Method and system for constructing input current regulation and control function of magnetorheological damper

Abstract

The embodiment of the invention relates to the technical field of damping control, in particular to a construction method and system for an input current regulation and control function of a magnetorheological damper. According to the method, due to the fact that the damping force output by the magnetorheological damper and the magnetic field intensity are in a nonlinear relation due to the rheological characteristic of magnetorheological fluid, in a multivariate regression function adopted in the input current regulation and control function construction process, the damping force value before regulation and the damping force value after regulation serve as independent variables, and the damping force value before regulation and the damping force value after regulation serve as independent variables; the damping force difference value before and after adjustment is not directly adopted as an independent variable. Due to the fact that magnetic particles in the magnetorheological fluid are different in the chain forming process and the chain breaking process, asymmetry of the damping force rising stage and the damping force falling stage of the magnetorheological fluid is caused. Therefore, the regulation and control function of the input current when the output damping force of the magneto-rheological damper rises and the regulation and control function of the input current when the output damping force of the magneto-rheological damper declines are constructed respectively. Accurate control over damping force output of the magnetorheological damper is improved.

Description

Technical Field

[0001] Multiple embodiments of this specification relate to the technical field of damping control, and more particularly to a method and system for constructing an input current regulation function of a magnetorheological damper. Background Art

[0002] A magnetorheological damper is an advanced intelligent damping device. For example, it is applied in automobiles to reduce vehicle vibrations, or in medical devices to reduce vibrations of the devices. It utilizes the rheological properties of magnetorheological fluids under the action of a magnetic field to adjust the damping force. Specifically, by adjusting the magnitude of the input current, the magnetic field strength generated by the excitation coil is controlled, and then the viscosity of the magnetorheological fluid is changed. When the current increases, the magnetic field strength increases, and the magnetic particles in the magnetorheological fluid form chain-like or columnar structures, making the fluid become viscous and the damping force increase; conversely, when the current decreases, the magnetic field strength weakens, the magnetorheological fluid resumes fluidity, and the damping force decreases. This reversible adjustment mechanism enables the magnetorheological damper to respond in real time to changes in external conditions and achieve control of the damping force.

[0003] The damping force output control of a magnetorheological damper is based on the rheological properties of the magnetorheological fluid. The rheological properties of the magnetorheological fluid result in a non-linear relationship between the magnitude of the damping force output by the magnetorheological damper and the magnetic field strength. Moreover, due to the differences in the processes of magnetic particle chain formation and chain breakage in the magnetorheological fluid, the asymmetry between the rising and falling stages of the damping force of the magnetorheological fluid is caused, which further makes it difficult to precisely control the damping force output. Summary of the Invention

[0004] Embodiments of this specification provide a method and system for constructing an input current regulation function of a magnetorheological damper, which can precisely control the damping force output of the magnetorheological damper.

[0005] The technical solution is as follows: Embodiments of this specification provide a method for constructing an input current regulation function of a magnetorheological damper, including: Performing a first-mode adjustment operation on the magnetorheological damper. The first-mode adjustment operation includes performing multiple upward adjustments on the input current of the magnetorheological damper to adjust the input current from a lower limit threshold to an upper limit threshold, and recording the respective rising parameter sets corresponding to each upward adjustment. The rising parameter set includes the input current adjustment value, the damping force value before adjustment, and the damping force value after adjustment; Performing a second-mode adjustment operation on the magnetorheological damper. The second-mode adjustment operation includes performing multiple downward adjustments on the input current of the magnetorheological damper to adjust the input current from the upper limit threshold to the lower limit threshold, and recording the respective falling parameter sets corresponding to each downward adjustment. The falling parameter set includes the input current adjustment value, the damping force value before adjustment, and the damping force value after adjustment; The first mode adjustment operation and the second mode adjustment operation are repeatedly executed in a loop, and all the rising parameter sets and all the falling parameter sets during the operation process are recorded; Obtain a multiple regression function, where the multiple regression function takes the input current adjustment value as the response variable and the damping force value before adjustment and the damping force value after adjustment as multiple independent variables; Based on all the rising parameter sets, perform a first solution on the multiple regression function to obtain a rising input current control function, and based on all the falling parameter sets, perform a second solution on the multiple regression function to obtain a falling input current control function.

