Brake and damper cooperative control system and method during braking and accelerating of motorcycle

Abstract

The invention discloses a brake and damper cooperative control system and method during braking and accelerating of a motorcycle. The system comprises a front damper, a rear damper, a front wheel brake, a rear wheel brake and a controller MCU. The front wheel brake handle is connected with the controller MCU, and the controller MCU is connected with the front damper and the front wheel brake. The rear wheel brake handle is connected with the controller MCU, and the controller MCU is connected with the rear damper and the rear wheel brake. The speed regulation rotating handle is connected with the controller MCU, the controller MCU is connected with the rear wheel driving controller, and the rear wheel driving controller sends a signal to the motor to control the rotating speed of the rear wheel; and action signals of the front wheel damper brake handle, the rear wheel damper brake handle and the speed regulation rotating handle are detected by the double-path Hall sensor and are transmitted to the controller MCU. Corresponding data are collected in a real-time driving scene, damping is calculated and adjusted, damping adjustment is completed through an intelligent control method, the response timeliness of the brake and the damper is improved, and cooperative control over the brake and the damper is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of motorcycles, and in particular to a brake and damper coordinated control system and method for braking and accelerating a motorcycle. Background Art

[0002] With the development of the motorcycle industry, users have put forward higher requirements for the safety, maneuverability and comfort of motorcycle driving. The brakes and dampers of traditional motorcycles are relatively independent during braking and acceleration, and there is a problem of response lag, which makes it difficult to adapt to complex actual driving scenarios and affects the safety of control. In addition, the existing control methods lack system integration and have low energy utilization. Therefore, there is an urgent need for a method for coordinated control of brakes and dampers during motorcycle braking and acceleration, which can solve the above problems through intelligent control methods and improve the overall performance of motorcycles.

[0003] The damping system of existing motorcycles only produces follow-up adjustment action when acceleration and braking have actually produced action effects, so there is a relative lag in damping adjustment, which will affect driving comfort and safety, especially for pure electric-driven motorcycles, because their action response is faster, and higher requirements are placed on the damping adjustment speed. Summary of the invention

[0004] The present invention provides a brake and damper coordinated control system and method for braking and accelerating a motorcycle, which collects corresponding data and calculates and adjusts damping in a real-time driving scene, completes damping adjustment through an intelligent control method, improves the timeliness of the brake and damper response, and realizes coordinated control of the brake and damper.

[0005] The technical solution adopted by the present invention is:

[0006] A brake and damper coordinated control system for braking and accelerating a motorcycle, the system comprising:

[0007] Front damper, rear damper, front wheel brake, rear wheel brake, controller MCU, front wheel brake handle, rear wheel brake handle, speed control handle, rear wheel drive controller;

[0008] The front wheel brake handle is connected to the controller MCU, and the controller MCU is connected to the front damper and the front wheel brake respectively;

[0009] The rear wheel brake handle is connected to the controller MCU, and the controller MCU is respectively connected to the rear damper and the rear wheel brake;

[0010] The speed control handle is connected to the controller MCU, the controller MCU is connected to the rear wheel drive controller, and the rear wheel drive controller sends a signal to the motor to control the rear wheel speed;

[0011] The action signals of the front wheel brake handle, the rear wheel brake handle and the speed control handle are all detected by dual-channel Hall sensors and transmitted to the controller MCU.

[0012] The controller MCU is connected to the front damper, the rear damper, the front wheel brake, the rear wheel brake, the front wheel brake handle, the rear wheel brake handle, the speed control handle, and the rear wheel drive controller through the CAN bus.

[0013] A method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle.

