Control compensation method, medium and device based on high-frequency hysteresis characteristics of active suspension

Abstract

The present invention relates to the field of automobile suspension control technology, and in particular to a control compensation method, medium, and device based on the high-frequency hysteresis characteristics of an active suspension, including real-time acquisition of dynamic state data of a vehicle, and working condition identification of the dynamic state data to determine the control requirements of the vehicle's active suspension under the current working conditions; establishing an active suspension model and determining the execution boundary of the active suspension; based on the control requirements, combining the active suspension model and its hysteresis characteristics, obtaining a control strategy for the active suspension to ensure that the active suspension meets the execution boundary; based on the control strategy, conducting multiple experiments on the active suspension model to obtain corresponding performance indicators; based on the performance indicators, optimizing the control strategy until the active suspension achieves optimal control performance and obtains the optimal control strategy. The present invention compensates for the active suspension by taking the response hysteresis and amplitude-frequency attenuation of the active suspension into account within the control requirements, thereby giving full play to the execution potential of the active suspension actuator.

Description

Technical Field

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

[0002] During driving, a vehicle vibrates and changes its posture due to factors such as road excitation and driver behavior, which in turn affects the vehicle's ride comfort and handling stability. Active suspension actively applies a vertical force to the suspension, which can effectively control vehicle vibration, adjust the vehicle's posture, and improve the vehicle's ride comfort and handling stability. However, active suspension has a low bandwidth and severe hysteresis. Under high-frequency loads and high-frequency output force requirements, hysteresis increases and the response amplitude decreases, severely limiting the active suspension's response in the high-frequency band and the vehicle's dynamic response potential. For example, in the invention patent application entitled "A Method, System, and Vehicle for Active Suspension Deformation Compensation for Vehicles," which has a Chinese patent publication number of CN118636614A and a publication date of September 13, 2024, the amplitude attenuation and phase lag characteristics of the active suspension actuator in different frequency bands are not considered. The matching relationship between the low bandwidth of the active suspension actuator and the high-frequency response requirements of the vehicle vibration has not yet been clarified, making it difficult to fully realize the potential of the active suspension. In addition, the existing technology still has the following deficiencies:

[0003] The robustness of the active suspension control law is poor: Due to its limitations such as low response bandwidth and large time lag, the control law for a certain working condition is often difficult to apply to other working conditions, which restricts the applicability of the active suspension control law. Summary of the Invention

[0004] In view of this, the present invention aims to provide a control compensation method, medium and equipment based on the high-frequency hysteresis characteristics of the active suspension to meet the needs of real-time solution of the response characteristics of the hydraulic-electric active suspension, and to reveal the influence mechanism between the system parameters and the response characteristics of the active suspension, thereby ensuring the accuracy and rapid solution of the model, and thus completing the matching relationship between low-bandwidth active suspension and high-bandwidth control requirements.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0006] A control compensation method based on the high-frequency hysteresis characteristics of an active suspension, comprising:

[0007] S1: Real-time acquisition of vehicle dynamic state data, and identification of the working condition of the dynamic state data to determine the high-bandwidth control requirements of the vehicle's low-bandwidth active suspension under the current working condition;

[0008] S2: Establish an active suspension model and determine the execution boundary of the active suspension;

[0009] 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, a high-bandwidth control strategy for the active suspension is obtained to ensure that the active suspension meets the execution boundaries determined in step S2;

[0010] 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 achieves optimal control performance, at which point the optimal control strategy is obtained.

[0011] Furthermore, in step S1:

[0012] The dynamic state data is collected in real time through the sensor network, and the dynamic state data is pre-processed by filtering and denoising;

[0013] Use neural network to identify working conditions of pre-processed dynamic state data;

[0014] According to the identified working condition type and combined with the vehicle dynamics model, the control requirements are obtained based on the objective function.

[0015] Furthermore, the process of establishing the active suspension model in step S2 includes:

[0016] According to the hardware structure of active suspension, a preliminary active suspension model is established;

[0017] Experiments under various working conditions are simultaneously conducted on the active suspension and the preliminary active suspension model. The experimental results of the active suspension are compared with the experimental results of the preliminary active suspension model. The preliminary active suspension model is adjusted according to the comparison results to obtain the active suspension model.

