Multi-mode energy feedback type suspension actuator and control method thereof

Abstract

The invention discloses a multi-mode energy-feedback type suspension actuator and a control method thereof, relates to the field of suspension actuators, and particularly aims to solve the problem that an oil-gas energy-feedback type suspension actuator combining an oil-gas spring, a linear motor and a piezoelectric material does not exist in the prior art. The multi-mode energy feedback type suspension actuator comprises an actuator shell and a piston rod, the piston rod is movably inserted in the actuator shell, the multi-mode energy feedback type suspension actuator further comprises a partition plate and a magnetism isolating plate which are arranged in the actuator shell, and the piston rod movably penetrates through the partition plate and the magnetism isolating plate; in the actuator shell, oil is poured into the position above the partition plate, a hydro-pneumatic spring module is arranged, a piezoelectric module is arranged between the partition plate and the magnetism isolating plate, and a linear motor module is arranged below the magnetism isolating plate. Several structures are highly integrated, vibration energy is recycled while vehicle performance adjustment is achieved, vehicle running smoothness and handling stability are improved, and self-energy-supply of a vehicle suspension is basically achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of suspension actuators, and particularly relates to a multi-mode energy-harvesting suspension actuator and a control method thereof. Background Art

[0002] The suspension of a vehicle is an important component that can ensure the ride comfort and handling stability of the vehicle, and can elastically connect the vehicle frame and the axle, effectively attenuating the excitation transmitted from the uneven road surface to the vehicle body. At present, most of the suspensions used in vehicles are passive suspensions. Although they can effectively attenuate vibrations, their stiffness and damping are fixed values and cannot be adjusted according to road conditions. With the improvement of people's living standards, high-performance vehicles have become the pursuit of most people, mainly reflected in the requirements for vehicle comfort, ride smoothness, and energy conservation. And with the development of electronic technology and control technology, controllable suspensions have begun to be applied to automotive suspension technology.

[0003] At present, there are mainly two types of controllable suspensions: active suspensions and semi-active suspensions. Active suspensions can adjust the suspension parameters in real time according to the collected road surface information during use, but a certain amount of energy will be consumed in this process; the advantage of semi-active suspensions is that they can not only adjust the suspension parameters according to road surface information, but also recover the energy generated during the suspension vibration process. Therefore, it is also a widely used suspension at present.

[0004] At present, the main structural forms of widely used controllable suspensions include: rack and pinion type, magnetorheological type, ball screw type; however, there are certain defects in the above several forms of controllable suspensions. The rack and pinion type suspension actuator has large energy consumption and low reliability during use; the magnetorheological type suspension actuator has the problem of magnetorheological fluid deposition during use; the ball screw type suspension actuator has large energy consumption during use. Therefore, the energy-harvesting suspension actuator has become a popular research object among scholars because it can well recover vibration energy and can effectively attenuate the vibration transmitted from the road surface.

[0005] At present, there is no oil-gas energy-harvesting suspension actuator that combines an oil-gas spring, a linear motor, and piezoelectric materials in the market. Therefore, it is urgent to design an oil-gas energy-harvesting suspension actuator to solve the above problems. Summary of the Invention

[0006] Aiming at the defects existing in the above-mentioned prior art, the purpose of the present invention is to provide a multi-mode energy-harvesting suspension actuator, including a multi-mode energy-harvesting suspension actuator, which includes an actuator housing and a piston rod. The piston rod is movably inserted into the actuator housing, and also includes a partition plate and a magnetic isolation plate arranged in the actuator housing, and the piston rod movably passes through the partition plate and the magnetic isolation plate; and in the actuator housing, the upper part of the partition plate is filled with oil and an oil-gas spring module is arranged, a piezoelectric module is arranged between the partition plate and the magnetic isolation plate, and a linear motor module is arranged below the magnetic isolation plate. The present invention highly integrates several structures, while realizing the adjustment of vehicle performance, it recovers vibration energy, not only improves the ride comfort and handling stability of the vehicle, but also basically realizes the self-power supply of the vehicle suspension.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A multi-mode energy-harvesting suspension actuator includes an actuator housing and a piston rod. The piston rod is movably inserted into the actuator housing, and also includes a partition plate and a magnetic isolation plate arranged in the actuator housing, and the piston rod movably passes through the partition plate and the magnetic isolation plate. A damping hole is provided on the piston rod;

[0009] And in the actuator housing, the upper part of the partition plate is filled with oil and an oil-gas spring module is arranged, a piezoelectric module is arranged between the partition plate and the magnetic isolation plate, and a linear motor module is arranged below the magnetic isolation plate.