[0014] The brake signal of the front wheel brake handle is collected by two identical first Hall sensors, and the controller MCU performs differential operation on the two Hall sensor input signals in real time. If the difference is less than the set value, the brake signal is considered normal, and the signal of the designated Hall sensor is used as the brake command and the brake is executed; otherwise, the front wheel brake signal is considered to be faulty, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

[0015] The brake signal of the rear wheel brake handle is collected by two identical second Hall sensors, and the controller MCU performs differential operation on the two Hall sensor input signals in real time. If the difference is less than the set value, the brake signal is considered normal, and the designated Hall sensor signal is used as the brake command and the brake is executed; otherwise, the rear wheel brake signal is considered to be faulty, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

[0016] The action signal of the speed control handle is collected by dual-channel Hall sensors, and the controller MCU performs differential operation on the dual-channel Hall sensor input signals in real time. If the difference is less than the set value, the speed control is performed according to the designated Hall sensor signal; if the difference is greater than the set value, the speed control signal is considered abnormal, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

[0017] A method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle.

[0018] When the front wheel of the motorcycle is braked, the front damper needs to be actively linked and the damping force needs to be increased to reduce the risk of the front body flipping due to rapid sinking of the front wheel under braking;

[0019] When the rear wheel of the motorcycle is braked, the rear damper needs to be actively linked and the damping force needs to be increased to reduce the risk of the rear body tilting or flipping due to the rapid sinking of the brakes;

[0020] When the front and rear wheels of a motorcycle are braked at the same time, the impact force and center of gravity changes on the vehicle body are more complicated. At this time, the front damper and the rear damper need to be linked and increase the damping force at the same time to effectively avoid dangerous situations under emergency and complex braking operations;

[0021] When the motorcycle accelerates, especially quickly, the rear damper needs to actively link and increase the damping force to reduce the risk of tilting or rear rollover caused by the rapid sinking of the rear body due to acceleration.

[0022] The degree or regularity of active adjustment of the corresponding dampers under front wheel braking, rear wheel braking and acceleration conditions can be fitted into a braking (acceleration) Hall signal-damping relationship curve based on the data obtained during prior debugging, and written into the controller MCU5 with code. During execution, the controller MCU5 calls the corresponding damping data according to the Hall signal, and controls the damper adjustment through the damping electronic control signal.

[0023] A method for cooperatively controlling a brake and a damper during braking and acceleration of a motorcycle comprises the following steps:

[0024] Step 1: Under various driving conditions of the motorcycle, the Hall sensor collects driving parameters in real time, and the controller MCU calculates the damping data to be adjusted;

[0025] Step 2: Feedback the calculated damping data signal to be adjusted to the controller MCU to achieve coordinated control of the brake and the damper.

[0026] In the step 1,

[0027] When the controller MCU obtains the signal from the front wheel brake handle, it controls the corresponding sensor to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the motorcycle acceleration, and calculates the damping data to be adjusted;

[0028] When the controller MCU obtains the signal from the rear wheel brake handle, it controls the corresponding sensor to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the motorcycle acceleration, and calculates the damping data to be adjusted;

[0029] When the controller MCU obtains signals from the front wheel brake handle and the rear wheel brake handle, it controls the corresponding sensors to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the motorcycle acceleration, and calculates the damping data to be adjusted;

[0030] When the controller MCU obtains the signal from the speed control handle, it controls the corresponding sensors to collect the driving speed, tire pressure, motorcycle acceleration, and calculate the damping data to be adjusted.

[0031] In the step 2,

[0032] When the front wheel brake handle sends a braking signal, the signal is input to the controller MCU, which then outputs signals to the front wheel brakes to decelerate the front wheels. At the same time, according to the damping adjustment data calculated based on the driving parameters, the damping adjustment data signal is output to the front damper to compress it and increase the damping force.

[0033] When the rear wheel brake handle sends a braking signal, the signal is input to the controller MCU, which then outputs signals to the rear wheel brakes to decelerate the rear wheels. At the same time, according to the damping adjustment data calculated based on the driving parameters, the damping adjustment data signal is output to the rear damper to compress it and increase the damping force.

[0034] When the front wheel brake handle and the rear wheel brake handle send out a brake signal at the same time, the signal is input to the controller MCU, so that the front and rear wheel brakes perform the braking action at the same time, and at the same time, according to the adjustment damping data calculated by the driving parameters, the adjustment damping data signal is output to adjust and increase the damping force of the front and rear dampers at the same time;

[0035] The speed control handlebar is actuated, and the signal is input to the controller MCU. The controller MCU calculates the adjustment damping data according to the driving parameters, and outputs the adjustment damping data signal to the rear damper to adjust the damping force of the rear damper, specifically including: when the controller MCU5 outputs an acceleration signal, the damping force of the rear damper is increased; when the controller MCU outputs a deceleration signal, the damping force of the rear damper is reduced.

