Control compensation method based on high-frequency hysteresis characteristic of active suspension, medium and equipment

Abstract

The invention relates to the technical field of automobile suspension control, in particular to a control compensation method, medium and equipment based on the high-frequency hysteresis characteristic of an active suspension, and the method comprises the steps: collecting the dynamic state data of a vehicle in real time, carrying out the working condition recognition of the dynamic state data, and determining the control demand of the active suspension of the vehicle under the current working condition; establishing an active suspension model, and determining an execution boundary of an active suspension; based on the control requirement, a control strategy of the active suspension is obtained in combination with the active suspension model and hysteresis characteristics thereof, and it is ensured that the active suspension meets the execution boundary; based on the control strategy, performing multiple experiments on the active suspension model to obtain corresponding performance indexes; and based on the performance indexes, optimizing the control strategy until the active suspension reaches the optimal control performance, and obtaining the optimal control strategy. According to the method, the response hysteresis and the amplitude-frequency attenuation of the active suspension are considered in the control requirement, the active suspension is compensated, and the execution potential of an actuator of the active suspension is fully exerted.

Description

Technical Field

[0001] The present invention belongs to the technical field of automotive suspension control, and particularly relates to a control compensation method, medium and device based on the high-frequency hysteresis characteristics of an active suspension. Background Art

[0002] During vehicle driving, due to factors such as road surface excitation and driver behavior, the vehicle will vibrate, and the vehicle attitude will change, thus affecting the ride comfort and handling stability of the vehicle. The active suspension actively applies a vertical force to the suspension, which can effectively control vehicle vibration, adjust the vehicle body attitude, and improve the ride comfort and handling stability of the vehicle. However, the active suspension has a low bandwidth and serious hysteresis. Under high-frequency loads and high-frequency output force requirements, the hysteresis increases and the response amplitude becomes lower, severely limiting the performance of the active suspension in the high-frequency band response and restricting the dynamic response potential of the vehicle. For example, in the invention patent application with the Chinese patent publication number CN118636614A, the publication date of September 13, 2024, and the patent name "An Active Suspension Deformation Compensation Method, System and Vehicle for a Vehicle", the amplitude attenuation characteristics and phase lag characteristics of the active suspension actuator in different frequency bands are not considered either, and the matching relationship between the low bandwidth of the active suspension actuator and the high-frequency response requirements of vehicle vibration is not clarified, making it difficult to fully exploit the potential of the active suspension. In addition, the existing technology still has the following deficiencies: The robustness of the active suspension control law is poor: Due to factors such as low response bandwidth and large time hysteresis of the active suspension, the control law for a certain working condition is often not applicable to other working conditions, restricting the applicability of the active suspension control law. Summary of the Invention

[0003] In view of this, the present invention aims to provide a control compensation method, medium and device based on the high-frequency hysteresis characteristics of an active suspension to meet the real-time solution requirements of the response characteristics of the hydraulic-electric active suspension, reveal the influence mechanism between system parameters and the response characteristics of the active suspension, ensure the accuracy and fast solution of the model, and then complete the matching relationship between the low-bandwidth active suspension and the high-bandwidth control requirements.

[0004] To achieve the above object, the technical solution of the present invention is realized as follows: A control compensation method based on the high-frequency hysteresis characteristics of an active suspension, comprising: S1: Real-time collect the dynamic state data of the vehicle, and perform working condition identification on the dynamic state data to determine the high-bandwidth control requirements of the active suspension with low-bandwidth response of the vehicle under the current working condition; S2: Establish an active suspension model and determine the execution boundary of the active suspension; S3: Based on the control requirements corresponding to the active suspension in step S1, combined with the active suspension model constructed in step S2 and the hysteresis characteristics of the active suspension, obtain a high-bandwidth control strategy for the active suspension to ensure that the active suspension meets the execution boundary determined in step S2; S4: Based on the control strategy obtained in step S3, conduct multiple experiments on the active suspension model constructed in step S2 to obtain corresponding performance indicators; based on the performance indicators, optimize the control strategy until the active suspension reaches the best control performance, and at this time, obtain the best control strategy.