[0018] Furthermore, the process of determining the execution boundary of the active suspension in step S2 includes:

[0019] Based on the active suspension model and combined with stability analysis and constraints in control theory, the execution boundaries of the active suspension under different working conditions are determined. The execution boundaries include the physical limits and performance boundaries of the active suspension under different working conditions.

[0020] Furthermore, step S3 includes:

[0021] Estimate vehicle status information based on the vehicle model and road surface information, and perform feedforward control of the suspension in advance;

[0022] Combined with the active suspension model, a transfer function is constructed to compensate for the amplitude-frequency response and phase-frequency response based on the optimization of the suspension hysteresis characteristics. The differential equation of the transfer function is solved to obtain the corresponding response of the active suspension.

[0023] According to the feedforward control, feedback control and active suspension model, various control parameters in the control strategy are adjusted in real time.

[0024] Furthermore, step S3 further includes: determining a compensation function according to the hysteresis characteristics of the active suspension, thereby determining an amplitude compensation strategy and a time lag compensation strategy of the active suspension;

[0025] The compensation function is used to change the amplitude-frequency response and phase-frequency response of the signal that controls the active suspension.

[0026] Furthermore, 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.

[0027] Furthermore, the process of optimizing the control strategy in step S4 also includes: optimizing the parameters of the compensation function using an intelligent optimization algorithm.

[0028] A readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a control compensation method based on high-frequency hysteresis characteristics of an active suspension provided by the present invention.

[0029] An electronic device, comprising:

[0030] Memory for storing computer programs;

[0031] The processor is configured to implement the steps of the control compensation method based on the high-frequency hysteresis characteristic of the active suspension provided by the present invention when executing the computer program.

[0032] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0033] (1) The control compensation method, medium, and device based on the high-frequency hysteresis characteristics of the active suspension created by the present invention achieve precise control of the active suspension actuator by constructing an active suspension control law that matches the active suspension execution boundary with the vehicle requirements. This matching mechanism ensures that the control instructions are optimally executed within the actuator's capabilities, thereby improving the control accuracy and response speed of the active suspension.

[0034] (2) The control compensation method, medium, and device based on the high-frequency hysteresis characteristics of the active suspension created by the present invention effectively solve 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 through amplitude compensation and time lag compensation strategies, so that the active suspension system can maintain good control performance under various working conditions;

[0035] (3) The control compensation method, medium and equipment based on the high-frequency hysteresis characteristics of the active suspension created by the present invention have established a set of matching rules between the low-bandwidth active suspension and the high-frequency demand of the suspension applicable to various working conditions through multi-working condition testing and optimization. This enables the active suspension system to maintain stable control performance under various complex road conditions, thereby enhancing the adaptability and robustness of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0037] Figure 1 A flow chart of a control compensation method based on high-frequency hysteresis characteristics of an active suspension according to an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the process of step S1 according to an embodiment of the present invention;

[0039] Figure 3 This is a flow chart of step S3 according to an embodiment of the present invention;

[0040] Figure 4 This is a flow chart of step S4 according to an embodiment of the present invention;

[0041] Figure 5 A schematic structural diagram of an electronic device according to an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 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 DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is 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 and do not constitute a limitation of the present invention.

[0045] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and 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 therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0048] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0049] like Figures 1 to 4 As shown, the control compensation method based on the high-frequency hysteresis characteristics of the active suspension according to the embodiment of the present invention includes:

[0050] S1: Real-time vehicle dynamic state data is collected and operating condition identification is performed on the dynamic state data to determine the high-bandwidth control requirements of the vehicle's low-bandwidth active suspension under the current operating conditions. In this embodiment of the present invention, the active suspension to be analyzed can be a hydraulic active suspension or an electromechanical active suspension, which has a load limit of 3-5 Hz or even lower, making it difficult to match the higher-frequency output force control response requirements required by the vehicle under complex operating conditions.

[0051] In some embodiments, step S1 includes:

[0052] Dynamic state data is collected in real time through a sensor network, and preprocessed by filtering and denoising. The preprocessed dynamic state data is used to identify the working condition using a neural network. Based on the identified working condition type and the vehicle dynamics model, the control requirements are obtained based on the objective function.