[0036] The present invention provides a brake and damper coordinated control system and method for braking and accelerating a motorcycle, and the beneficial effects are as follows:

[0037] 1) By simulating the motorcycle driving conditions under various working conditions and determining the damping influence coefficient, the present invention can collect driving parameters in real time for calculation, which has high integration and improves the comprehensive performance of the motorcycle.

[0038] 2) The coordinated control of the brake and damper achieved by the present invention can accurately cope with complex braking conditions while improving the response speed and the service life of the vehicle, ensuring that the acceleration process is stable and controllable, thereby reducing safety issues such as vehicle body tilting or flipping during operation.

[0039] 3) The present invention predicts and adjusts the damping accordingly based on the sensor source signals of acceleration and braking, so that acceleration, braking and damping adjustment are performed synchronously, with faster damping adjustment speed and better effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below in conjunction with the accompanying drawings and examples;

[0041] Figure 1 The control system structure of the present invention is shown in FIG. Figure 1 ;

[0042] Figure 2 The control system structure of the present invention is shown in FIG. Figure 2 .

[0043] Figure 3 This is a flow chart of the control method of the present invention.

[0044] Figure 4 This is the relationship curve between the Hall signal current and the damping force when the motorcycle is accelerating and braking.

[0045] Among them: 1-front damper, 2-rear damper, 3-front wheel brake, 4-rear wheel brake, 5-controller MCU, 6-front wheel brake handle, 7-rear wheel brake handle, 8-speed control handle, 9-rear wheel drive controller. DETAILED DESCRIPTION

[0046] A brake and damper coordinated control system and method for braking and accelerating a motorcycle, the method comprising: collecting driving parameters in real time under various driving conditions of the motorcycle through sensors and calculating and adjusting damping; feeding back the adjusted damping to the controller MCU to achieve coordinated control of the brake and damper; and determining the damping influence coefficient by simulating the motorcycle driving conditions under various driving conditions. The driving parameters can be collected in real time through the present invention for calculation, and the method has high integration and improves the comprehensive performance of the motorcycle.

[0047] like Figure 1 , Figure 2 As shown, a brake and damper coordinated control system for braking and accelerating a motorcycle, the system comprising:

[0048] Front damper 1, rear damper 2, front wheel brake 3, rear wheel brake 4, controller MCU 5, front wheel brake handle 6, rear wheel brake handle 7, speed control handle 8, rear wheel drive controller 9;

[0049] The front wheel brake handle 6 is connected to the controller MCU5 through a control signal line, and the controller MCU5 leads out two control signal lines to connect the front damper 1 and the front wheel brake 3 respectively;

[0050] The rear wheel brake handle 7 is connected to the controller MCU5 through a control signal line, and the controller MCU5 leads out two control signal lines to connect the rear damper 2 and the rear wheel brake 4 respectively;

[0051] The speed control knob 8 is connected to the controller MCU5 through a control signal line, and the controller MCU5 is connected to the rear wheel drive controller 9, and the rear wheel drive controller 9 sends a signal to the motor to control the rear wheel speed;

[0052] The action signals of the front wheel brake handle 6, the rear wheel brake handle 7 and the speed regulating handle 8 are all detected by the dual-channel Hall sensor and transmitted to the controller MCU5.

[0053] Front damper 1 uses Ohlins YA126 damper.

[0054] Rear damper 2 uses Öhlins TTX36 damper.

[0055] The controller MCU5 is integrated in the Continental MK100 electronic brake system.

[0056] The rear wheel drive controller 9 adopts the XENSIV TLE9879 drive controller of Infineon.

