Suspension posture quick switching control method and system

Abstract

The application discloses a kind of suspension posture quick switching control method and system, belong to engineering machinery suspension control technical field.Method includes, high-speed mode to low-speed mode switching control: front suspension cylinder is simultaneously lowered to zero, and keep lowering action;Control rear suspension cylinder simultaneously moves to mid-value, until stop moving when in mid-threshold range;Low-speed mode to high-speed mode switching control: detect the offset of rear suspension cylinder position and mid-value position;According to the offset control rear suspension cylinder movement to stop when in mid-threshold range;When the position of front suspension cylinder is less than mid-value, control left front suspension cylinder and right front suspension cylinder simultaneously rise;When detecting that front suspension cylinder reaches mid-value, control front suspension cylinder stops.In the switching process of high-speed mode and low-speed mode, it can be realized once quickly suspension posture switching, and switching speed is fast, improve the efficiency and switching process stability of vehicle scene high-low speed switching.

Description

Technical Field

[0001] This invention relates to the field of suspension control technology for engineering machinery, and more specifically, to a method and system for rapid switching of suspension attitude. Background Technology

[0002] With the rapid development of construction machinery technology, especially earthmoving machinery, in addition to having efficient operation functions, it is also necessary to have the ability to move to different locations at high speeds, such as high-speed bulldozers and high-speed loaders. Unlike ordinary earthmoving machinery, high-speed earthmoving machinery often has a maximum speed of more than 60 km / h, and it needs to adjust different suspension postures during high-speed and low-speed driving to adapt to the shock absorption needs of the vehicle body and improve driving comfort.

[0003] Existing suspension attitude switching methods typically involve installing proximity sensors on the upper and lower sides of the suspension cylinders along their axial center. These sensors use proximity switches to determine the lifting position of each cylinder and adjust their position one by one during automatic suspension attitude switching until all cylinders reach the target position. However, because the response time of the hydraulic system is much shorter than that of the electronic control system, overshoot occurs during individual cylinder position control. Specifically, when the controller receives a signal that a cylinder has reached its target position, it issues a stop command. Due to the response time difference, the hydraulic cylinder experiences a delayed stopping process, causing it to move beyond the target position. The controller then determines that the cylinder has not stopped at the target position and restarts it to move towards the target position, often requiring multiple back-and-forth movements to finally reach the target position, resulting in a long switching time.

[0004] Suspension cylinders are generally installed at the four corners of the suspension. In the neutral position, they are in an elastic support state. Since the suspension cylinders and the suspension are rigidly connected, when one suspension cylinder is in the neutral position, the movement of the other suspension cylinders will cause the stationary suspension cylinders to move in tandem. At this time, the stationary suspension cylinder in the neutral position may deviate from the neutral position, which will trigger the neutral position control of that suspension cylinder. This causes the suspension cylinders to move repeatedly, and it takes a long time for the suspension cylinders to reach the neutral position. In addition, during the adjustment process, the frame will shake irregularly with the up and down movement of the suspension cylinders, which will cause discomfort to the operator. Summary of the Invention

[0005] To address the issue of irregular movement of the entire vehicle frame caused by repeated movement of the suspension cylinders during suspension attitude switching, and to improve the efficiency and stability of high- and low-speed switching during vehicle transfers.

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

[0007] A method for rapid suspension attitude switching control includes: determining whether the suspension is in low-speed mode or high-speed mode; and, upon receiving a control command to switch from high-speed mode to low-speed mode or from low-speed mode to high-speed mode, controlling the suspension cylinder group to switch the suspension attitude.

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

[0009] Obtain a suspension mode switching command, respond to the suspension mode switching command and control the suspension cylinder group to switch the suspension attitude according to the current suspension mode. The suspension mode includes low speed mode and high speed mode.

[0010] The step of responding to the suspension mode switching command and controlling the suspension cylinder assembly to switch the suspension attitude according to the current suspension mode includes:

[0011] Switching from high-speed mode to low-speed mode includes the following:

[0012] Control the left and right front suspension cylinders to descend to the zero position simultaneously and maintain the descent action;

[0013] The offset of the left and right rear suspension cylinders from the center position is detected and compared; the suspension cylinder with the smaller offset is kept stationary, and the suspension cylinder with the larger offset is moved towards the suspension cylinder with the smaller offset.

[0014] When the left rear suspension cylinder and the right rear suspension cylinder reach the same position, control the left rear suspension cylinder and the right rear suspension cylinder to move towards the center position simultaneously, and stop moving when they reach the preset center position threshold range.