[0006] As a preferred solution, each of the rising parameter sets and each of the falling parameter sets further includes the information on the historical cumulative damping force change amount of the damper before the corresponding input current adjustment is executed; The multiple regression function further includes independent variables related to the information on the historical cumulative damping force change amount.

[0007] As a preferred solution, the information on the historical cumulative damping force change amount of the damper includes the historical cumulative damping force rising change amount and the historical cumulative damping force falling change amount of the damper; The independent variables related to the information on the historical cumulative damping force change amount included in the multiple regression function include the historical cumulative damping force rising change amount and the historical cumulative damping force falling change amount of the damper; The historical cumulative damping force rising change amount of the damper is the sum of the differences in the damping force before and after each of the rising adjustments executed for the input current; The historical cumulative damping force falling change amount of the damper is the sum of the differences in the damping force before and after each of the falling adjustments executed for the input current.

[0008] As a preferred solution, during the process of repeatedly executing the first mode adjustment operation and the second mode adjustment operation in a loop, the input current adjustment values used for the rising adjustment and the falling adjustment both show a downward trend.

[0009] As a preferred solution, in the same loop iteration of repeatedly executing the first mode adjustment operation and the second mode adjustment operation in a loop, the input current adjustment values used for multiple rising adjustments are the same, and the input current adjustment values used for multiple falling adjustments are also the same; In different loop iterations of repeatedly executing the first mode adjustment operation and the second mode adjustment operation in a loop, the input current adjustment values used for the rising adjustment and the input current adjustment values used for the falling adjustment corresponding to each of the multiple loop iterations both show a downward trend.

[0010] As a preferred solution, the input current adjustment values adopted during the upward adjustment and the input current adjustment values adopted during the downward adjustment corresponding to each of the multiple cycle rounds both show a faster downward trend as the number of cycle rounds of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation increases.

[0011] As a preferred solution, each of the upward parameter sets and each of the downward parameter sets further include the internal temperature value of the damper before performing the corresponding input current adjustment; The multiple regression function also takes the internal temperature value of the damper as an independent variable.

[0012] As a preferred solution, during the process of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation in a cycle, when the internal temperature value of the damper reaches the first threshold, the cycle repetition needs to be paused until the internal temperature value of the damper reaches the second threshold and then the cycle repetition continues, where the first threshold is greater than the second threshold.

[0013] In a second aspect, an input current regulation function construction system for a magnetorheological damper provided by an embodiment of this specification includes a cycle repetition adjustment module, a recording module, a function acquisition module, and a function solving module; The cycle repetition adjustment module repeatedly executes the first-mode adjustment operation and the second-mode adjustment operation on the magnetorheological damper. The first-mode adjustment operation includes performing multiple upward adjustments on the input current of the magnetorheological damper to adjust the input current from the lower limit threshold to the upper limit threshold, and the second-mode adjustment operation includes performing multiple downward adjustments on the input current of the magnetorheological damper to adjust the input current from the upper limit threshold to the lower limit threshold; The recording module records the upward parameter set corresponding to each upward adjustment and the downward parameter set corresponding to each downward adjustment, and each upward parameter set and downward parameter set both include the corresponding input current adjustment value, the damping force value before adjustment, and the damping force value after adjustment; The function acquisition module acquires a multiple regression function, where the multiple regression function takes the input current adjustment value as the response variable and the damping force value before adjustment and the damping force value after adjustment as multiple independent variables; The function solving module performs a first solution on the multiple regression function based on all the upward parameter sets to obtain an upward input current regulation function; The function solving module also performs a second solution on the multiple regression function based on all the downward parameter sets to obtain a downward input current regulation function.

[0014] As a preferred solution, each of the upward parameter sets and each of the downward parameter sets recorded by the recording module further include the historical cumulative damping force change amount information of the damper before performing the corresponding input current adjustment; The independent variables in the multiple regression function obtained by the function acquisition module also include those related to the historical cumulative damping force change information.

