Suspension attitude rapid switching control method and system

Abstract

The invention discloses a suspension posture rapid switching control method and system, and belongs to the technical field of suspension control of engineering machinery. The method comprises the following steps: switching control from a high-speed mode to a low-speed mode: simultaneously descending the front suspension oil cylinder to a zero position, and keeping descending action; the rear suspension oil cylinder is controlled to move towards the median value at the same time and stops moving until the median value is within the range of the median threshold value; switching control from the low-speed mode to the high-speed mode: detecting the offset between the position of a rear suspension oil cylinder and the position of a median value; controlling the rear suspension oil cylinder to stop when the rear suspension oil cylinder moves to a middle position threshold value range according to the offset; when the position of the front suspension oil cylinder is smaller than the middle position, the left front suspension oil cylinder and the right front suspension oil cylinder are controlled to ascend at the same time; and when it is detected that the front suspension oil cylinder reaches the middle position, the front suspension oil cylinder is controlled to stop. In the switching process of the high-speed mode and the low-speed mode, quick suspension posture switching can be achieved at a time, the switching speed is high, and the high-low speed switching efficiency of vehicle transition and the stability of the switching process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery suspension control, and more specifically, to a suspension attitude rapid switching control method and system. Background Art

[0002] With the rapid development of construction machinery technology, especially earthmoving construction machinery, in addition to having efficient operation functions, it also needs to have the ability to transfer at high speed by itself. For example, high-speed bulldozers, high-speed loaders, etc. Different from general earthmoving machinery, the maximum driving speed of high-speed earthmoving machinery is often greater than 60 km / h, and different suspension postures need to be adjusted during high-speed driving and low-speed driving to meet the shock absorption needs of the vehicle body and improve driving comfort.

[0003] In the existing suspension attitude switching, proximity sensors are generally installed on both the upper and lower sides of the axial middle position of the suspension cylinder. The lifting position of each suspension cylinder is judged by the proximity switch, and the position of each suspension cylinder is adjusted one by one during the automatic switching of the suspension attitude until the positions of all suspension cylinders reach the target position and then stop. Since the response time of the hydraulic system is much lower than that of the electronic control, during the suspension attitude adjustment process, there will be an overshoot problem in the position control of each suspension cylinder one by one. That is, when the controller receives the signal that the position of the suspension cylinder is in place, a control instruction to stop the movement of the suspension cylinder is issued. Due to the response time difference, the hydraulic cylinder has a delayed stop process. At this time, the movement of the hydraulic cylinder will exceed the target position, and the controller will judge that the suspension cylinder has not stopped at the target position and start the suspension cylinder to move towards the target position again. It often needs to make multiple round trips to finally reach the target position, and the switching time is long.

[0004] The suspension cylinders are generally installed at the four corners of the suspension. When in the middle position, they are in an elastic support state. Since the suspension cylinders and the suspension are rigidly connected, when one suspension cylinder remains in the middle position, the movement of other suspension cylinders will cause the linkage of the stationary suspension cylinder. At this time, the stationary suspension cylinder in the middle position may deviate from the middle position, triggering the middle position control of this suspension cylinder again, causing the repeated movement of each suspension cylinder. It takes a long time to reach the middle position of the suspension cylinder, and the frame will shake irregularly with the lifting movement of the suspension cylinder during the adjustment process, bringing discomfort to the operator. Summary of the Invention

[0005] To solve the problem that during the suspension attitude switching process, the suspension cylinders move repeatedly, resulting in the irregular movement of the entire frame, and to improve the high-speed and low-speed switching efficiency and the stability of the switching process of the vehicle during transfer.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] A rapid suspension attitude switching control method, comprising: determining whether the suspension is in a low-speed mode or a high-speed mode, and when receiving an instruction for switching control from the high-speed mode to the low-speed mode or from the low-speed mode to the high-speed mode, controlling the suspension cylinder group to act for suspension attitude switching;

[0008] The switching control from the high-speed mode to the low-speed mode specifically includes:

[0009] Obtaining a suspension mode switching instruction, and in response to the suspension mode switching instruction and according to the current suspension mode, controlling the suspension cylinder group to act for suspension attitude switching, where the suspension mode includes a low-speed mode and a high-speed mode;

[0010] The controlling the suspension cylinder group to act for suspension attitude switching in response to the suspension mode switching instruction and according to the current suspension mode includes:

[0011] The switching from the high-speed mode to the low-speed mode specifically includes:

[0012] Controlling the left front suspension cylinder and the right front suspension cylinder to descend to the zero position simultaneously and maintaining the descending action;

[0013] Respectively detecting the offset of the positions of the left rear suspension cylinder and the right rear suspension cylinder from the middle position and comparing the offsets; controlling the suspension cylinder with the small offset to be stationary and controlling the suspension cylinder with the large offset to move towards the suspension cylinder with the small offset;

[0014] When the left rear suspension cylinder and the right rear suspension cylinder reach the same position, controlling the left rear suspension cylinder and the right rear suspension cylinder to move towards the middle position simultaneously, and stopping the movement when reaching within a preset middle position threshold range;

[0015] The switching from the low-speed mode to the high-speed mode specifically includes:

[0016] Respectively detecting the offsets of the positions of the left rear suspension cylinder and the right rear suspension cylinder from the middle position;

[0017] Respectively controlling the left rear suspension cylinder and the right rear suspension cylinder to move to within a preset middle position threshold range according to the offsets;

[0018] After moving to within the preset middle position threshold range, if the position of the left front suspension cylinder or the right front suspension cylinder is less than the middle position, controlling the left front suspension cylinder or the right front suspension cylinder to rise simultaneously;

[0019] When it is detected that the left front suspension cylinder reaches the middle position, controlling the left front suspension cylinder to stop moving; when it is detected that the right front suspension cylinder reaches the middle position, controlling the right front suspension cylinder to stop moving.

[0020] Controlling the left rear suspension cylinder and the right rear suspension cylinder to move towards the middle position simultaneously and stop when reaching within a preset middle position threshold range includes:

[0021] When the left rear suspension cylinder or the right rear suspension cylinder is higher than the upper deviation threshold of the middle position, control the left rear suspension cylinder or the right rear suspension cylinder to descend to the upper deviation threshold of the middle position and stop moving;

[0022] When the positions of the left rear suspension cylinder and the right rear suspension cylinder are lower than the lower deviation threshold of the middle position, control the left rear suspension cylinder and the right rear suspension cylinder to ascend to the lower deviation threshold of the middle position and stop moving. If it is detected that the left rear suspension cylinder or the right rear suspension cylinder overshoots to the upper deviation threshold of the middle position, then control the left rear suspension cylinder or the right rear suspension cylinder to descend to the upper deviation threshold of the middle position and stop moving.

[0023] Controlling the left rear suspension cylinder and the right rear suspension cylinder to move to within the middle position threshold range according to the offset includes:

[0024] When the left rear suspension cylinder or the right rear suspension cylinder is higher than the upper deviation threshold of the middle position, control the left rear suspension cylinder or the right rear suspension cylinder to descend to the upper deviation threshold of the middle position and stop moving;

[0025] When the position of the left rear suspension cylinder or the right rear suspension cylinder is lower than the middle position value, control the left rear suspension cylinder or the right rear suspension cylinder to ascend to the middle position value and stop moving. If it is detected that the left rear suspension cylinder or the right rear suspension cylinder overshoots to the upper deviation threshold of the middle position, then control the left rear suspension cylinder or the right rear suspension cylinder to descend to the upper deviation threshold of the middle position and stop moving.

[0026] Controlling the left front suspension cylinder or the right front suspension cylinder to ascend simultaneously includes:

[0027] Detect the position difference during the ascending process of the left front suspension cylinder and the right front suspension cylinder. When the absolute value of the position difference is greater than the critical value, stop the ascending of the higher-position cylinder among the left front suspension cylinder and the right front suspension cylinder, and then ascend simultaneously when the position difference between the two is less than the critical value.

[0028] The low-speed mode is: the left front suspension cylinder and the right front suspension cylinder are at the zero position, the front part of the suspension is in a rigid support state, the left rear suspension cylinder and the right rear suspension cylinder are at the middle position, and the rear part of the suspension is in an elastic support state;

[0029] The high-speed mode is: the left front suspension cylinder, the right front suspension cylinder, the left rear suspension cylinder, and the right rear suspension cylinder are all at the middle position, and each suspension cylinder is in an elastic support state.

[0030] The median threshold range is [50 - n, 50 + n], the median value is 50, 50 + n represents the upper deviation threshold of the median, 50 - n represents the lower deviation threshold of the median, n is a positive number, and the zero value is 0.

[0031] A suspension attitude rapid switching control system includes a processor, a memory, and a computer program stored on the memory. The processor executes the computer program to implement the above method.

