, characterized in that: After the shock absorbing damping forces of the wheels are weightedly correlated with each other to determine the control current value of each magnetorheological damper, the method further includes: By using the corresponding control current value and the control voltage value, current regulation is performed on each magnetorheological damper to obtain the coil current value of each magnetorheological damper; According to the coil current value, the magnetic field in the throttle hole in each magnetorheological damper is adjusted and controlled, and the resistance of the magnetorheological fluid flowing through the throttle hole is changed, so that the damping force of each magnetorheological damper is adjusted accordingly.

9. A vibration control device based on a magnetorheological damper, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, so that the at least one processor can execute the vibration reduction control method based on the magnetorheological damper according to any one of claims 1-8.

10. A non-volatile computer storage medium, characterized in that: The storage medium is a non-volatile computer-readable storage medium, and the non-volatile computer-readable storage medium stores at least one program, each of which includes instructions, and when the instructions are executed by the terminal, the terminal executes a shock absorption control method based on a magnetorheological damper according to any one of claims 1-8.

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