[0015] In a third aspect, an embodiment of this specification provides an electronic device, including a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps described in the first aspect of the above embodiment.

[0016] In a fourth aspect, an embodiment of this specification provides a computer storage medium, which stores multiple instructions, and these instructions are suitable for being loaded and executed by a processor to execute the steps described in the first aspect of the above embodiment.

[0017] The beneficial effects brought by the technical solutions provided by some embodiments of this specification at least include: Due to the rheological characteristics of the magnetorheological fluid, the magnitude of the damping force output by the magnetorheological damper has a non-linear relationship with the magnetic field strength. Therefore, in the multiple regression function used in the construction process of the input current regulation function, the pre-regulation damping force value and the post-regulation damping force value are used as independent variables respectively, rather than directly using the difference between the pre-regulation and post-regulation damping forces as the independent variable. Since there are differences in the process of magnetic particles in the magnetorheological fluid forming and breaking chains, which leads to the asymmetry between the rising and falling stages of the damping force of the magnetorheological fluid, the regulation functions of the input current when the output damping force of the magnetorheological damper is in the rising stage and the regulation function of the input current when the output damping force of the magnetorheological damper is in the falling stage are constructed respectively. This improves the precise control of the damping force output of the magnetorheological damper. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic flowchart of a method for constructing an input current regulation function of a magnetorheological damper provided by an embodiment of this specification.

[0020] Figure 2 It is a schematic structural diagram of a system for constructing an input current regulation function of a magnetorheological damper provided by an embodiment of this specification.

[0021] Figure 3It is a schematic structural diagram of an electronic device provided by an embodiment of this specification. Specific implementation manners

[0022] Next, the technical solutions in the embodiments of this specification will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this specification.

[0023] The terms "first", "second", "third", etc. in the specification, claims and above-mentioned accompanying drawings of this specification are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0024] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the content of this specification. Each example can appropriately omit, substitute or add various processes or components. For example, the described method can be executed in a different order from the described order, and various steps can be added, omitted or combined. In addition, the features described in some examples can be combined into other examples.

[0025] Refer to Figure 1 as shown Figure 1 It is a schematic flowchart of a method for constructing an input current regulation function of a magnetorheological damper provided by an embodiment of this specification, and may at least include: Step 102: Perform a first-mode adjustment operation on the magnetorheological damper. The first-mode adjustment operation includes performing multiple upward adjustments on the input current of the magnetorheological damper to adjust the input current from a lower threshold to an upper threshold, and recording the respective rising parameter sets corresponding to each upward adjustment. The rising parameter set includes an input current adjustment value, a damping force value before adjustment, and a damping force value after adjustment; Step 104: Perform a second-mode adjustment operation on the magnetorheological damper. The second-mode adjustment operation includes performing multiple downward adjustments on the input current of the magnetorheological damper to adjust the input current from the upper threshold to the lower threshold, and recording the respective falling parameter sets corresponding to each downward adjustment. The falling parameter set includes an input current adjustment value, a damping force value before adjustment, and a damping force value after adjustment; Step 106: Repeatedly execute the first-mode adjustment operation and the second-mode adjustment operation in a loop, and record all the rising parameter sets and all the falling parameter sets during the operation process (note: it can be terminated after repeating the preset number of iterations). Step 108: Obtain a multiple regression function, where the input current regulation value is the response variable and the damping force values before and after regulation are multiple independent variables. Step 110: Perform a first solution on the multiple regression function based on all the rising parameter sets to obtain a rising input current regulation function, and perform a second solution on the multiple regression function based on all the falling parameter sets to obtain a falling input current regulation function.

[0026] Due to the rheological properties of the magnetorheological fluid, the magnitude of the damping force output by the magnetorheological damper has a non-linear relationship with the magnetic field strength. Therefore, in the multiple regression function used in the construction process of the input current regulation function, the damping force values before and after regulation are used as independent variables respectively, rather than directly using the difference in damping force before and after regulation as the independent variable.