[0015] Switching from low-speed mode to high-speed mode includes:

[0016] The offset of the left rear suspension cylinder and the right rear suspension cylinder from the center position is detected respectively;

[0017] The left rear suspension cylinder and the right rear suspension cylinder are controlled to move to a preset median threshold range according to the offset amount, respectively.

[0018] After moving to the preset midpoint threshold range, the position of the left front suspension cylinder or the right front suspension cylinder is less than the midpoint, and the left front suspension cylinder or the right front suspension cylinder is controlled to move upward simultaneously.

[0019] When the left front suspension cylinder is detected to have reached the neutral position, the left front suspension cylinder is controlled to stop moving; when the right front suspension cylinder is detected to have reached the neutral position, the right front suspension cylinder is controlled to stop moving.

[0020] The control of the left rear suspension cylinder and the right rear suspension cylinder to move simultaneously to the center position and stop moving when they reach a preset center position threshold range includes:

[0021] When the left rear suspension cylinder or the right rear suspension cylinder is above the mid-position upper deviation threshold, control the left rear suspension cylinder or the right rear suspension cylinder to descend to the mid-position upper deviation threshold and stop moving;

[0022] When the positions of the left rear suspension cylinder and the right rear suspension cylinder are lower than the lower mid-position deviation threshold, the left rear suspension cylinder and the right rear suspension cylinder are controlled to rise to the lower mid-position deviation threshold and stop moving. If the left rear suspension cylinder or the right rear suspension cylinder is detected to overshoot to the upper mid-position deviation threshold, the left rear suspension cylinder or the right rear suspension cylinder is controlled to descend to the upper mid-position deviation threshold and stop moving.

[0023] Controlling the left and right rear suspension cylinders to move within the mid-threshold range based on the offset includes:

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

[0025] 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 the left rear suspension cylinder or the right rear suspension cylinder is detected to overshoot to 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.

[0026] The control of the simultaneous upward movement of the left front suspension cylinder or the right front suspension cylinder includes:

[0027] The position difference between the left front suspension cylinder and the right front suspension cylinder during the rising process is detected. When the absolute value of the position difference is greater than a critical value, the rising of the higher position cylinder of the left front suspension cylinder and the right front suspension cylinder is stopped. The cylinder rises simultaneously again when the position difference is less than the critical value.

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

[0029] The high-speed mode is as follows: the left front suspension cylinder, right front suspension cylinder, left rear suspension cylinder, and right rear suspension cylinder are all in the neutral 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 median deviation threshold, 50-n represents the lower median deviation threshold, 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 in the memory, wherein the processor executes the computer program to implement the above-described method.

[0032] The system includes a suspension cylinder assembly and a suspension. The suspension cylinder assembly includes a left front suspension cylinder, a right front suspension cylinder, a left rear suspension cylinder, and a right rear suspension cylinder installed at the four corners of the suspension, which are used to support the suspension and provide shock absorption. Each of the left front suspension cylinder, right front suspension cylinder, left rear suspension cylinder, and right rear suspension cylinder is equipped with at least one displacement sensor.

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

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

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

[0036] An earthmoving vehicle includes the aforementioned suspension attitude switching control system.

[0037] Beneficial effects: The suspension attitude rapid switching control method described in this invention enables construction machinery to achieve rapid suspension attitude switching in one go during the transition between high-speed and low-speed modes. The fast switching speed improves the efficiency of high-speed and low-speed switching during vehicle relocation and the stability of the switching process, thereby enhancing the operator's operational stability, safety, and comfort. The method also achieves coordinated control of the left and right suspension cylinders, effectively solving the problem of left-right swaying of the vehicle frame during suspension attitude switching. Attached Figure Description

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

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

[0040] Figure 3This is a flowchart of a control method for switching suspension posture from low-speed mode to high-speed mode in an embodiment of the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Construction machinery that integrates operation and high-speed travel is generally equipped with a hydraulic suspension system to meet the shock absorption needs of vehicles traveling at high speeds. Under low-speed driving conditions, the front suspension cylinders of the frame are required to be in a low-position rigid support state, while the rear suspension cylinders are in a mid-position elastic support state to ensure the stability of the working device during earthmoving operations. At the same time, the buffering effect of the rear suspension cylinders reduces the vibration of the vehicle body during travel. Under high-speed driving conditions, both the front and rear suspensions of the frame need to be in a mid-position elastic support state to adapt to the shock absorption needs of the vehicle body at high speeds and improve driving comfort.

[0043] Example 1

[0044] This embodiment discloses a method for rapid suspension attitude switching control. First, the suspension motion state information is acquired, and it is determined whether the suspension is in low-speed mode or high-speed mode. When a command to switch from high-speed mode to low-speed mode or from low-speed mode to high-speed mode is received, the suspension cylinder group is controlled to switch the suspension attitude.