[0057] The controller MCU5 is connected to the front damper 1, the rear damper 2, the front wheel brake 3, the rear wheel brake 4, the front wheel brake handle 6, the rear wheel brake handle 7, the speed control handle 8, and the rear wheel drive controller 9 through the CAN bus.

[0058] A method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle, wherein the brake signal of the front wheel brake lever 6 is collected by two identical first Hall sensors 10, and the controller MCU5 performs differential operation on the two Hall sensor input signals in real time. If the difference is less than a set value, it is considered that the brake signal is normal, and the designated Hall sensor signal is used as a brake command and the brake is executed; otherwise, it is considered that the front wheel brake signal is faulty, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

[0059] The first Hall sensor 10 is an AH402F Hall sensor.

[0060] The brake signal of the rear wheel brake handle 7 is collected by two identical second Hall sensors, and the controller MCU5 performs differential operation on the two Hall sensor input signals in real time. If the difference is less than the set value, it is considered that the brake signal is normal, and the designated Hall sensor signal is used as the brake command and the brake is executed; otherwise, it is considered that the rear wheel brake signal is faulty, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

[0061] The second Hall sensor uses AH402F Hall sensor.

[0062] The action signal of the speed control handle 8 is collected by dual-channel Hall sensors, and the controller MCU5 performs differential operation on the dual-channel Hall sensor input signals in real time. If the difference is less than the set value, the speed is controlled according to the designated Hall sensor signal; if the difference is greater than the set value, the speed control signal is considered abnormal, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

[0063] The dual-channel Hall sensor uses the CHE18-15N11-H710 bidirectional Hall switch sensor.

[0064] A method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle. When the front wheel of the motorcycle is braked, the front damper 1 needs to be actively linked and the damping force is increased to reduce the risk of front flipping caused by rapid sinking of the front vehicle body due to braking.

[0065] When the rear wheel of the motorcycle is braked, the rear damper 2 needs to be actively linked and the damping force is increased to reduce the risk of the rear body tilting or flipping due to the rapid sinking of the brakes;

[0066] When the front and rear wheels of a motorcycle are braked at the same time, the impact force on the vehicle body and the change of the center of gravity are more complicated. At this time, the front damper 1 and the rear damper 2 need to be linked and increase the damping force at the same time to effectively avoid dangerous situations under emergency and complex braking operations;

[0067] When the motorcycle accelerates, especially quickly, the rear damper 2 needs to be actively linked and the damping force is increased to reduce the risk of tilting or rear rollover caused by the rapid sinking of the rear body due to acceleration.

[0068] The degree or regularity of active adjustment of the corresponding damper under front wheel braking, rear wheel braking and acceleration conditions can be fitted into a braking (acceleration) Hall signal-damping relationship curve based on the data obtained during prior debugging, such as Figure 4 As shown. The code is written into the controller MCU5. When executed, the controller MCU5 calls the corresponding damping data according to the Hall signal and controls the damper adjustment through the damping electric control signal.

[0069] A method for cooperatively controlling a brake and a damper during braking and acceleration of a motorcycle comprises the following steps:

[0070] Step 1: Under various driving conditions of the motorcycle, the Hall sensor collects driving parameters in real time, and the controller MCU5 calculates the damping data to be adjusted;

[0071] Step 2: Feedback the calculated damping data signal to be adjusted to the controller MCU5 to achieve coordinated control of the brake and the damper.

[0072] In the step 1,

[0073] When the controller MCU5 obtains the signal from the front wheel brake handle 6, it controls the corresponding sensor to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the motorcycle acceleration, and calculates the damping data to be adjusted;

[0074] When the controller MCU5 obtains the signal from the rear wheel brake handle 7, it controls the corresponding sensor to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the motorcycle acceleration, and calculates the damping data to be adjusted;

[0075] When the controller MCU5 obtains the signals from the front wheel brake handle 6 and the rear wheel brake handle 7, it controls the corresponding sensors to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the motorcycle acceleration, and calculates the damping data to be adjusted;

[0076] The driving speed is collected by a Hall speed sensor (model MA7021) in combination with a magnet. The magnet is installed on the wheel hub, and a sensor is installed on a fixed part such as a vehicle frame.