[0027] It can be understood that due to the rheological properties of the magnetorheological fluid, the magnitude of the damping force output by the magnetorheological damper has a non-linear relationship with the magnetic field strength. Therefore, even for the same output damping force adjustment amount, based on different output damping force values, the values of the magnetic field strength that need to be changed are different, and further, the input current values required to adjust the magnetorheological damper will also be different. Therefore, in the embodiments of this specification, in the multiple regression function used in the construction process of the input current regulation function, the damping force values before and after regulation are used as independent variables respectively, rather than directly using the difference in damping force before and after regulation as the independent variable. Thereby, the precise control of the damping force output of the magnetorheological damper is improved.

[0028] It can also be understood that there are differences in the process of magnetic particles in the magnetorheological fluid forming and breaking chains, which are mainly reflected in: I. During the chain formation process (the rising stage of the damping force output of the magnetorheological damper): When the magnetic field is applied, the magnetic particles need to overcome the viscous resistance of the base fluid and Brownian thermal motion to migrate and arrange into chains; during the chain formation process, the van der Waals force between the surfaces of the magnetic particles acts within a short distance, hindering the dispersion of the magnetic particles and playing an auxiliary role in chain formation during the chain formation process.

[0029] II. During the chain breaking process (the falling stage of the damping force output of the magnetorheological damper): Although the magnetorheological fluid uses soft magnetic material particles, and there is almost no residual magnetism after the external magnetic field drops or is removed, strictly speaking, there is still a certain amount of residual magnetism, so there may still be a certain amount of magnetic hysteresis effect. Therefore, after the magnetic field is removed, the residual magnetic dipole force and the above-mentioned van der Waals force will hinder the particle chain from breaking, and the viscous resistance of the base fluid will also hinder the particle chain from breaking; while the elastic restoring force of the base fluid and Brownian thermal motion will assist in the fracture of the particle chain.

[0030] Since there are at least the above differences in the process of magnetic particles in the magnetorheological fluid forming and breaking chains, which leads to the asymmetry between the rising and falling stages of the damping force of the magnetorheological fluid, the embodiments of this specification respectively construct the regulation function of the input current when the output damping force of the magnetorheological damper rises and the regulation function of the input current when the output damping force of the magnetorheological damper falls. Further improving the precise control of the damping force output of the magnetorheological damper.

[0031] It should be noted that the multiple regression function is a statistical model used to describe the relationship between two or more independent variables (explanatory variables) and a dependent variable (response variable). And in the embodiments of this specification, due to the rheological characteristics of the magnetorheological fluid, the magnitude of the damping force output by the magnetorheological damper has a non-linear relationship with the magnetic field strength, so a multiple non-linear regression function needs to be used.

[0032] The multiple non-linear regression function model allows the relationship between the independent variable and the dependent variable to be represented by a non-linear equation, which means that the relationship between one or more independent variables and the dependent variable in the function model is not linear, but follows a certain non-linear function, which can be but is not limited to any one of the exponential function, logarithmic function, and power function.

[0033] The solution of the multiple non-linear regression function model usually uses computer algorithms such as the Newton-Raphson method, gradient descent method, genetic algorithm, etc. to estimate the model parameters.

[0034] Therefore, based on the obtained rising input current regulation function and falling input current regulation function, on the basis of knowing the damping force value before adjustment and the damping force value expected to be achieved (i.e., the independent variable of the adjusted damping force value in the corresponding multiple regression function), the corresponding input current adjustment value can be obtained. And the key point is that if the damping force value before adjustment < the damping force value expected to be achieved, it should be calculated based on the rising input current regulation function, and if the damping force value before adjustment > the damping force value expected to be achieved, it should be calculated based on the falling input current regulation function.

[0035] Specifically, the process of regulating the input current by applying the rising input current regulation function and the falling input current regulation function includes the following steps: Obtain the damping force value before adjustment and the damping force value expected to be achieved; Based on the damping force value before adjustment and the damping force value expected to be achieved, select the target current regulation function from the rising input current regulation function and the falling input current regulation function; Based on the damping force value before adjustment, the damping force value expected to be achieved, and the target current regulation function, calculate the input current adjustment value; Regulate the input current of the magnetorheological damper based on the calculated input current adjustment value.