[0010] Preferably, the oil-gas spring module includes:

[0011] An accumulator, which is arranged on the outside of the actuator housing and is communicated with the inner cavity of the actuator housing;

[0012] An electromagnetic compression valve, which is arranged on the piston head of the piston rod;

[0013] An electromagnetic extension valve, which is arranged on the piston head of the piston rod and is used in cooperation with the electromagnetic compression valve.

[0014] Preferably, the piezoelectric module includes:

[0015] A plurality of disc springs, which are respectively connected to the piezoelectric vibrator and the partition plate through disc spring seats and are arranged around the piston rod;

[0016] A plurality of piezoelectric vibrators, which are adhesively bonded at intervals between the disc spring seat and the piezoelectric sheet base through double-sided adhesive sheets and are arranged around the piston rod;

[0017] Piezoelectric materials, which are arranged between two adjacent piezoelectric vibrators and are arranged around the piston rod.

[0018] Preferably, the piezoelectric module further includes a power feeding circuit sub-module, which includes a first rectifier circuit, a first supercapacitor, a first MOS switch trigger driving module, a first supercapacitor voltage sensor, and a storage battery that are electrically connected. The power feeding circuit sub-module is used in cooperation with the disc spring, the piezoelectric vibrator, and the piezoelectric material.

[0019] Preferably, the linear motor module includes:

[0020] A linear motor primary permanent magnet base, which surrounds the piston rod and is connected to the inner wall of the actuator housing;

[0021] A number of linear motor primary permanent magnets are embedded in the linear motor primary permanent magnet base at intervals, and a second magnetic isolation plate is arranged between two adjacent linear motor primary permanent magnets;

[0022] A number of linear motor secondary permanent magnets are embedded in the piston rod, and the N poles and S poles of two adjacent linear motor secondary permanent magnets are arranged corresponding to each other.

[0023] Preferably, the linear motor module further includes a linear motor feeding sub-module, which includes a first supercapacitor, a first rectifier circuit, a second MOS switch trigger driving module, a controllable constant current source circuit, a linear motor, a second rectifier circuit, a second supercapacitor, a second MOS switch trigger driving module, and a storage battery. The linear motor feeding sub-module is used in cooperation with the linear motor primary permanent magnet and the linear motor secondary permanent magnet.

[0024] Preferably, the suspension actuator further includes an actuator controller. The input ends of the actuator controller are respectively connected with a sprung mass speed sensor for detecting the sprung mass speed, an unsprung mass speed sensor for detecting the unsprung mass speed, a first pressure sensor for detecting the oil pressure in the outer cavity A, a second pressure sensor for detecting the oil pressure in the inner cavity B, a first supercapacitor voltage sensor for detecting the first supercapacitor voltage, and a second supercapacitor voltage sensor for detecting the second supercapacitor voltage;

[0025] The output ends of the actuator controller are respectively connected with a controllable constant current source circuit for controlling the linear motor current, a first MOS switch trigger driving module for controlling the first supercapacitor to charge the storage battery, a second MOS switch trigger driving module for controlling the second supercapacitor to charge the storage battery, an electromagnetic compression valve for controlling the oil to flow from the outer cavity A into the inner cavity B, and an electromagnetic extension valve for controlling the oil to flow from the inner cavity B into the outer cavity A.

[0026] Preferably, the operating principles of the electromagnetic compression valve and the electromagnetic extension valve are:

[0027] S1. The sensor collects the hydraulic pressure in the outer cavity of the piston head and records it as P 1,i , and collects the hydraulic pressure in the inner cavity and records it as P 2,i ;

[0028] S3. When ΔP > P y , the electromagnetic compression valve opens; when ΔP < P S , the electromagnetic extension valve opens.