[0045] In low-speed mode, the left front suspension cylinder 2 and the right front suspension cylinder 3 are in the low position, the front suspension cylinders are retracted to the bottom, and the front 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 of the suspension is elastic support, which plays a role in buffering and shock absorption.

[0046] In high-speed mode, all four suspension cylinders are in the neutral position, the suspension is in a horizontal state, and each suspension cylinder is in an elastic support state, which plays a role in buffering and shock absorption for the entire suspension.

[0047] Establish a coordinate axis based on the direction of movement of the suspension cylinder, define the lowest position value (zero position) of the suspension cylinder as 0, the highest position value of the suspension cylinder as 100, the median value as 50, the upper deviation threshold of the median as 52, the lower deviation threshold of the median as 48, and set other position values ​​in an equidistant manner.

[0048] like Figure 1The suspension attitude switching system shown includes a suspension 1 and a suspension cylinder assembly. The suspension cylinder assembly includes a left front suspension cylinder 2, a right front suspension cylinder 3, a left rear suspension cylinder 4, and a right rear suspension cylinder 5, which are respectively installed at the four corners of the suspension to support the suspension 1 and provide shock absorption. Each of the left front suspension cylinder 2, right front suspension cylinder 3, left rear suspension cylinder 4, and right rear suspension cylinder 5 is equipped with at least one displacement sensor.

[0049] refer to Figure 2 As shown, in this embodiment, when the suspension switches from high-speed mode to low-speed mode, the specific steps include the following:

[0050] 1) The left front suspension cylinder 2 and the right front suspension cylinder 3 simultaneously perform the lowering action;

[0051] 2) After the position L1 of the left front suspension cylinder 2 and the position L2 of the right front suspension cylinder 3 have descended to 0, maintain the descent of the left front suspension cylinder 2 and the right front suspension cylinder 3 to prevent the suspension cylinders from rebounding upward.

[0052] 3) The offset of the position L3 of the left rear suspension cylinder 4 and the position L4 of the right rear suspension cylinder 5 from the median value 50 is detected by the displacement sensor.

[0053] 4) First, control the suspension cylinder with the larger offset to move towards the position of the suspension cylinder with the smaller offset, while keeping the suspension cylinder with the smaller offset stationary;

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

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

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

[0057] By following the steps above, the suspension attitude can be quickly switched, and the low-speed mode after switching better meets the low-speed driving needs of the machinery.

[0058] refer to Figure 3 As shown, in this embodiment, when the suspension switches from high-speed mode to low-speed mode, the specific steps include the following:

[0059] 1) Detect the offset of the left rear suspension cylinder 4 position L3 offset midpoint 50;

[0060] 2) Detect the offset of the right rear suspension cylinder 5 position L4 offset midpoint 50 position;

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

[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 the suspension cylinder has an overshoot phenomenon, if the position of the left rear suspension cylinder 4 or the right rear suspension cylinder 5 is detected to be greater than the upper threshold value 52, control the left rear suspension cylinder 4 or the right rear suspension cylinder 5 to descend to the upper deviation threshold value 52 and stop.

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

[0064] 6) Detect the absolute value of the position difference between the left front suspension cylinder 2 (L1) and the right front suspension cylinder 3 (L2) during their upward movement;

[0065] 7) When the absolute value of the difference is greater than the critical value, stop the upward movement of the suspension cylinder with the higher current position between 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 the position of the left front suspension cylinder 2 is detected to reach the target center value of 50, the action of the left front suspension cylinder 2 is stopped; when the position of the right front suspension cylinder 3 is detected to reach the target center value of 50, the action of the right front suspension cylinder 3 is stopped.

[0067] By following the steps above, the suspension attitude can be quickly switched, and the high-speed mode after switching can better meet the high-speed driving needs of the machine.

[0068] Beneficial effects: The suspension attitude rapid switching control method described in this invention enables construction machinery to achieve rapid suspension attitude switching in one go during the transition between high-speed and low-speed modes. The fast switching speed improves the efficiency of high-speed and low-speed switching during vehicle relocation and the stability of the switching process, thereby enhancing the operator's operational stability, safety, and comfort. The method also achieves coordinated control of the left and right suspension cylinders, effectively solving the problem of left-right swaying of the vehicle frame during suspension attitude switching.

[0069] Example 2

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

[0071] The control system in this embodiment also includes a suspension cylinder assembly and a suspension. The suspension cylinder assembly includes a left front suspension cylinder, a right front suspension cylinder, a left rear suspension cylinder, and a right rear suspension cylinder, which are respectively installed at the four corners of the suspension to support the suspension and provide shock absorption. Each of the left front suspension cylinder, right front suspension cylinder, left rear suspension cylinder, and right rear suspension cylinder is equipped with at least one displacement sensor. The displacement sensor is used to obtain the position information of the suspension cylinder in real time, which facilitates precise control of the suspension cylinder assembly.