[0032] The system includes a suspension oil cylinder group and a suspension. The suspension oil cylinder group includes a left front suspension oil cylinder, a right front suspension oil cylinder, a left rear suspension oil cylinder, and a right rear suspension oil cylinder installed at the four corners of the suspension, which are used to support and buffer the suspension. At least one displacement sensor is installed on each of the left front suspension oil cylinder, the right front suspension oil cylinder, the left rear suspension oil cylinder, and the right rear suspension oil cylinder.

[0033] The attitude of the suspension includes a low - speed mode and a high - speed mode.

[0034] In the low - speed mode, the left front suspension oil cylinder and the right front suspension oil cylinder are at the zero position, the front part of the suspension is in a rigid support state, the left rear suspension oil cylinder and the right rear suspension oil cylinder are at the median position, and the rear part of the suspension is in an elastic support state.

[0035] In the high - speed mode, the left front suspension oil cylinder, the right front suspension oil cylinder, the left rear suspension oil cylinder, and the right rear suspension oil cylinder are all at the median position, and each suspension oil cylinder is in an elastic support state.

[0036] An earth - moving machinery vehicle includes the above - mentioned suspension attitude switching control system.

[0037] Beneficial effects: The suspension attitude rapid switching control method of the present invention enables construction machinery to quickly switch the suspension attitude once during the switching process between the high - speed mode and the low - speed mode, with a fast switching speed, improving the high - speed and low - speed switching efficiency and the stability of the switching process of the vehicle, and enhancing the operation stability, safety, and comfort of the operator. The above method realizes the coordinated control of the left and right suspension oil cylinders, and well solves the problem of the left - right shaking of the vehicle frame during the suspension attitude switching process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural diagram of a suspension attitude rapid switching control system in an embodiment of the present invention;

[0039] Figure 2 It is a flowchart of the control method for the suspension attitude to switch from the high - speed mode to the low - speed mode in an embodiment of the present invention;

[0040] Figure 3Flow chart of the control method for the suspension attitude to switch from the low-speed mode to the high-speed mode in the embodiments of the present invention. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] In order to meet the vehicle shock absorption requirements for high-speed driving, construction machinery integrating operation and high-speed driving generally has a hydraulic suspension system. Under the low-speed driving condition, it is required that the front suspension cylinder of the frame is in the low-position rigid support state, and the rear suspension cylinder is in the middle-position elastic support state to ensure the stability of the working device during the earthwork operation. At the same time, the vibration of the vehicle body during the driving process is reduced through the buffering effect of the rear suspension cylinder. When driving at high speed, it is necessary that both the front and rear suspensions of the frame are in the middle-position elastic support state to meet the shock absorption requirements of the vehicle body during high-speed driving and improve the driving comfort.

[0043] Embodiment 1

[0044] In this embodiment, a control method for rapid switching of the suspension attitude first obtains the suspension motion state information and determines whether the suspension is in the low-speed mode or the high-speed mode. After receiving the instruction to switch from the high-speed mode to the low-speed mode or from the low-speed mode to the high-speed mode, the control suspension cylinder group acts to perform the suspension attitude switching.

[0045] The low-speed mode is that the left front suspension cylinder 2 and the right front suspension cylinder 3 are in the low position, the front suspension cylinder is retracted to the bottom, the front part of the suspension can be regarded as a rigid support state, the left rear suspension cylinder 4 and the right rear suspension cylinder 5 are in the middle position, and the rear part of the suspension is an elastic support, playing a buffering and shock-absorbing role;

[0046] The high-speed mode is that all four suspension cylinders are in the middle position, the suspension is in a horizontal state, and each suspension cylinder is in an elastic support state, playing a buffering and shock-absorbing role for the entire suspension.

[0047] Taking the movement direction of the suspension cylinder as the coordinate axis, the lowest position value (zero position) of the suspension cylinder is defined as 0, the highest position value of the suspension cylinder is 100, the middle position value is set to 50, the upper deviation threshold of the middle position is 52, the lower deviation threshold of the middle position is 48, and other position values are set in an equidistant manner.

[0048] As Figure 1The shown suspension attitude switching system includes a suspension 1 and a suspension oil cylinder group. The suspension oil cylinder group includes a left front suspension oil cylinder 2, a right front suspension oil cylinder 3, a left rear suspension oil cylinder 4, and a right rear suspension oil cylinder 5, which are respectively installed at the four corners of the suspension, and are used to support and buffer the suspension 1. At least one displacement sensor is installed on each of the left front suspension oil cylinder 2, the right front suspension oil cylinder 3, the left rear suspension oil cylinder 4, and the right rear suspension oil cylinder 5.