[0029] Preferably, the method for the actuator controller to control the multi-mode energy-harvesting suspension actuator includes:

[0030] S1. Use the actuator controller to control the sensor to periodically collect the sprung mass velocity and the unsprung mass velocity respectively. The sprung mass velocity is denoted as v s,i , and the unsprung mass velocity is v u,i ,

[0031] S2. Based on the sprung mass velocity denoted as v s,i and the unsprung mass velocity v u,i , obtain the sprung mass acceleration a s,i and the unsprung mass acceleration a u,i ;

[0032] S3. According to the values of a s,i and a u,i , the actuator controller judges the working model of the multi-mode energy-harvesting suspension actuator, judges whether it is in the active mode or the energy-harvesting mode. If it is in the energy-harvesting mode, control the energy generated by the linear motor module and the piezoelectric sheet module to be recovered into the battery. If it is in the active mode, proceed to the next step;

[0033] S4. In the active mode, the actuator controller calculates the ideal damping force F a,i , and controls the multi-mode energy-harvesting suspension actuator according to F a,i .

[0034] Preferably, the calculation formula for the ideal damping force F a,i is:

[0035] F a,i = -[q1a s,i + q2(v s,i - v u,i ) + q3v u,i t i

[0036] Among them, a s,i is the sprung mass acceleration obtained from the i-th sampling, v s,i is the sprung mass velocity obtained from the i-th sampling, v u,i ​The speed of the unsprung mass obtained from the i-th sampling, q1 is the acceleration coefficient of the actuator controller, q2 is the speed coefficient of the actuator controller, q3 is the displacement coefficient of the actuator controller, and t i is the i-th sampling time.

[0037] The beneficial effects of the present invention are as follows: The present invention discloses a multi-mode energy-harvesting suspension actuator and its control method. Compared with the prior art, the improvements of the present invention are as follows:

[0038] (1) The present invention uses the oil-gas spring module and the linear motor module in cooperation to adjust the suspension damping, ensuring that even when one party fails to function, the other party can still play a role, avoiding suspension imbalance caused by the failure of one party.

[0039] (2) The present invention uses two structures, the piezoelectric sheet module and the linear motor module, for energy recovery. Among them, the piezoelectric sheet module generates electrical energy through the up and down movement of the suspension, which compresses the oil in the outer cavity against the disc spring and then causes the piezoelectric sheet to generate electrical energy. The cooperation of these two energy-harvesting devices, the piezoelectric sheet and the linear motor, realizes the self-supply of suspension energy.

[0040] (3) The present invention uses a pressure sensor in combination with an electromagnetic compression valve and an electromagnetic extension valve. When the data collected by the pressure sensor reaches a certain pressure difference, the electromagnetic compression valve and the electromagnetic extension valve open. Compared with traditional mechanical compression valves and extension valves, the structure of the present invention has higher adjustment accuracy.

[0041] (4) The present invention combines the oil-gas spring module, the linear motor module and the piezoelectric material module to form an oil-gas energy-harvesting suspension actuator. This actuator has a highly integrated structure and high reliability, realizes real-time adjustment of suspension parameters, and has high application value. Description of the Drawings

[0042] Figure 1 is a schematic structural diagram of the oil-gas energy-harvesting suspension actuator of the present invention;

[0043] Figure 2 is a schematic connection diagram of the controller and other circuit elements of the actuator of the present invention;

[0044] Figure 3 is a flowchart of the control method for the oil-gas energy-harvesting suspension actuator of the present invention;

[0045] Among them, 1. actuator housing; 101. sealing ring; 2. piston rod; 201. piston head; 202. inner cavity; 203. damping hole; 3. partition plate; 301. oil seal; 4. magnetic isolation plate; 5. lower lifting lug; 6. upper lifting lug; 7. accumulator; 8. electromagnetic compression valve; 9. electromagnetic extension valve; 10. disc spring seat; 11. disc spring; 12. piezoelectric vibrator; 13. piezoelectric material; 14. piezoelectric sheet base; 15. double-sided adhesive thin plate; 16. linear motor primary permanent magnet base; 17. linear motor primary permanent magnet; 18. linear motor secondary permanent magnet; 19. magnetic isolation plate two; 23. first pressure sensor; 24. second pressure sensor 24. Detailed implementation manner

[0046] In order to enable ordinary technicians in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0047] Embodiment:

[0048] Referring to Figures 1-3 A multi-mode energy-harvesting suspension actuator shown in the figure, including an actuator housing 1 and a piston rod 2, and an inner cavity 202 is provided at the end of the piston rod 2 located in the actuator housing 1, and damping holes 203 communicating with the inner cavity 202 are provided on both sides of the piston rod 2; one end of the piston rod 2 penetrates into the actuator housing 1 and sequentially passes through the magnetic isolation plate 4 and the partition plate 3 provided in the actuator housing 1, and finally is connected to the piston head 201, and a hole communicating with the inner cavity 202 is provided on the piston head 201, and both the partition plate 3 and the magnetic isolation plate 4 are fixedly connected to the inner wall of the actuator housing 1; the piston head 201 is arranged in the actuator housing 1 and is used in cooperation with the actuator housing 1; the other end of the piston rod 2 is arranged outside the actuator housing 1 and is welded with a lower lifting lug 5, and an upper lifting lug 6 is fixedly arranged on the outside of the actuator housing 1; during use, the lower lifting lug 5 is used to connect the unsprung mass of the vehicle, and the upper lifting lug 6 is used to connect the sprung mass of the vehicle; a sealing ring 101 is arranged at the bottom opening of the piston rod 2 and the actuator housing 1, and the sealing ring 101 is made of rubber material to prevent dust and other impurities from entering the actuator housing 1;

[0049] An oil-gas spring module is arranged above the partition plate 3, and the actuator housing 1 above the partition plate 3 is filled with oil, a piezoelectric module is arranged between the partition plate 3 and the magnetic isolation plate 4, and a linear motor module is arranged below the magnetic isolation plate 4. Among them, a plurality of oil seals 301 are arranged at intervals on the partition plate 3 to ensure that the oil above the partition plate 3 does not leak to its lower part;

[0050] Specifically, the oil-gas spring module includes an accumulator 7, an electromagnetic compression valve 8, and an electromagnetic extension valve 9. The accumulator 7 is disposed outside the actuator housing 1 and communicates with the inner cavity of the actuator housing 1. The electromagnetic compression valve 8 and the electromagnetic extension valve 9 are disposed on the piston head 201 and are respectively located on both sides of the piston rod 2. Preferably, both the electromagnetic compression valve 8 and the electromagnetic extension valve 9 are two. Wherein, the piston head 201 and the partition plate 3 form an outer cavity A, and the piston head 201 and the actuator housing 1 form an inner cavity B.

[0051] Operating principles of the electromagnetic compression valve 8 and the electromagnetic extension valve 9:

[0052] Step A: Acquisition of pressure data of the inner and outer cavities: The first pressure sensor 23 acquires the oil pressure of the outer cavity, denoted as P 1,i ; the second pressure sensor 24 acquires the oil pressure of the inner cavity, denoted as P 2,i , where i is a non-zero natural number.

[0053] Step B: Transmission and calculation of data: Transmit the acquired data P 1,i and P 2,i to the actuator controller, calculate to obtain ΔP = P 1,i - P 2,i , compare the calculated ΔP with the set thresholds P S (less than zero), P y (greater than zero).

[0054] Step C: Solenoid valve response: When ΔP > P y , the electromagnetic compression valve 8 opens; when ΔP < P S , the electromagnetic extension valve 9 opens.

[0055] The piezoelectric module includes two disc spring seats 10, disc springs 11, a piezoelectric sheet base 14, a piezoelectric vibrator 12, and a piezoelectric material 13. The piezoelectric sheet base 14 is disposed on the magnetic isolation plate 4. Two disc spring seats 10 are disposed on the piezoelectric sheet base 14. One of the disc spring seats 10 is bonded to the partition plate 3, and a double-sided adhesive thin plate 15, a piezoelectric vibrator 12, and a piezoelectric material 13 are disposed between the other disc spring seat 10 and the piezoelectric sheet base 14. Wherein, a plurality of disc springs 11 are disposed between the two disc spring seats 10. The disc spring seats 10 and the piezoelectric sheet base 14 are both movably sleeved on the piston rod 2. Preferably, the number of disc springs 11 is four, and the material is 60S2MA.