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

[0073] Example 3

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

[0075] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0076] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0077] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for rapid switching control of suspension attitude, characterized in that, include: Obtain a suspension mode switching command, respond to the suspension mode switching command and control the suspension cylinder group to switch the suspension attitude according to the current suspension mode. The suspension mode includes low speed mode and high speed mode. The step of responding to the suspension mode switching command and controlling the suspension cylinder assembly to switch the suspension attitude according to the current suspension mode includes: Switching from high-speed mode to low-speed mode includes the following: Control the left and right front suspension cylinders to descend to the zero position simultaneously and maintain the descent action; The offset of the left and right rear suspension cylinders from the center position is detected and compared; the suspension cylinder with the smaller offset is kept stationary, and the suspension cylinder with the larger offset is moved towards the suspension cylinder with the smaller offset. When the left rear suspension cylinder and the right rear suspension cylinder reach the same position, control the left rear suspension cylinder and the right rear suspension cylinder to move towards the center position simultaneously, and stop moving when they reach the preset center position threshold range. Switching from low-speed mode to high-speed mode includes: The offset of the left rear suspension cylinder and the right rear suspension cylinder from the center position is detected respectively; The left rear suspension cylinder and the right rear suspension cylinder are controlled to move to a preset median threshold range according to the offset amount, respectively. After moving to the preset midpoint threshold range, the position of the left front suspension cylinder or the right front suspension cylinder is less than the midpoint, and the left front suspension cylinder or the right front suspension cylinder is controlled to move upward simultaneously. When the left front suspension cylinder is detected to have reached the neutral position, the left front suspension cylinder is controlled to stop moving; when the right front suspension cylinder is detected to have reached the neutral position, the right front suspension cylinder is controlled to stop moving.

2. The suspension attitude rapid switching control method according to claim 1, characterized in that, The control of the left rear suspension cylinder and the right rear suspension cylinder to move simultaneously to the center position and stop moving when they reach a preset center position threshold range includes: When the left rear suspension cylinder or the right rear suspension cylinder is above the mid-position upper deviation threshold, control the left rear suspension cylinder or the right rear suspension cylinder to descend to the mid-position 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 lower mid-position deviation threshold, the left rear suspension cylinder and the right rear suspension cylinder are controlled to rise to the lower mid-position deviation threshold and stop moving. If the left rear suspension cylinder or the right rear suspension cylinder is detected to overshoot to the upper mid-position deviation threshold, the left rear suspension cylinder or the right rear suspension cylinder is controlled to descend to the upper mid-position deviation threshold and stop moving.

3. The suspension attitude rapid switching control method according to claim 1, characterized in that, Controlling the left and right rear suspension cylinders to move within the mid-threshold range based on the offset includes: When the left rear suspension cylinder or the right rear suspension cylinder is above the mid-position upper deviation threshold, control the left rear suspension cylinder or the right rear suspension cylinder to descend to the mid-position upper 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 the left rear suspension cylinder or the right rear suspension cylinder is detected to overshoot to the median deviation threshold, the left rear suspension cylinder or the right rear suspension cylinder is controlled to descend to the median deviation threshold and stop moving.

4. The suspension attitude rapid switching control method according to claim 1, characterized in that, The control of the simultaneous upward movement of the left front suspension cylinder or the right front suspension cylinder includes: The position difference between the left front suspension cylinder and the right front suspension cylinder during the rising process is detected. When the absolute value of the position difference is greater than a critical value, the rising of the higher position cylinder of the left front suspension cylinder and the right front suspension cylinder is stopped. The cylinder rises simultaneously again when the position difference is less than the critical value.

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

6. The 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 upper median deviation threshold, 50-n represents the lower median 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 includes a processor, a memory, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method of any one of claims 1-6.

8. A suspension attitude rapid switching control system according to claim 7, characterized in that, The system includes a suspension cylinder assembly and a suspension system. The suspension cylinder assembly includes a left front suspension cylinder, a right front suspension cylinder, a left rear suspension cylinder, and a right rear suspension cylinder installed at the four corners of the suspension system. These cylinders are used to support the suspension system and provide shock absorption. Each of the left front suspension cylinder, right front suspension cylinder, left rear suspension cylinder, and right rear suspension cylinder is equipped with at least one displacement sensor.

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

10. An earthmoving machinery vehicle, characterized in that, Includes the suspension attitude switching control system as described in any one of claims 7-9.

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