[0036] It can be understood that for a magnetorheological damper, the output of its damping force mainly depends on the fluid characteristics of the magnetorheological fluid inside it. However, as the magnetorheological fluid is used, its fluid characteristics will change. Therefore, in some embodiments of this specification, each rising parameter set and each falling parameter set further include the historical cumulative damping force change amount information of the damper before performing the corresponding input current adjustment; The multiple regression function further includes independent variables related to the historical cumulative damping force change amount information.

[0037] It can be understood that the more the historical cumulative damping force change amount of the damper, the greater the change in the fluid characteristics of the magnetorheological fluid. Therefore, the multiple regression function further includes independent variables related to the historical cumulative damping force change amount information.

[0038] The influence of the historical cumulative damping force change amount of the damper on the magnetorheological fluid is mainly reflected in: As the historical cumulative damping force change amount of the damper increases, the magnetic particles in the magnetorheological fluid may be worn due to reasons such as friction and collision, and the carrier liquid in the magnetorheological fluid may volatilize.

[0039] As the historical cumulative damping force change amount of the damper increases, it indicates that the change amount of the magnetic field intensity also increases, which in turn causes the magnetization performance of the magnetic particles to change to a certain extent.

[0040] In addition, as the historical cumulative damping force change amount of the damper increases, some mechanical structures in the magnetorheological damper will also age to a certain extent, such as seals, pistons, coils, etc., which will also affect the control of the damping force output of the magnetorheological damper.

[0041] Based on the foregoing description, it can be seen that there are differences in the process of magnetic particles in the magnetorheological fluid forming and breaking chains. Therefore, even if the same damping force change amount occurs during the damping force rising stage and the damping force falling stage, they will still have different degrees of influence on the control of the damping force output of the magnetorheological damper. Therefore, in some embodiments of this specification, the historical cumulative damping force change amount information of the damper includes the historical cumulative damping force rising change amount and the historical cumulative damping force falling change amount of the damper; The independent variables related to the historical cumulative damping force change amount information included in the multiple regression function include the historical cumulative damping force rising change amount and the historical cumulative damping force falling change amount of the damper; The historical cumulative damping force rising change amount of the damper is the sum of the damping force differences before and after the respective rising adjustments performed for all input currents; The historical cumulative damping force decrease change amount of the damper is the sum of the damping force differences before and after each of the decrease adjustments performed for the input current.

[0042] The following is an example for illustration: Suppose there are 2 upward adjustments and 2 downward adjustments in sequence, namely upward adjustment one, upward adjustment two, downward adjustment one, and downward adjustment two. The output damping force of the magnetorheological damper is adjusted from 0 N to 100 N through upward adjustment one, from 100 N to 200 N through upward adjustment two, from 200 N to 150 N through downward adjustment one, and from 150 N to 70 N through downward adjustment two. Among them, the damper historical cumulative damping force change amount information in the upward parameter set corresponding to upward adjustment one includes a damper historical cumulative damping force increase change amount of 100 N and a damper historical cumulative damping force decrease change amount of 0 N; the damper historical cumulative damping force change amount information in the upward parameter set corresponding to upward adjustment two includes a damper historical cumulative damping force increase change amount of 200 N and a damper historical cumulative damping force decrease change amount of 0 N; the damper historical cumulative damping force change amount information in the downward parameter set corresponding to downward adjustment one includes a damper historical cumulative damping force increase change amount of 200 N and a damper historical cumulative damping force decrease change amount of 50 N; the damper historical cumulative damping force change amount information in the downward parameter set corresponding to downward adjustment two includes a damper historical cumulative damping force increase change amount of 200 N and a damper historical cumulative damping force decrease change amount of 130 N.

[0043] Therefore, based on the obtained upward input current regulation function and downward input current regulation function, the corresponding input current regulation value can be obtained on the basis of the known damping force value before adjustment, the damping force value expected to be achieved (i.e., the independent variable of the adjusted damping force value in the corresponding multiple regression function), the damper historical cumulative damping force increase change amount, and the damper historical cumulative damping force decrease change amount.