[0053] In an embodiment of the present invention, step S1 includes: using an integrated high-precision sensor network including acceleration sensors, displacement sensors, and speed sensors to collect vehicle dynamic state data in real time, and the vehicle dynamic state data includes sprung mass acceleration, suspension dynamic deflection, etc. The collected vehicle dynamic state data is pre-processed by filtering and denoising to ensure the accuracy and reliability of the data. A multi-branch fusion convolutional neural network is used to independently process different sensor signals, improve the feature fusion effect, extract features from multi-source vehicle information, and identify working conditions based on the labeled existing data set and pre-processed vehicle dynamic state data, the vehicle's own state, and the driver's behavior to distinguish different road conditions, such as flat roads, bumpy roads, speed bumps, etc. According to the identified working condition type, combined with the vehicle dynamics model, the suspension control law required under the current working condition is optimized based on the objective function. In an embodiment of the present invention, the vehicle dynamics model of the active suspension of the basic linear quadratic regulator is taken as an example:

[0054] The two-degree-of-freedom vertical model of the vehicle is as follows:

[0055] ;

[0056] Among them, z s and z u denote the displacements of the sprung and unsprung masses in the suspension, respectively, z r Indicates road roughness, m s and m u represents the sprung and unsprung masses, k s and c s represents the suspension stiffness and damping coefficient, k t represents the tire stiffness, u represents the execution force of the active suspension, is the acceleration of the sprung mass, represents the velocity of the sprung mass, is the acceleration of the unsprung mass, represents the velocity of the unsprung mass. Based on the above vehicle dynamics model, its state equation is:

[0057] ;

[0058] ;

[0059] Among them, x represents the state quantity, is the first-order derivative of the state quantity x, the control input is the execution force u, A represents the system matrix, and B represents the input matrix. Specifically, the system matrix A and the input matrix B are:

[0060] ;

[0061] The objective function of the active suspension with a linear quadratic regulator is:

[0062] ;

[0063] Among them, J is the performance index of the active suspension, Q is the weight matrix for penalizing state errors, and R is the weight matrix for control input.

[0064] Then, by solving the Riccati equation, we can obtain:

[0065] ;

[0066] Where P is the equation Solution

[0067] Then the current suspension control law is obtained as:

[0068] ;

[0069] in, 、 、 and Represents the weight, which is adaptively adjusted according to the actual situation and results.

[0070] S2: Establishing an active suspension model corresponding to the active suspension in step S1 and determining an execution boundary of the active suspension.

[0071] In some embodiments, the process of establishing the active suspension model in step S2 includes: establishing a preliminary active suspension model based on the hardware structure of the active suspension; conducting experiments on the active suspension under various working conditions, comparing the experimental results of the active suspension with the preliminary active suspension model, and adjusting the preliminary active suspension model based on the comparison results to obtain the active suspension model.

[0072] In some embodiments, 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 constraints in the control theory, determining the execution boundary of the active suspension under different working conditions, the execution boundary including the physical limit and performance boundary of the active suspension under different working conditions.

[0073] In an embodiment of the present invention, step S2 includes establishing a preliminary active suspension model based on the active suspension hardware structure (e.g., solenoid valves, motors, etc.). The preliminary active suspension model includes the active suspension's dynamic characteristics, response time, maximum force, operating frequency range, and other information. Bench tests are conducted on a quarter-car test bench, applying different displacement inputs of the unsprung mass to simulate different operating conditions. The external characteristics of the hydraulic-electric active suspension are then collected and estimated. Using system identification methods, actual test data is compared with the preliminary active suspension model. The preliminary active suspension model is adjusted based on the comparison results to obtain the active suspension model, ensuring its validity and accurately reflecting the actual performance of the actuator. Based on the active suspension model, the active suspension's operational boundaries under different operating conditions are determined in conjunction with stability analysis and constraints from control theory. For example, based on the active suspension's amplitude-frequency response and phase-frequency response models, and taking into account constraints such as wheel-on contact and suspension limits, the active suspension's operational boundaries under multiple operating conditions are determined using optimal control theory as a reference control law.

[0074] S3: Based on the control requirements 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.