[0049] Reference Figure 2 As shown, in this embodiment, when the suspension switches from the high-speed mode to the low-speed mode, it specifically includes the following steps:

[0050] 1) The left front suspension oil cylinder 2 and the right front suspension oil cylinder 3 simultaneously execute a descending action;

[0051] 2) After the positions L1 of the left front suspension oil cylinder 2 and L2 of the right front suspension oil cylinder 3 drop to 0, maintain the descending action of the left front suspension oil cylinder 2 and the right front suspension oil cylinder 3 to prevent the suspension oil cylinders from rebounding and rising;

[0052] 3) Detect the offsets of the positions L3 of the left rear suspension oil cylinder 4 and L4 of the right rear suspension oil cylinder 5 from the median value of 50 through the displacement sensors;

[0053] 4) First, control the suspension oil cylinder with a larger offset to move towards the position of the suspension oil cylinder with a smaller offset, and the suspension oil cylinder with a smaller offset remains stationary;

[0054] 5) When the suspension oil cylinder with a larger offset moves to the same position as the suspension oil cylinder with a smaller offset, control the left rear suspension oil cylinder 3 and the right rear suspension oil cylinder 4 to move towards the median value of 50 simultaneously;

[0055] 6) When the positions of the left rear suspension oil cylinder 3 and the left rear suspension oil cylinder 4 are higher than the median of 50, if the position of the suspension oil cylinder exceeds the upper deviation threshold of 52 from the median, a descending movement instruction is issued until the upper deviation threshold from the median is reached and then a stop movement instruction is issued. Due to the response delay of the hydraulic cylinder movement, the suspension oil cylinder will stop within the median threshold range [48, 52];

[0056] 7) When the positions of the left rear suspension oil cylinder 3 and the left rear suspension oil cylinder 4 are lower than the median of 50, if the position of the suspension oil cylinder is lower than the lower deviation threshold from the median, control the left rear suspension oil cylinder 3 and the left rear suspension oil cylinder 4 to rise until the lower deviation threshold of 48 from the median is reached and then a stop rising movement instruction is issued. Because there is an overshoot phenomenon in the suspension oil cylinder, it is necessary to judge again whether the left rear suspension oil cylinder 3 and the left rear suspension oil cylinder 4 exceed the upper deviation threshold of 52 from the median. If the position of the suspension oil cylinder exceeds the upper deviation threshold of 52 from the median, a descending movement instruction is issued until the upper deviation threshold from the median is reached and then a stop instruction is issued. Due to the response delay of the hydraulic cylinder movement, the suspension oil cylinder will stop within the median threshold range [48, 52].

[0057] Through the above steps, the rapid switching of the suspension attitude is quickly completed. After the switching, the low-speed mode better meets the low-speed driving requirements of the machine.

[0058] Reference Figure 3 As shown, in this embodiment, when the suspension switches from the high-speed mode to the low-speed mode, the following steps are specifically included:

[0059] 1) Detect the offset of the position L3 of the left rear suspension cylinder 4 from the median value 50.

[0060] 2) Detect the offset of the position L4 of the right rear suspension cylinder 5 from the median value 50.

[0061] 3) When the position of the left rear suspension cylinder 4 or the right rear suspension cylinder 5 is greater than the upper median threshold 52, control the left rear suspension cylinder 4 or the right rear suspension cylinder 5 to descend and stop at the upper deviation threshold 52.

[0062] 4) When the position of the left rear suspension cylinder 4 or the right rear suspension cylinder 5 is less than the median value 50, control the left rear suspension cylinder 4 or the right rear suspension cylinder 5 to rise to the median value 50 and stop; because there is an overshoot phenomenon in the suspension cylinder, if it is detected at this time that the position of the left rear suspension cylinder 4 or the right rear suspension cylinder 5 is greater than the upper median threshold 52, control the left rear suspension cylinder 4 or the right rear suspension cylinder 5 to descend and stop at the upper deviation threshold 52.

[0063] 5) At this time, when the position of the left front suspension cylinder 2 or the right front suspension cylinder 3 is less than the median value 50, control the left front suspension cylinder 2 and the right front suspension cylinder 3 to rise simultaneously.

[0064] 6) Detect the absolute value of the position difference during the rising process of the position L1 of the left front suspension cylinder 2 and the position L2 of the right front suspension cylinder 3.