[0044] It can be understood that as the loop repeats, the rising change amount of the damper's historical cumulative damping force, the falling change amount of the damper's historical cumulative damping force, and the total change amount of the damper's historical cumulative damping force (i.e., the sum of the rising change amount and the falling change amount of the damper's historical cumulative damping force) are all gradually increasing. Therefore, the degree of influence on the damping force output control of the magnetorheological damper is also gradually increasing. Therefore, in some embodiments of the present specification, during the process of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation in a loop, the input current adjustment values used for the rising adjustment and the falling adjustment both show a downward trend, so that the parameters in the falling parameter set and the rising parameter set are more concentrated when the degree of influence is relatively large, making the subsequent solution of the corresponding parameters in the multiple regression function more accurate, and further improving the precise control of the damping force output of the magnetorheological damper.

[0045] It should also be noted that when the degree of influence of the damper's historical cumulative damping force change amount on the damping force output control of the magnetorheological damper is relatively small, the input current adjustment value is relatively large. Therefore, the adjustment density will be relatively small. Furthermore, when using the above adjustment method for the input current adjustment value, the speed of constructing the input current regulation function is also accelerated.

[0046] Specifically: In some embodiments of the present specification, in the same loop iteration of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation, the input current adjustment values used for multiple rising adjustments are the same, and the input current adjustment values used for multiple falling adjustments are also the same (note: to avoid changing the input current adjustment value in the same loop iteration); In different loop iterations of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation, the input current adjustment values used for rising adjustment and the input current adjustment values used for falling adjustment corresponding to each of the multiple loop iterations both show a downward trend (note: that is, taking the loop iteration as the time unit, the input current adjustment value is changed).

[0047] In some embodiments of the present specification, the input current adjustment values used for rising adjustment and the input current adjustment values used for falling adjustment corresponding to each of the multiple loop iterations become faster in the downward trend as the number of loop iterations of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation increases.

[0048] It can be understood that for magnetorheological fluid, the change in temperature will also have a certain impact on its fluid characteristics. Therefore, in some embodiments of the present specification, each rising parameter set and each falling parameter set further include the internal temperature value of the damper before performing the corresponding input current adjustment; The multiple regression function also takes the internal temperature value of the damper as an independent variable.

[0049] Therefore, based on the obtained ascending input current regulation function and descending input current regulation function, the corresponding input current regulation value can be obtained on the basis of the known pre-regulation damping force value, the expected damping force value to be achieved (i.e., the adjusted damping force value independent variable in the corresponding multiple regression function), the historical cumulative ascending change amount of the damping force of the damper, the historical cumulative descending change amount of the damping force of the damper, and the internal temperature value of the damper.

[0050] It can be understood that during the process of repeatedly executing the first mode adjustment operation and the second mode adjustment operation in a loop, the temperature of the magnetorheological damper may continue to rise, and when it is higher than a certain temperature threshold, it will cause a certain degree of damage to the magnetorheological damper. Therefore, in order to prevent damage to the magnetorheological damper caused by excessive temperature or affect its performance, in some embodiments of this specification, during the process of repeatedly executing the first mode adjustment operation and the second mode adjustment operation in a loop, when the internal temperature value of the damper reaches the first threshold, the loop repetition needs to be paused until the internal temperature value of the damper reaches the second threshold and then continue to repeat the loop. The first threshold is greater than the second threshold.

[0051] Among them, the first threshold can be set according to the actual situation, and the second threshold can be set according to the actual operating environment temperature of the magnetorheological damper.

[0052] And it can be understood that through the parameter acquisition method in the input current regulation function construction method described in the embodiments of this specification (that is, "repeatedly executing the first mode adjustment operation and the second mode adjustment operation in a loop" and "when the internal temperature value of the damper reaches the first threshold, the loop repetition needs to be paused until the internal temperature value of the damper reaches the second threshold and then continue to repeat the loop"), the parameter distributions in the ascending parameter set and the descending parameter set under different historical cumulative damping force change amounts of the damper and different internal temperature values of the damper can be made more comprehensive and balanced, thereby improving the adaptability and robustness of the input current regulation function.