[0005] Further, in step S1: Real-time collect dynamic state data through the sensor network, and perform preprocessing operations of filtering and denoising on the dynamic state data; Use a neural network to identify the working conditions of the preprocessed dynamic state data; According to the identified working condition types, combined with the vehicle dynamics model, obtain the control requirements based on the objective function.

[0006] Further, the process of establishing the active suspension model in step S2 includes: Establish a preliminary active suspension model according to the hardware structure of the active suspension; Conduct experiments on the active suspension and the preliminary active suspension model synchronously under a variety of different working conditions, compare the experimental results of the active suspension with the experimental results of the preliminary active suspension model, and adjust the preliminary active suspension model according to the comparison results to obtain the active suspension model.

[0007] Further, the process of determining the execution boundary of the active suspension in step S2 includes: Based on the active suspension model, combined with the stability analysis and constraint conditions in control theory, determine the execution boundary of the active suspension under different working conditions. The execution boundary includes the physical limit and performance boundary of the active suspension under different working conditions.

[0008] Further, step S3 includes: Estimate the vehicle state information based on the vehicle model and road surface information, and perform feedforward control on the suspension in advance; Combined with the active suspension model, construct a transfer function for optimizing the amplitude-frequency response and phase-frequency response compensation based on the hysteresis characteristics of the suspension; solve the differential equation of the transfer function to obtain the corresponding response of the active suspension; According to the feedforward control, feedback control, and active suspension model, adjust each control parameter in the control strategy in real time.

[0009] Further, step S3 also includes: determine the compensation function according to the hysteresis characteristics of the active suspension, so as to determine the amplitude compensation strategy and time-delay compensation strategy of the active suspension; The compensation function is used to change the amplitude-frequency response and phase-frequency response of the signal for controlling the active suspension.

[0010] Furthermore, the process of optimizing the control strategy in step S4 includes: using an intelligent optimization algorithm to iteratively optimize the control parameters in the control strategy.

[0011] Furthermore, the process of optimizing the control strategy in step S4 also includes: using an intelligent optimization algorithm to optimize the parameters of the compensation function.

[0012] A readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of the control compensation method based on the high-frequency hysteresis characteristics of the active suspension provided by the present invention.

[0013] An electronic device includes: A memory for storing a computer program; A processor for implementing the steps of the control compensation method based on the high-frequency hysteresis characteristics of the active suspension provided by the present invention when executing the computer program.

[0014] Compared with the prior art, the present invention can achieve the following beneficial effects: (1) In the control compensation method, medium and device based on the high-frequency hysteresis characteristics of the active suspension of the present invention, by constructing an active suspension control law that matches the active suspension execution boundary with vehicle requirements, precise control of the active suspension actuator is achieved; this matching mechanism ensures that the control command is optimally executed within the capabilities of the actuator, thereby improving the control accuracy and response speed of the active suspension; (2) In the control compensation method, medium and device based on the high-frequency hysteresis characteristics of the active suspension of the present invention, through the amplitude compensation and time-delay compensation strategies, the problem in the prior art that the low-bandwidth characteristics of the active suspension actuator limit its control effect in a high-frequency vibration environment is effectively solved, enabling the active suspension system to maintain good control performance under various working conditions; (3) In the control compensation method, medium and device based on the high-frequency hysteresis characteristics of the active suspension of the present invention, through multi-condition tests and optimizations, a set of matching rules for the low-bandwidth active suspension and the high-frequency requirements of the suspension applicable to various working conditions are constructed, which enables the active suspension system to maintain stable control performance under various complex road conditions and enhances the adaptability and robustness of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 Schematic flowchart of the control compensation method based on the high-frequency hysteresis characteristic of the active suspension according to the embodiment of the present invention Figure 2 Schematic flowchart of step S1 according to the embodiment of the present invention Figure 3 Schematic flowchart of step S3 according to the embodiment of the present invention Figure 4 Schematic flowchart of step S4 according to the embodiment of the present invention Figure 5 Schematic structural diagram of the electronic device according to the embodiment of the present invention

[0016] Explanation of reference numerals: 1, electronic device; 2, external device; 3, processing unit; 4, bus; 5, network adapter; 6, display; 7, (I / O) interface; 8, system memory; 9, random access memory; 10, cache memory; 11, storage system; 12, utility; 13, program module. Detailed implementation manners

[0017] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention.