[0056] A plurality of double-sided adhesive thin plates 15 are arranged at intervals between another disc spring seat 10 and the piezoelectric element base 14. A number of piezoelectric vibrators 12 are fixedly bonded between every two double-sided adhesive thin plates 15, and the piezoelectric vibrators 12 are arranged at intervals. A number of piezoelectric materials 13 are arranged between every two piezoelectric vibrators 12; the double-sided adhesive thin plates 15 are movably sleeved on the piston rod 2; wherein, the piezoelectric vibrators 12 and the piezoelectric materials 13 are arranged around the piston rod 2;

[0057] The piezoelectric module further includes a power feeding circuit sub-module, and the power feeding circuit sub-module includes a first rectifying circuit, a first super capacitor, a first MOS switch trigger driving module, a first super capacitor voltage sensor and a storage battery, and is used in cooperation with the disc spring 11, the piezoelectric vibrator 12 and the piezoelectric material 13;

[0058] The linear motor module includes a linear motor primary permanent magnet base 16, a linear motor primary permanent magnet 17 and a linear motor secondary permanent magnet 18. The linear motor primary permanent magnet base 16 surrounds the piston rod 2 and is connected to the inner wall of the actuator housing 1. A number of linear motor primary permanent magnets 17 are embedded in the linear motor primary permanent magnet base 16 at intervals, and a second magnetic isolation plate 19 is arranged between every two linear motor primary permanent magnets 17. A number of linear motor secondary permanent magnets 18 are embedded in the piston rod 2, and the N poles and S poles of two adjacent linear motor secondary permanent magnets 18 are arranged correspondingly; wherein, the number of the linear motor secondary permanent magnets 18 is 10 - 12;

[0059] The linear motor module further includes a linear motor feeding sub-module, and the linear motor feeding sub-module includes a first super capacitor, a first rectifying circuit, a second MOS switch trigger driving module, a controllable constant current source circuit, a linear motor, a second rectifying circuit, a second super capacitor, a second MOS switch trigger driving module and a storage battery, and the linear motor feeding sub-module is used in cooperation with the linear motor primary permanent magnet 17 and the linear motor secondary permanent magnet 18;

[0060] The multi-mode power feeding type suspension actuator of the present invention further includes an actuator controller. The input ends of the actuator controller are respectively connected with a sprung mass speed sensor for detecting the sprung mass speed, an unsprung mass speed sensor for detecting the unsprung mass speed, a first pressure sensor 23 for detecting the oil pressure in the outer cavity A, a second pressure sensor 24 for detecting the oil pressure in the inner cavity B, a first super capacitor voltage sensor for detecting the voltage of the first super capacitor and a second super capacitor voltage sensor for detecting the voltage of the second super capacitor; wherein, both the first pressure sensor 23 and the second pressure sensor 24 are arranged on the inner wall of the actuator housing 1;

[0061] The output terminals of the actuator controller are respectively connected with a controllable constant current source circuit for controlling the current of the linear motor, a first MOS switch trigger driving module for controlling the first super capacitor to charge the storage battery, a second MOS switch trigger driving module for controlling the second super capacitor to charge the storage battery, an electromagnetic compression valve 8 for controlling the oil to flow from the outer cavity A into the inner cavity B, and an electromagnetic extension valve 9 for controlling the oil to flow from the inner cavity B into the outer cavity A;

[0062] The method for the actuator controller to control the multi-mode energy harvesting type suspension actuator of the present invention includes:

[0063] S1. The actuator controller respectively collects the sprung mass speed and the unsprung mass speed, and uploads them to the actuator controller;

[0064] Specifically, the sprung mass speed sensor periodically samples the sprung mass speed, denoted as v s,i , and the unsprung mass speed sensor periodically samples the unsprung mass speed, denoted as v u,i , where i is a non-zero natural number, and uploads the obtained data to the actuator controller;

[0065] S2. The actuator controller further obtains the sprung mass acceleration a s,i and the unsprung mass acceleration a u,i by using the data uploaded in S1;

[0066] S3. According to the values of a s,i and a u,i , the actuator controller judges the working model of the multi-mode energy harvesting type suspension actuator of the present invention, judges it to be the active mode or the energy harvesting mode, and the energy generated by the linear motor module and the piezoelectric sheet module is recovered into the storage battery in the energy harvesting mode;