[0065] 7) When the absolute value of the difference is greater than the critical value, stop the rising action of the suspension cylinder with the higher current position among the left front suspension cylinder 2 and the right front suspension cylinder 3. When the absolute value of the position difference between the left front suspension cylinder 2 and the right front suspension cylinder 3 is less than the threshold, continue to rise simultaneously.

[0066] 8) When it is detected that the position of the left front suspension cylinder 2 reaches the target median value 50, stop the action of the left front suspension cylinder 2; when it is detected that the position of the right front suspension cylinder 3 reaches the target median value 50, stop the action of the right front suspension cylinder 3.

[0067] Through the above steps, the rapid switching of the suspension attitude is quickly completed. After the switching, the high-speed mode better meets the high-speed driving requirements of the machine.

[0068] Beneficial effects: The rapid suspension attitude switching control method of the present invention enables construction machinery to achieve rapid switching of the suspension attitude in one go during the switching process between the high-speed mode and the low-speed mode, with a fast switching speed, improving the high-low speed switching efficiency and the stability of the switching process of the vehicle during transfer, and enhancing the operation stability, safety, and comfort of the operator; the above method realizes the coordinated control of the left suspension cylinder and the right suspension cylinder, and well solves the problem of the left-right sway of the vehicle frame during the suspension attitude switching process.

[0069] Embodiment 2

[0070] A rapid suspension attitude switching control system includes a processor, a memory, and a computer program stored on the memory. The processor executes the computer program to implement the steps of the above control method.

[0071] The control system in this embodiment further includes a suspension cylinder group and a suspension. The suspension cylinder group includes a left front suspension cylinder, a right front suspension cylinder, a left rear suspension cylinder, and a right rear suspension cylinder respectively installed at the four corners of the suspension, which are used to support and buffer the suspension. At least one displacement sensor is installed on each of the left front suspension cylinder, the right front suspension cylinder, the left rear suspension cylinder, and the right rear suspension cylinder. The displacement sensor is used to obtain the position information of the suspension cylinder in real time, facilitating the precise control of the suspension cylinder group.

[0072] The attitude of the suspension in this embodiment includes a low-speed mode and a high-speed mode. In the low-speed mode, the left front suspension cylinder and the right front suspension cylinder are in the zero position, the front part of the suspension is rigidly supported, the left rear suspension cylinder and the right rear suspension cylinder are in the middle position, and the rear part of the suspension is in an elastic support state; in the high-speed mode, the left front suspension cylinder, the right front suspension cylinder, the left rear suspension cylinder, and the right rear suspension cylinder are all in the middle position, and each suspension cylinder is in a rigid support state.

[0073] Embodiment 3

[0074] An earthmoving machinery vehicle includes the above suspension attitude switching control system.

[0075] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0076] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0077] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can still be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A suspension attitude rapid switching control method, characterized in that: include: Acquire a suspension mode switching instruction, respond to the suspension mode switching instruction and control the suspension cylinder group to switch the suspension posture according to the current suspension mode, wherein the suspension mode includes a low-speed mode and a high-speed mode; The method of responding to the suspension mode switching instruction and controlling the suspension cylinder group to switch the suspension posture according to the current suspension mode includes: Switching from high-speed mode to low-speed mode includes: Control the left front suspension cylinder and the right front suspension cylinder to descend to zero position at the same time and keep descending; The offsets of the left rear suspension cylinder and the right rear suspension cylinder from the middle position are detected respectively and the offsets are compared; the suspension cylinder with a small offset is controlled to be stationary, and the suspension cylinder with a large offset is controlled to move toward the suspension cylinder with a small offset; When the left rear suspension cylinder and the right rear suspension cylinder reach the same position, the left rear suspension cylinder and the right rear suspension cylinder are controlled to move toward the middle position at the same time, and stop moving when they reach a preset middle position threshold range; Switching from low speed mode to high speed mode includes: Respectively detecting the offset between the position of the left rear suspension cylinder and the right rear suspension cylinder and the middle position; Controlling the left rear suspension cylinder and the right rear suspension cylinder to move to a preset middle threshold range according to the offset; After moving to a preset middle position threshold range, the position of the left front suspension cylinder or the right front suspension cylinder is less than the middle position, and the left front suspension cylinder or the right front suspension cylinder is controlled to move upward simultaneously; When it is detected that the left front suspension oil cylinder reaches the middle position, the left front suspension oil cylinder is controlled to stop moving; when it is detected that the right front suspension oil cylinder reaches the middle position, the right front suspension oil cylinder is controlled to stop moving.