[0018] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are 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 of 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 indicating 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 specified, the meaning of "a plurality" is two or more.

[0020] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0021] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0022] As Figures 1 to 4 shown, the control compensation method based on the high-frequency hysteresis characteristic of the active suspension according to the embodiment of the present invention includes: S1: Real-time collect the dynamic state data of the vehicle, and perform working condition identification on the dynamic state data to determine the high-bandwidth control requirements of the active suspension with low-bandwidth response under the current working condition. In the embodiment of the present invention, the active suspension to be analyzed can be a hydraulic-electric active suspension or an electro-mechanical active suspension, and its load-carrying upper limit is 3-5 Hz, or even lower, making it difficult to match the control response requirements of the higher-frequency output force required by the vehicle under complex working conditions.

[0023] In some embodiments, step S1 includes: Real-time collect the dynamic state data through a sensor network, and perform preprocessing operations such as filtering and denoising on the dynamic state data; use a neural network to perform working condition identification on the preprocessed dynamic state data; according to the identified working condition type, combine the vehicle dynamics model, and obtain the control requirements based on the objective function.

[0024] In the embodiment of the present invention, step S1 includes: using an integrated high-precision sensor network including an acceleration sensor, a displacement sensor, and a speed sensor to real-time collect the vehicle dynamic state data, and the vehicle dynamic state data includes the acceleration of the unsprung mass, the dynamic deflection of the suspension, etc. Perform preprocessing such as filtering and denoising on the collected vehicle dynamic state data to ensure the accuracy and reliability of the data. Use a multi-branch fusion convolutional neural network to independently process different sensor signals, improve the feature fusion effect, extract features from the vehicle multi-source information, and perform working condition identification based on the pre-labeled existing data set, the preprocessed vehicle dynamic state data, the vehicle's own state, and the driver's behavior, and distinguish different road conditions, such as flat roads, bumpy roads, speed bumps, etc. According to the identified working condition type, combine the vehicle dynamics model, and optimize the suspension control law required under the current working condition based on the optimal objective function. In the embodiment of the present invention, taking the vehicle dynamics model of the active suspension of the basic linear quadratic regulator as an example: The two-degree-of-freedom vertical model of the vehicle is as follows: ; where z s and z u represent the displacements of the sprung mass and the unsprung mass in the suspension respectively, z r represents the road surface unevenness, m s and m u represent the sprung mass and the unsprung mass, k s and c s represent the suspension stiffness and damping coefficient, k t represents the tire stiffness, u represents the actuator force of the active suspension, represents the acceleration of the sprung mass, represents the velocity of the sprung mass, represents the acceleration of the unsprung mass, represents the velocity of the unsprung mass. Based on the above vehicle dynamics model, its state equation is: ; ; where x represents the state variable, is the first derivative of the state variable x, the control input is the actuator force u, A represents the system matrix, B represents the input matrix. Specifically, the system matrix A and the input matrix B are respectively: ; The objective function of the active suspension with a linear quadratic regulator is: ; where J is the performance index of the active suspension, Q is the weight matrix for penalizing the state error, and R is the weight matrix for the control input.

[0025] Then, by solving the Riccati equation, we get: ; where P is the solution of the equation Furthermore, the current suspension control law is obtained as: ; where, , , and represent weights, which are adaptively adjusted according to the actual situation and the basis of the results.

[0026] S2: Establish the active suspension model corresponding to the active suspension in step S1 and determine the execution boundary of the active suspension.

[0027] ​In some embodiments, the process of establishing the active suspension model in step S2 includes: establishing a preliminary active suspension model according to the hardware structure of the active suspension; conducting experiments on the active suspension under various different working conditions, comparing the experimental results of the active suspension with the preliminary active suspension model, and adjusting the preliminary active suspension model according to the comparison results to obtain the active suspension model.

[0028] In some embodiments, the process of determining the execution boundary of the active suspension in step S2 includes: based on the active suspension model, combining the stability analysis and constraint conditions in control theory, determining the execution boundary of the active suspension under different working conditions, where the execution boundary includes the physical limits and performance boundaries of the active suspension under different working conditions.