[0075] In some embodiments, step S3 includes: estimating vehicle state information based on a vehicle model and road surface information, and performing feedforward control on the suspension in advance; constructing a transfer function based on the optimization of the amplitude-frequency response and phase-frequency response compensation of the suspension hysteresis characteristics in combination with the active suspension model; solving the differential equation of the transfer function to obtain the corresponding response of the active suspension; and adjusting various control parameters in the control strategy in real time according to the feedforward control, feedback control and active suspension model.

[0076] In some embodiments, step S3 further includes: determining a compensation function based on the hysteresis characteristics of the active suspension, thereby determining the amplitude compensation strategy and the time lag compensation strategy of the active suspension, wherein the compensation function is used to change the amplitude-frequency response and phase-frequency response of the signal controlling the active suspension.

[0077] In an embodiment of the present invention, step S3 includes designing a state observer-based feedforward controller based on the vehicle model and road surface information. The feedforward controller uses the state observer to estimate vehicle state information and proactively control the suspension to reduce control lag. In conjunction with the active suspension model, a transfer function is constructed that compensates for the amplitude-frequency response and phase-frequency response based on optimized suspension hysteresis characteristics to ensure optimal execution of control commands within the actuator's capabilities and reduce actuator saturation. In this embodiment of the present invention, the transfer function of the active suspension with a linear quadratic regulator is:

[0078] ;

[0079] Where G(s) represents the transfer function, a0, a1, a2, a3, b0, b1, b2 and b3 are the unknown coefficients of the transfer function and are given by the parameter sprung mass m. s , unsprung mass m u , suspension stiffness k s , damping coefficient c s and tire stiffness k t Decide.

[0080] The dynamic characteristics of the active suspension system are described using transfer functions, and the corresponding responses of the active suspension are obtained by solving differential equations. The impact of key parameters in the transfer function and differential equations, such as gain, poles, and zeros, on system performance is analyzed to provide a basis for the design of control laws.

[0081] Feedback control is mainly aimed at nonlinear, uncertain and other factors that are difficult to determine in the feedforward controller. The control law is dynamically adjusted by feedback based on the difference between the state quantity and the expected value of the state quantity to ensure the dynamic characteristics of the control law.

[0082] Based on feedforward control, feedback control, and the active suspension model, various control parameters within the control strategy, such as control gain and filter coefficients, are manually adjusted in real time to achieve an optimal match between the active suspension's high-frequency execution boundary and the vehicle's high-frequency requirements. The active suspension's amplitude compensation strategy and hysteresis compensation strategy are determined based on its hysteresis characteristics. In this invention, setting these compensation functions alters the control signal's amplitude-frequency response and phase-frequency response. Appropriate parameter adjustments enable both amplitude and hysteresis compensation.

[0083] 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 achieves optimal control performance, at which point the optimal control strategy is obtained.

[0084] In some embodiments, 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, and optimizing the parameters of the compensation function using an intelligent optimization algorithm.

[0085] In the embodiment of the present invention, step S4 includes three parts: test bench construction and testing, data analysis and parameter optimization, and system verification and improvement.

[0086] During the test bench construction and testing process, an active suspension actuator test bench was built to simulate different levels of random road surfaces and typical operating conditions. The designed control strategy was fully tested and the test data, including suspension control effects and vehicle vibration response, was recorded.

[0087] During data analysis and parameter optimization, statistical analysis of test data was performed to evaluate control strategy performance indicators, such as vibration suppression effectiveness and control stability. Intelligent optimization algorithms (such as genetic algorithms and particle swarm optimization) were used to iteratively optimize control parameters and compensation function parameters until optimal control performance was achieved. The control strategy's performance under different operating conditions was analyzed, and the matching rules between low-bandwidth active suspension and high-frequency suspension requirements were summarized.

[0088] During the system verification and improvement process, the optimized control strategy was applied to actual vehicles for real-world testing. Based on the actual test results, the control strategy was further adjusted and improved to ensure good control results under various operating conditions, thereby improving its generalization and practicality.

[0089] Figure 5 Schematic diagram of the structure of an electronic device 1 provided in an embodiment of the present invention. Figure 5 A block diagram of an exemplary electronic device 1 suitable for implementing embodiments of the present invention is shown. Figure 5 The electronic device 1 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0090] like Figure 5 As shown, electronic device 1 is represented in the form of a general-purpose computing device. Electronic device 1 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, 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 present invention described and / or claimed herein.

[0091] 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 connecting different system components (including the system memory 8 and the processing unit 3).