2. A suspension attitude rapid switching control method according to claim 1, characterized in that: The step of controlling the left rear suspension cylinder and the right rear suspension cylinder to move toward the middle position simultaneously and stop moving when the cylinder reaches a preset middle position threshold range includes: When the oil level of the left rear suspension cylinder or the right rear suspension cylinder is higher than the median upper deviation threshold, the left rear suspension cylinder or the right rear suspension cylinder is controlled to descend to the median upper deviation threshold and stop moving; When the positions of the left rear suspension cylinder and the right rear suspension cylinder are lower than the median lower deviation threshold, the left rear suspension cylinder and the right rear suspension cylinder are controlled to rise to the median lower deviation threshold and stop moving; if it is detected that the left rear suspension cylinder or the right rear suspension cylinder overshoots to the median upper deviation threshold, the left rear suspension cylinder or the right rear suspension cylinder is controlled to drop to the median upper deviation threshold and stop moving.

3. The method for rapid suspension attitude switching control according to claim 1, characterized in that: Controlling the left rear suspension cylinder and the right rear suspension cylinder to move within a middle threshold range according to the offset includes: When the oil level of the left rear suspension cylinder or the right rear suspension cylinder is higher than the upper middle deviation threshold, the left rear suspension cylinder or the right rear suspension cylinder is controlled to descend to the upper middle deviation threshold and stop moving; When the position of the left rear suspension cylinder or the right rear suspension cylinder is lower than the median value, the left rear suspension cylinder or the right rear suspension cylinder is controlled to rise to the median value and stop moving; if it is detected that the left rear suspension cylinder or the right rear suspension cylinder overshoots to the median upper deviation threshold, the left rear suspension cylinder or the right rear suspension cylinder is controlled to drop to the median upper deviation threshold and stop moving.

4. A suspension attitude rapid switching control method according to claim 1, characterized in that: The controlling the left front suspension cylinder or the right front suspension cylinder to move upward simultaneously comprises: The position difference between the left front suspension cylinder and the right front suspension cylinder during their ascent is detected. When the absolute value of the position difference is greater than a critical value, the ascent of the left front suspension cylinder and the middle and high position cylinder of the right front suspension cylinder is stopped. The cylinders are then ascent simultaneously when the position difference between the two is less than the critical value.

5. The method for rapid suspension attitude switching control according to claim 1, characterized in that: The low-speed mode is: the left front suspension cylinder and the right front suspension cylinder are at zero position, the front part of the suspension is in a rigid support state, the left rear suspension cylinder and the right rear suspension cylinder are in a neutral position, and the rear part of the suspension is in an elastic support state; The high-speed mode is as follows: the left front suspension cylinder, the right front suspension cylinder, the left rear suspension cylinder, and the right rear suspension cylinder are all in a neutral position, and each suspension cylinder is in an elastic support state.

6. A suspension attitude rapid switching control method according to claim 2, characterized in that: The median threshold range is [50-n, 50+n], the median value is 50, 50+n represents the median upper deviation threshold, 50-n represents the median lower deviation threshold, n is a positive number, and the zero value is 0.

7. A suspension attitude rapid switching control system, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory, wherein the processor executes the computer program to implement the method according to any one of claims 1 to 6.

8. A suspension attitude rapid switching control system according to claim 7, characterized in that: The invention comprises a suspension cylinder group and a suspension, wherein the suspension cylinder group comprises a left front suspension cylinder, a right front suspension cylinder, a left rear suspension cylinder and a right rear suspension cylinder installed at four corners of the suspension, and is used for supporting and buffering the suspension, and at least one displacement sensor is installed on each of the left front suspension cylinder, the right front suspension cylinder, the left rear suspension cylinder and the right rear suspension cylinder.

9. A suspension attitude rapid switching control system according to claim 7, characterized in that: The suspension posture includes a low speed mode and a high speed mode, In the low-speed mode, the left front suspension cylinder and the right front suspension cylinder are in zero position, the front part of the suspension is in a rigid support state, the left rear suspension cylinder and the right rear suspension cylinder are in a neutral position, and the rear part of the suspension is in an elastic support state; In the high-speed mode, the left front suspension cylinder, the right front suspension cylinder, the left rear suspension cylinder, and the right rear suspension cylinder are all in a neutral position, and each suspension cylinder is in an elastic support state.

10. An earth-moving machinery vehicle, characterized in that: It comprises a suspension attitude switching control system as described in any one of claims 7 to 9.

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