[0067] Specifically, set the sprung mass acceleration threshold as a. When the sprung mass acceleration a s,i collected continuously five times < a, it is determined that the vehicle is on a smooth road surface at this time, and the working model of the actuator is in the energy harvesting state, that is, the energy harvesting mode. At this time, the energy generated by the linear motor and the piezoelectric sheet is recovered into the storage battery;

[0068] When the sprung mass acceleration a s,i collected continuously five times > a, it is determined that the working model of the actuator is in the active state, that is, the active mode. At this time, the linear motor generates a corresponding actuating force to keep the vehicle having good ride comfort and handling stability;

[0069] If the judgment result is the active mode, further obtain the ideal damping force under the final actuator controller, and control the suspension actuator according to the ideal damping force; The specific calculation of the ideal damping force of the suspension actuator includes:

[0070] S1. Calculate the ideal damping force F under the actuator controller a,i ;

[0071] Specifically, calculate the ideal damping force F of the suspension actuator a,i by the actuator controller. The actuator controller calculates according to the formula F a,i = -[q1a s,i + q2(v s,i - v u,i ) + q3v u,i t i , where a s,i is the sprung mass acceleration obtained from the i-th sampling, v s,i is the sprung mass velocity obtained from the i-th sampling, v u,i is the unsprung mass velocity obtained from the i-th sampling, q1 is the acceleration coefficient of the actuator controller and the value of q1 is 1 to 10 10 , q2 is the velocity coefficient of the actuator controller and the value of q2 is 1 to 10 10 , q3 is the displacement coefficient of the actuator controller and the value of q3 is 1 to 10 10 , t i is the i-th sampling time, and the value of i is a non-zero natural number.

[0072] S2. Optimize the ideal damping force F a,i , and obtain the final ideal damping force under the actuator controller;

[0073] For the complex random system in the actuator controller process, it is difficult for the actuator controller to obtain a reasonable configuration and cannot achieve online adjustment, which will lead to a deterioration in the adaptability of the actuator controller and affect the control quality of the control system in the actuator controller. Therefore, the weed invasion algorithm is introduced to optimize the parameters q1, q2, and q3 of the control system in the actuator controller to ensure the best response of the actuator controller.

[0074] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-mode energy-feeding suspension actuator, comprising an actuator housing (1) and a piston rod (2), wherein the piston rod (2) is movably inserted in the actuator housing (1), characterized in that: It also includes a partition plate (3) and a magnetic isolation plate (4) arranged in the actuator housing (1), and the piston rod (2) moves through the partition plate (3) and the magnetic isolation plate (4), and a damping hole (203) is opened on the piston rod (2); Furthermore, in the actuator housing (1), oil is poured above the partition (3) and an oil-gas spring module is arranged, a piezoelectric module is arranged between the partition (3) and the magnetic isolation plate (4), and a linear motor module is arranged below the magnetic isolation plate (4).

2. A multi-mode energy-feeding suspension actuator according to claim 1, characterized in that: The oil-gas spring module includes: An accumulator (7), the accumulator (7) being arranged outside the actuator housing (1) and communicating with the inner cavity of the actuator housing (1); An electromagnetic compression valve (8) is arranged on a piston head (201) on the piston rod (2); The electromagnetic extension valve (9) is arranged on the piston head (201) on the piston rod (2) and is used in conjunction with the electromagnetic compression valve (8).

3. The multi-mode energy-feeding suspension actuator according to claim 1, characterized in that: The piezoelectric module includes: A plurality of disc springs (11) are respectively connected to the piezoelectric vibrator (12) and the partition (3) through the disc spring seat (10), and are arranged around the piston rod (2); A plurality of piezoelectric vibrators (12) are bonded between the disc spring seat (10) and the piezoelectric sheet base (14) at intervals through a double-sided adhesive thin plate (15), and are arranged around the piston rod (2); The piezoelectric material (13) is arranged between two piezoelectric vibrators (12) and surrounds the piston rod (2).

4. The multi-mode energy-feeding suspension actuator according to claim 3, characterized in that: The piezoelectric module also includes a feed circuit submodule, which includes an electrically connected first rectifier circuit, a first supercapacitor, a first MOS switch trigger drive module, a first supercapacitor voltage sensor, and a storage battery. The feed circuit submodule is used in conjunction with a disc spring (11), a piezoelectric vibrator (12), and a piezoelectric material (13).