[0077] The Hall signal current during braking is collected by the first and second Hall sensors, and the installation position is as follows: Figure 1 As shown;

[0078] The brake type is determined by the controller MCU5 according to the signal current of the first and second Hall sensors;

[0079] The tire pressure is collected by a tire pressure sensor (model MLX91805) fixed on the inner side of the valve stem close to the tire wall;

[0080] The acceleration is collected by a Hall effect sensor SS495A, which is installed at the end of the motor shaft.

[0081] When the controller MCU5 obtains the signal from the speed regulating handle 8, it controls the corresponding sensors to collect the driving speed, tire pressure, and acceleration of the motorcycle, and calculates the damping data to be adjusted.

[0082] In the step 2,

[0083] When the front wheel brake handle 6 sends a brake signal, the signal is input to the controller MCU5, and the controller MCU5 outputs signals to the front wheel brake 3 to decelerate the front wheel. At the same time, according to the adjustment damping data calculated by the driving parameters, the adjustment damping data signal is output to the front damper 1 to compress it and increase the damping force;

[0084] When the rear wheel brake handle 7 sends a brake signal, the signal is input to the controller MCU5, and the controller MCU5 outputs signals to the rear wheel brake 4 to decelerate the rear wheel. At the same time, according to the adjustment damping data calculated by the driving parameters, the adjustment damping data signal is output to the rear damper 2 to compress it and increase the damping force;

[0085] When the front wheel brake lever 6 and the rear wheel brake lever 7 send out brake signals at the same time, the signals are input to the controller MCU5, so that the front and rear wheel brakes perform braking actions at the same time, and at the same time, according to the adjustment damping data calculated by the driving parameters, the adjustment damping data signal is output to adjust and increase the damping force of the front and rear dampers at the same time;

[0086] The speed control handle 8 is actuated, and a signal is input to the controller MCU5. The controller MCU5 calculates the adjustment damping data according to the driving parameters, and outputs the adjustment damping data signal to the rear damper 2 to adjust the damping force of the rear damper 2, specifically including: when the controller MCU5 outputs an acceleration signal, the damping force of the rear damper 2 is increased; when the controller MCU5 outputs a deceleration signal, the damping force of the rear damper 2 is reduced.

[0087] The above driving parameters include: driving speed v, brake part parameter f, Hall signal current I during braking, brake type parameter T, tire pressure p, and motorcycle acceleration a.

[0088] To achieve automatic damping adjustment, calculate using the following formula:

[0089]

[0090] Wherein, D represents the adjustable damping force; v is the driving speed; b is the basic damping force; k1, k2, k3 are the first, second, and third damping influence coefficients respectively;

[0091] f is a brake part parameter, and the brake parts include front wheel brake, rear wheel brake, and front and rear wheel brake at the same time. Preferably, when the brake part is the front wheel brake, f=2; when the brake part is the rear wheel brake, f=1; when the brake part is the front and rear wheel brake at the same time, f=1.5; when neither the front nor the rear wheel brakes, f=0;

[0092] I is the Hall signal current when braking, I≥0. Preferably, when the braking part is the front wheel brake, I is equal to the Hall signal current I1 of the front wheel brake handle; when the braking part is the rear wheel brake, I is equal to the Hall signal current I2 of the rear wheel brake handle; when the braking part is the front and rear wheels braking at the same time, I is equal to the maximum value of I1 and I2; when neither the front nor the rear wheels are braked, I=0;

[0093] T is a brake type parameter, and the brake type is divided into emergency brake, slow brake, and normal brake according to the speed of change of the Hall signal current when the brake part is braked. Preferably, when the brake type is emergency brake, T=1; when the brake type is slow brake, T=0.5; when the brake type is normal brake or the front and rear wheels are not braked, T=0;

[0094] p is tire pressure. Preferably, when the front wheel is braked, p is equal to the front tire pressure p1; when the rear wheel is braked, p is equal to the rear tire pressure p2; when the front and rear wheels are braked at the same time, p=0.6p1+0.4p2; the front and rear tire pressures are obtained in real time through sensors;

[0095] a is the acceleration of the motorcycle. In particular, when a>0, the motorcycle is accelerating, I=0, T=0, f=0, p=0.6p1+0.4p2.