[0029] In the embodiments of the present invention, step S2 includes: establishing a preliminary active suspension model according to the hardware structure of the active suspension (such as solenoid valves, motors, etc.), where the preliminary active suspension model includes the dynamic characteristics, response time, maximum acting force, working frequency range, etc. of the active suspension. Conducting a bench test using a quarter-car test rig, applying different displacement inputs to the unsprung mass to simulate different working conditions, and collecting and estimating the external characteristics of the hydroelectric active suspension. Using the system identification method, comparing the actual test data with the preliminary active suspension model, and adjusting the preliminary active suspension model according to the comparison results to obtain the active suspension model, ensuring the effectiveness of the active suspension model and ensuring that the active suspension model can accurately reflect the actual performance of the actuator. Based on the active suspension model, combining the stability analysis and constraint conditions in control theory, determining the execution boundary of the active suspension under different working conditions. For example, based on the amplitude-frequency response and phase-frequency response models of the active suspension, considering constraints such as the wheel not leaving the ground and suspension limit, and taking the optimal control theory as the reference control law, determining the execution boundary of the active suspension under multiple working conditions.

[0030] S3: Based on the control requirements obtained in step S1, combining the active suspension model constructed in step S2 and the hysteresis characteristics of the active suspension, obtaining a high-bandwidth control strategy for the active suspension to ensure that the active suspension meets the execution boundary determined in step S2.

[0031] In some embodiments, step S3 includes: estimating the vehicle state information based on the vehicle model and road surface information, and performing feedforward control on the suspension in advance; combining the active suspension model to construct a transfer function that compensates for the amplitude-frequency response and phase-frequency response optimized based on the hysteresis characteristics of the suspension; solving the differential equation of the transfer function to obtain the corresponding response of the active suspension; and adjusting each control parameter in the control strategy in real time according to the feedforward control, feedback control, and active suspension model.

[0032] In some embodiments, step S3 further includes: determining a compensation function according to the hysteresis characteristics of the active suspension, so as to determine the amplitude compensation strategy and the time-delay compensation strategy of the active suspension. The compensation function is used to change the amplitude-frequency response and the phase-frequency response of the signal for controlling the active suspension.

[0033] In the embodiments of the present invention, step S3 includes: designing a feedforward controller based on a state observer based on a vehicle model and road surface information. The feedforward controller uses the state observer to estimate vehicle state information and controls the suspension in advance to reduce the control time delay. Combining with the active suspension model, a transfer function for optimizing the amplitude-frequency response and the phase-frequency response compensation based on the hysteresis characteristics of the suspension is constructed to ensure that the control command is optimally executed within the actuator capacity and reduce the actuator saturation. In the implementation of the present invention, for the active suspension of the linear quadratic regulator, its transfer function is: ; where G(s) represents the transfer function, and a0, a1, a2, a3, b0, b1, b2, and b3 are undetermined coefficients in the transfer function, which are determined by the sprung mass m s , the unsprung mass m u , the suspension stiffness k s , the damping coefficient c s , and the tire stiffness k t .

[0034] The dynamic characteristics of the active suspension system are described by the transfer function, and the corresponding response of the active suspension is obtained by solving the differential equation. Analyze the influence of key parameters in the transfer function and the differential equation, such as gain, pole, zero, etc., on the system performance, and provide a basis for the design of the control law.

[0035] The feedback control mainly faces the non-linear and uncertain factors that are difficult to determine in the feedforward controller, and dynamically adjusts the control law through the difference between the state quantity and the expected value of the state quantity to ensure the dynamic characteristics of the control law.

[0036] According to the feedforward control, the feedback control, and the active suspension model, the control parameters in the control strategy, such as the control gain and the filtering coefficient, are adjusted manually in real time to achieve the best match between the high-frequency execution boundary of the active suspension and the high-frequency requirements of the vehicle. According to the hysteresis characteristics of the active suspension, the amplitude compensation strategy and the time-delay compensation strategy of the active suspension are determined. In the present invention, by setting the above compensation function, the amplitude-frequency response and the phase-frequency response of the control signal can be changed, and reasonable parameter adjustment can be used for amplitude compensation and time-delay compensation.

[0037] S4: Based on the control strategy obtained in step S3, conduct multiple experiments on the active suspension model constructed in step S2 to obtain corresponding performance indicators; based on the performance indicators, optimize the control strategy until the active suspension achieves the best control performance, and at this time, the best control strategy is obtained.