5. The multi-mode energy-feeding suspension actuator according to claim 1, characterized in that: The linear motor module includes: A primary permanent magnet base (16) of the linear motor is arranged around the piston rod (2) and is connected to the inner wall of the actuator housing (1); A plurality of linear motor primary permanent magnets (17) are embedded in the linear motor primary permanent magnet base (16) at intervals, and a second magnetic isolation plate (19) is provided between each pair of the linear motor primary permanent magnets (17); A plurality of linear motor secondary permanent magnets (18) are embedded in the piston rod (2), and the N poles and S poles of two adjacent linear motor secondary permanent magnets (18) are arranged correspondingly.

6. The multi-mode energy-feeding suspension actuator according to claim 5, characterized in that: The linear motor module also includes a linear motor feeder module, which includes a first super capacitor, a first rectifier circuit, a second MOS switch trigger drive module, a controllable constant current source circuit, a linear motor, a second rectifier circuit, a second super capacitor, a second MOS switch trigger drive module and a battery. The linear motor feeder module is used in conjunction with a linear motor primary permanent magnet (17) and a linear motor secondary permanent magnet (18).

7. The multi-mode energy-feeding suspension actuator according to claim 1, characterized in that: The suspension actuator also includes an actuator controller, the input end of which is respectively connected to a sprung mass speed sensor for detecting the sprung mass speed, an unsprung mass speed sensor for detecting the unsprung mass speed, a first pressure sensor (23) for detecting the oil pressure in the outer cavity A, a second pressure sensor (24) for detecting the oil pressure in the inner cavity B, a first supercapacitor voltage sensor for detecting the first supercapacitor voltage, and a second supercapacitor voltage sensor for detecting the second supercapacitor voltage; The output end of the actuator controller is respectively connected to a controllable constant current source circuit for controlling the current of the linear motor, a first MOS switch triggering driving module for controlling the first super capacitor to charge the battery, a second MOS switch triggering driving module for controlling the second super capacitor to charge the battery, an electromagnetic compression valve (8) for controlling the oil to flow from the outer cavity A into the inner cavity B, and an electromagnetic extension valve (9) for controlling the oil to flow from the inner cavity B into the outer cavity A.

8. The multi-mode energy-feeding suspension actuator according to claim 2, characterized in that: The operating principle of the electromagnetic compression valve (8) and the electromagnetic extension valve (9) is as follows: S1. The sensor collects the oil pressure of the outer cavity of the piston head (201) and records it as P 1,i , collect the oil pressure in the inner cavity and record it as P 2,i ; S3. When ΔP>P y When ΔP<P S When the electromagnetic extension valve (9) opens.

9. The multi-mode energy-feeding suspension actuator according to claim 1, characterized in that: The method for controlling the multi-mode energy-feedback suspension actuator by the actuator controller includes: S1. Use the actuator controller to control the sensor to periodically collect the sprung mass speed and unsprung mass speed respectively. The sprung mass speed is recorded as v s,i , unsprung mass velocity v u,i , S2. Based on the sprung mass velocity, denoted as v s,i and the unsprung mass velocity v u,i , and the sprung mass acceleration a is obtained s, i and the unsprung mass acceleration a u,i ; S3. According to a s,i and a u,i The actuator controller determines the working model of the multi-mode energy-feeding suspension actuator to determine whether it is an active mode or an energy-feeding mode. If it is an energy-feeding mode, the actuator controller controls the energy generated by the linear motor module and the piezoelectric module to be recovered into the battery. If it is an active mode, the actuator controller proceeds to the next step. S4. In active mode, the actuator controller calculates the ideal damping force F a,i , and according to F a,i The multi-mode energy feedback suspension actuator is controlled.

10. The multi-mode energy-feeding suspension actuator according to claim 9, characterized in that: Ideal damping force F a,i The calculation formula is: F a,i =-[q1a s,i +q2(v s,i -v u,i )+q3v u,i t i ] Among them, a s,i is the sprung mass acceleration obtained by the i-th sampling, v s,i is the sprung mass velocity obtained by the i-th sampling, v u,i is the unsprung mass velocity obtained by the i-th sampling, q1 is the acceleration coefficient of the actuator controller, q2 is the velocity coefficient of the actuator controller, q3 is the displacement coefficient of the actuator controller, t i is the i-th sampling time.

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