[0096] The k1, k2, k3, and b are obtained by the following method:

[0097] Step S1: Data collection:

[0098] The sensors are used to measure the speed v, the Hall signal current I, the braking type T, the tire pressure p, the braking position f, and the acceleration a under n different working conditions in real time, and the optimal damping value D suitable for each working condition is determined;

[0099] Each set of working condition data is recorded as v i ,I i , T i 、p i 、f i 、a i , D i ; i = 1, 2, 3, ..., n;

[0100] Step S2: Construct k1, k2, k3, b to solve the model:

[0101] make E i =D i (1+v i I i );

[0102] The parameters k1, k2, k3, and b can be solved by the following formula using the gradient descent iterative method:

[0103]

[0104] A1, B1, C1, and E1 represent the parameters obtained under each set of working conditions, and so on;

[0105] The advantages of obtaining the above k1, k2, k3, and b are:

[0106] (1)A i , B i , C i 、E i All of them contain multi-state parameters when the motorcycle is running, and are expressed in the form of concentrated parameters to make the formula more concise;

[0107] (2) The principle of solving k1, k2, k3, and b in the present invention is actually an iterative solution process of a type of gradient descent method, which has faster convergence when solving parameters than other iterative algorithms.

Claims

1. A brake and damper coordinated control system for motorcycle braking and acceleration, characterized in that: The system comprises: a front damper (1), a rear damper (2), a front wheel brake (3), a rear wheel brake (4), a controller MCU, a front wheel brake handle (6), a rear wheel brake handle (7), a speed control knob (8), and a rear wheel drive controller (9); The front wheel brake handle (6) is connected to the controller MCU, and the controller MCU is respectively connected to the front damper (1) and the front wheel brake (3); the rear wheel brake handle (7) is connected to the controller MCU, and the controller MCU is respectively connected to the rear damper (2) and the rear wheel brake (4); the speed control handle (8) is connected to the controller MCU, and the controller MCU is connected to the rear wheel drive controller (9), and the rear wheel drive controller (9) sends a signal to the motor to control the rear wheel speed; The action signals of the front wheel brake handle (6), the rear wheel brake handle (7) and the speed regulating handle (8) are all detected by dual-channel Hall sensors and transmitted to the controller MCU.

2. The brake and damper coordinated control system for braking and accelerating a motorcycle according to claim 1, characterized in that: The controller MCU is communicatively connected with the front damper (1), the rear damper (2), the front wheel brake (3), the rear wheel brake (4), the front wheel brake handle (6), the rear wheel brake handle (7), the speed regulating handle (8), and the rear wheel drive controller (9) via a CAN bus.

3. A method for cooperatively controlling brakes and dampers during braking and acceleration of a motorcycle using the control system as claimed in claim 1 or 2, characterized in that: The brake signal of the front wheel brake lever (6) is collected by two identical first Hall sensors (10), and the controller MCU performs a differential operation on the two Hall sensor input signals in real time. If the difference is less than a set value, it is considered that the brake signal is normal, and the signal of the designated Hall sensor is used as a brake command and the brake is executed; otherwise, it is considered that the front wheel brake signal is faulty, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

4. The method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle according to claim 3, characterized in that: The brake signal of the rear wheel brake lever (7) is collected by two identical second Hall sensors, and the controller MCU performs differential operation on the two Hall sensor input signals in real time. If the difference is less than the set value, it is considered that the brake signal is normal, and the signal of the designated Hall sensor is used as the brake command and the brake is executed; otherwise, it is considered that the rear wheel brake signal is faulty, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

5. The method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle according to claim 4, characterized in that: The action signal of the speed control knob (8) is collected by a dual-channel Hall sensor, and the controller MCU performs a differential operation on the dual-channel Hall sensor input signals in real time. If the difference is less than a set value, the speed control is performed according to the Hall sensor signal designated by one of the channels; if the difference is greater than the set value, the speed control signal is considered abnormal, and an alarm is prompted or the vehicle speed is limited to a safe speed until the fault is rectified.