[0038] In some embodiments, the process of optimizing the control strategy in step S4 includes: using an intelligent optimization algorithm to iteratively optimize the control parameters in the control strategy, and using an intelligent optimization algorithm to optimize the parameters of the compensation function.

[0039] In the embodiments of the present invention, step S4 includes three parts: test bench construction and testing, data analysis and parameter optimization, and system verification and improvement.

[0040] During the process of test bench construction and testing, construct an active suspension actuator test bench to simulate random road surfaces and typical working conditions of different levels. Conduct a comprehensive test on the designed control strategy and record the test data, including suspension control effects, vehicle vibration responses, etc.

[0041] During the process of data analysis and parameter optimization, conduct statistical analysis on the test data to evaluate the performance indicators of the control strategy, such as vibration suppression effect, control stability, etc. Use an intelligent optimization algorithm (such as genetic algorithm, particle swarm optimization, etc.) to iteratively optimize the control parameters and the parameters of the compensation function until the best control performance is achieved. Analyze the performance of the control strategy under different working conditions and summarize the matching rules between the low-bandwidth active suspension and the high-frequency requirements of the suspension.

[0042] During the process of system verification and improvement, apply the optimized control strategy to an actual vehicle for in-vehicle test verification. According to the actual test results, further adjust and improve the control strategy to ensure that it can obtain good control effects under various working conditions, so as to improve its generalization ability and practicality.

[0043] Figure 5 It is a schematic structural diagram of an electronic device 1 provided in the embodiments of the present invention. Figure 5 It shows a block diagram of an exemplary electronic device 1 suitable for implementing the embodiments of the present invention. Figure 5 The shown electronic device 1 is only an example and should not bring any limitation to the functions and usage scopes of the embodiments of the present invention.

[0044] Such as Figure 5As shown, the electronic device 1 is presented in the form of a general-purpose computing device. The electronic device 1 is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0045] The components of the electronic device 1 may include, but are not limited to: one or more processors or processing units 3, a system memory 8, and a bus 4 that connects different system components (including the system memory 8 and the processing unit 3).

[0046] The bus 4 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0047] The electronic device 1 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 1, including volatile and non-volatile media, removable and non-removable media.

[0048] The system memory 8 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 9 and / or cache memory 10. The electronic device 1 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 11 can be used for reading and writing on non-removable, non-volatile magnetic media ( Figure 5 not shown, typically referred to as a "hard disk drive"). Although Figure 5 not shown in the figure, a disk drive for reading and writing on a removable non-volatile disk (such as a "floppy disk") and an optical disk drive for reading and writing on a removable non-volatile optical disk (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to the bus 4 through one or more data media interfaces. The system memory 8 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0049] A program / utilities 12 having a set (at least one) of program modules 13 can be stored, for example, in the system memory 8. Such program modules 13 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 13 generally execute the functions and / or methods in the embodiments described in the present invention.

[0050] The electronic device 1 can also communicate with one or more external devices 2 (such as a keyboard, a pointing device, a display 6, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 1, and / or communicate with any device that enables the electronic device 1 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 7. Moreover, the electronic device 1 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 5. As Figure 5 shown, the network adapter 5 communicates with other modules of the electronic device 1 through the bus 4. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 1, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0051] The processing unit 3 executes various functional applications and data processing by running the programs stored in the system memory 8, for example, implementing the control compensation method based on the high-frequency hysteresis characteristics of the active suspension provided by the embodiments of the present invention.

[0052] In the embodiments of the present invention, a non-transitory computer-readable storage medium storing computer instructions is also provided, on which a computer program is stored. When the program is executed by a processor, it is the control compensation method based on the high-frequency hysteresis characteristics of the active suspension provided by all the embodiments of the present application.

[0053] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable media may be computer-readable signal media or computer-readable storage media. More specific examples (a non-exhaustive list) of the computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, the computer-readable storage media may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

[0054] The computer-readable signal media may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal media may also be any computer-readable media other than the computer-readable storage media, and the computer-readable media may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0055] The program code contained on the computer-readable media may be transmitted by any appropriate medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the foregoing. The computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0056] The embodiments of the present invention further provide a computer program product, including a computer program, and the computer program realizes the control compensation method based on the high-frequency hysteresis characteristic of the active suspension according to the foregoing when being executed by a processor.