[0092] Bus 4 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0093] The electronic device 1 typically includes a variety of computer system readable media, which 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.

[0094] 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, the storage system 11 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 Not shown, often called a "hard drive"). Although Figure 5 Not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 4 via one or more data medium interfaces. System memory 8 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0095] A program / utility 12 having a set (at least one) of program modules 13 may be stored, for example, in 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 of which, or some combination thereof, may include an implementation of a network environment. Program modules 13 generally implement the functions and / or methods of the embodiments described herein.

[0096] The electronic device 1 may also communicate with one or more external devices 2 (e.g., a keyboard, a pointing device, a display 6, etc.), one or more devices that enable a user to interact with the electronic device 1, and / or any device that enables the electronic device 1 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface 7. Furthermore, the electronic device 1 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 5. Figure 5 As shown, the network adapter 5 communicates with other modules of the electronic device 1 via the bus 4. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction 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.

[0097] The processing unit 3 executes various functional applications and data processing by running programs stored in the system memory 8, such as implementing the control compensation method based on the high-frequency hysteresis characteristics of the active suspension provided by the embodiment of the present invention.

[0098] An embodiment of the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, on which a computer program is stored. When the program is executed by a processor, the control compensation method based on the high-frequency hysteresis characteristics of the active suspension provided in all the inventive embodiments of this application is implemented.

[0099] 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 medium may be a computer-readable signal medium or a computer-readable storage medium. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with 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 above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0100] A computer-readable signal medium may include a data signal propagated in 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 thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0101] The program code that comprises on the computer-readable medium can be transmitted with any appropriate medium, includes but not limited to wireless, electric wire, optical cable, RF etc., or above-mentioned any suitable combination.Can write the computer program code that is used to carry out the operation of the present invention with one or more programming languages ​​or its combination, described programming language comprises object-oriented programming language such as Java, Smalltalk, C++, also comprises conventional procedural programming language--such as " C " language or similar programming language.Program code can be carried out on user's computer completely, partly on user's computer, carry out as an independent software package, partly on user's computer partly on remote computer, or carry out completely on remote computer or server.In the situation that relates to remote computer, remote computer can comprise local area network (LAN) or wide area network (WAN) to be connected to user's computer by the network of any kind, perhaps, can be connected to external computer (for example, utilize Internet service provider to come to connect by Internet).

[0102] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the control compensation method based on the high-frequency hysteresis characteristics of the active suspension.

[0103] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved. This is not limited herein.

[0104] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection 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 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, 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; step S3 includes: estimating 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, constructing a transfer function for compensating for the amplitude-frequency response and phase-frequency response based on the optimization of the suspension hysteresis characteristics; solving the differential equation of the transfer function to obtain the corresponding response of the active suspension; adjusting various control parameters in the control strategy in real time according to the feedforward control, feedback control and the active suspension model; determining a compensation function according to the hysteresis characteristics of the active suspension, thereby determining the amplitude compensation strategy and time lag compensation strategy of the active suspension; the compensation function is used to change the amplitude-frequency response and phase-frequency response of the signal controlling the active suspension; 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 achieves optimal control performance, at which point the optimal control strategy is obtained.

2. The control compensation method based on the high-frequency hysteresis characteristic of the active suspension according to claim 1, characterized in that: In step S1: Collecting the dynamic state data in real time through a sensor network, and performing pre-processing operations of filtering and denoising on the dynamic state data; Use neural network to identify working conditions of pre-processed dynamic state data; According to the identified operating condition type and in combination 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 the 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 under multiple different working conditions are simultaneously performed on the active suspension and the preliminary active suspension model, 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 the 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 and in combination with stability analysis and constraints in control theory, the execution boundaries of the active suspension under different working conditions are determined. The execution boundaries include the physical limits and performance boundaries of the active suspension under different working conditions.

5. The control compensation method based on the high-frequency hysteresis characteristic of the 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.

6. The control compensation method based on the high-frequency hysteresis characteristic of the active suspension according to claim 1, characterized in that: The process of optimizing the control strategy in step S4 further includes: An intelligent optimization algorithm is used to optimize the parameters of the compensation function.

7. 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 are implemented as claimed in any one of claims 1 to 6.

8. 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 6 when executing the computer program.

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