6. A method for cooperatively controlling brakes and dampers during braking and acceleration of a motorcycle using the control system as claimed in claim 1 or 2, characterized in that: When the front wheel of the motorcycle is braked, the front damper (1) is actively linked and the damping force is increased; When the rear wheel of the motorcycle is braked, the rear damper (2) is actively linked and the damping force is increased; When the front and rear wheels of the motorcycle are braked at the same time, the front damper (1) and the rear damper (2) are simultaneously linked and the damping force is increased; When the motorcycle accelerates, especially when accelerating rapidly, the rear damper (2) is actively linked and the damping force is increased.

7. The method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle according to claim 6, characterized in that: The degree of active adjustment of the corresponding damper under front wheel braking, rear wheel braking and acceleration is fitted into a brake Hall signal-damping relationship curve based on the data obtained during prior debugging, and written into the controller MCU with code. During execution, the controller MCU calls the corresponding damping data according to the Hall signal and controls the damper adjustment through the damping electronic control signal.

8. A method for cooperatively controlling the brake and damper of a motorcycle during braking and acceleration using the control system as claimed in claim 1 or 2, characterized in that The following steps are involved: Step 1: Under various driving conditions of the motorcycle, the Hall sensor collects driving parameters in real time, and the controller MCU calculates the damping data to be adjusted; Step 2: Feedback the calculated damping data signal to be adjusted to the controller MCU5 to achieve coordinated control of the brake and the damper.

9. The method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle according to claim 8, characterized in that: In the step 1, When the controller MCU obtains a signal from the front wheel brake handle (6), it controls the corresponding sensor to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the motorcycle acceleration, and calculates the damping data to be adjusted; When the controller MCU obtains a signal from the rear wheel brake handle (7), it controls the corresponding sensor to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the motorcycle acceleration, and calculates the damping data to be adjusted; When the controller MCU obtains signals from the front wheel brake handle (6) and the rear wheel brake handle (7), it controls the corresponding sensors to collect the driving speed, the Hall signal current during braking, the brake type, the tire pressure, the acceleration of the motorcycle, and calculates the damping data to be adjusted; When the controller MCU obtains a signal from the speed regulating handle (8), it controls the corresponding sensors to collect the running speed, tire pressure, and acceleration of the motorcycle, and calculates the damping data to be adjusted.

10. The method for coordinated control of brakes and dampers during braking and acceleration of a motorcycle according to claim 8, characterized in that: In the step 2, When the front wheel brake handle (6) sends a brake signal, the signal is input to the controller MCU, and the controller MCU outputs signals to the front wheel brake (3) to decelerate the front wheel. At the same time, according to the damping adjustment data calculated by the driving parameters, the damping adjustment data signal is output to the front damper (1) to compress it and increase the damping force. When the rear wheel brake handle (7) sends a brake signal, the signal is input to the controller MCU, and the controller MCU outputs signals to the rear wheel brake (4) to decelerate the rear wheel. At the same time, according to the damping adjustment data calculated by the driving parameters, the damping adjustment data signal is output to the rear damper (2) to compress it and increase the damping force. When the front wheel brake lever (6) and the rear wheel brake lever 7 send out a brake signal at the same time, the signal is input to the controller MCU, so that the front and rear wheel brakes perform the braking action at the same time, and at the same time, according to the adjustment damping data calculated by the driving parameters, the adjustment damping data signal is output to adjust and increase the damping force of the front and rear dampers at the same time; The speed control handle (8) is actuated, and a signal is input to the controller MCU, and the controller MCU outputs a damping adjustment data signal to the rear damper (2) based on the damping adjustment data calculated by the driving parameters, thereby adjusting the damping force of the rear damper (2), specifically including: when the controller MCU outputs an acceleration signal, increasing the damping force of the rear damper (2); When the controller MCU outputs a deceleration signal, the damping force of the rear damper (2) is reduced.

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