[0057] It should be understood that the various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps described in the disclosure of the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and no limitation is imposed herein.

[0058] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control compensation method based on the high frequency hysteresis characteristics of an active suspension, characterized in that: include: S1: collecting dynamic state data of the vehicle in real time, and performing working condition identification on the dynamic state data to determine the high-bandwidth control requirements of the low-bandwidth response active suspension of the vehicle under the current working condition; S2: establishing an active suspension model corresponding to the active suspension in step S1, and determining an execution boundary of the active suspension; S3: Based on the control requirement obtained in step S1, combined with the active suspension model constructed in step S2 and the hysteresis characteristics of the active suspension, a high-bandwidth control strategy for the active suspension is obtained to ensure that the active suspension meets the execution boundary determined in step S2; S4: Based on the control strategy obtained in step S3, multiple experiments are conducted on the active suspension model constructed in step S2 to obtain corresponding performance indicators; based on the performance indicators, the control strategy is optimized until the active suspension reaches the best control performance, at which time the best control strategy is obtained.

2. The control compensation method based on the high frequency hysteresis characteristic of active suspension according to claim 1, characterized in that: In step S1: The dynamic state data is collected in real time through a sensor network, and a pre-processing operation of filtering and denoising is performed on the dynamic state data; Use neural network to identify working conditions of pre-processed dynamic state data; According to the identified working condition type, combined with the vehicle dynamics model, the control requirement is obtained based on the objective function.

3. The control compensation method based on the high frequency hysteresis characteristic of active suspension according to claim 1, characterized in that: The process of establishing the active suspension model in step S2 includes: Establishing a preliminary active suspension model according to the hardware structure of the active suspension; Experiments of various working conditions are performed on the active suspension and the preliminary active suspension model simultaneously, the experimental results of the active suspension are compared with the experimental results of the preliminary active suspension model, and the preliminary active suspension model is adjusted according to the comparison results to obtain the active suspension model.

4. The control compensation method based on the high frequency hysteresis characteristic of active suspension according to claim 1 or 3, characterized in that: The process of determining the execution boundary of the active suspension in step S2 includes: Based on the active suspension model, combined with stability analysis and constraint conditions in control theory, the execution boundary of the active suspension under different working conditions is determined, and the execution boundary includes the physical limit and performance boundary of the active suspension under different working conditions.

5. The control compensation method based on the high frequency hysteresis characteristic of active suspension according to claim 1, characterized in that: Step S3 includes: Estimate vehicle status information based on vehicle model and road surface information, and perform feedforward control on the suspension in advance; In combination with the active suspension model, a transfer function based on the optimization of the suspension hysteresis characteristic for amplitude-frequency response and phase-frequency response compensation is constructed; a differential equation is solved for the transfer function to obtain a corresponding response of the active suspension; According to the feedforward control, feedback control and the active suspension model, various control parameters in the control strategy are adjusted in real time.

6. The control compensation method based on the high frequency hysteresis characteristic of active suspension according to claim 1 or 5, characterized in that: The step S3 further comprises: Determining a compensation function according to the hysteresis characteristic of the active suspension, thereby determining an amplitude compensation strategy and a time lag compensation strategy of the active suspension; The compensation function is used to change the amplitude frequency response and the phase frequency response of the signal controlling the active suspension.

7. The control compensation method based on the high frequency hysteresis characteristic of active suspension according to claim 1, characterized in that: The process of optimizing the control strategy in step S4 includes: iteratively optimizing the control parameters in the control strategy using an intelligent optimization algorithm.

8. The control compensation method based on the high frequency hysteresis characteristic of active suspension according to claim 6, characterized in that: The process of optimizing the control strategy in step S4 also includes: An intelligent optimization algorithm is used to optimize the parameters of the compensation function.

9. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control compensation method based on the high-frequency hysteresis characteristics of the active suspension according to any one of claims 1 to 8 are implemented.

10. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the control compensation method based on the high-frequency hysteresis characteristics of the active suspension as claimed in any one of claims 1 to 8 when executing the computer program.

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