[0053] The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the specific order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0054] Next, please refer to Figure 2 , Figure 2The figure shows a schematic structural diagram of a system for constructing an input current regulation function of a magnetorheological damper provided by an embodiment of the present specification, which may at least include a cyclic repetition adjustment module, a recording module, a function acquisition module, and a function solving module; The cyclic repetition adjustment module repeatedly performs a first-mode adjustment operation and a second-mode adjustment operation on the magnetorheological damper. The first-mode adjustment operation includes performing multiple upward adjustments on the input current of the magnetorheological damper to adjust the input current from a lower threshold to an upper threshold. The second-mode adjustment operation includes performing multiple downward adjustments on the input current of the magnetorheological damper to adjust the input current from the upper threshold to the lower threshold; The recording module records the respective upward parameter sets corresponding to each upward adjustment and the respective downward parameter sets corresponding to each downward adjustment, and each upward parameter set and downward parameter set include their respective corresponding input current adjustment values, pre-adjustment damping force values, and post-adjustment damping force values; The function acquisition module acquires a multiple regression function, where the multiple regression function uses the input current adjustment value as the response variable and the pre-adjustment damping force value and the post-adjustment damping force value as multiple independent variables; The function solving module performs a first solution on the multiple regression function based on all the upward parameter sets to obtain an upward input current regulation function; The function solving module also performs a second solution on the multiple regression function based on all the downward parameter sets to obtain a downward input current regulation function.

[0055] In some embodiments of the present specification, each upward parameter set and each downward parameter set recorded by the recording module further include the information of the historical cumulative damping force change amount of the damper before the input current adjustment corresponding to each of them; The multiple regression function acquired by the function acquisition module further includes an independent variable related to the information of the historical cumulative damping force change amount.

[0056] Each embodiment in the present specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiment of the regulation function construction system, since it is basically similar to the embodiment of the regulation function construction method, the description is relatively simple, and the relevant parts can be referred to the partial description of the embodiment of the regulation function construction method.

[0057] Please refer to Figure 3 The schematic structural diagram of an electronic device provided by an embodiment of the present specification shown.

[0058] Such as Figure 3As shown, the electronic device 300 may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0059] Among them, the communication bus 302 can be used to realize the connection and communication of the above-mentioned various components.

[0060] Among them, the user interface 303 may include buttons, and the optional user interface may further include a standard wired interface and a wireless interface.

[0061] Among them, the network interface 304 can but is not limited to including a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0062] Among them, the processor 301 may include one or more processing cores. The processor 301 connects various parts within the entire electronic device 300 through various interfaces and lines, and by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling the data stored in the memory 305, it executes various functions of the electronic device 300 and processes data. Optionally, the processor 301 can be implemented in at least one of the hardware forms of DSP, FPGA, and PLC. The processor 301 can integrate one or several combinations of a CPU, a GPU, and a modem, etc. Among them, the CPU mainly processes the operating system, the user interface, and application programs, etc.; the GPU is responsible for the rendering and drawing of the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 301 and can be implemented separately by a single chip.

[0063] Among them, the memory 305 may include RAM and may also include ROM. Optionally, the memory 305 includes a non-transitory computer-readable medium. The memory 305 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store the data involved in the above-mentioned various method embodiments, etc. The memory 305 is optionally further a storage device located at least away from the aforementioned processor 301. As a computer storage medium, the memory 305 may include an operating system, a network communication module, a user interface module, and a regulation function construction application program. The processor 301 can be used to call the regulation function construction program stored in the memory 305 and execute the steps of the regulation function construction method mentioned in the foregoing embodiments.

[0064] An embodiment of this specification also provides a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a computer or a processor, the computer or the processor is caused to execute one or more steps in the method embodiment of constructing the above-mentioned regulation function. If each component module of the above-mentioned electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in the computer-readable storage medium.

[0065] In the above embodiment, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this specification are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, etc. that integrates one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a Digital Versatile Disc (DVD)), or a semiconductor medium (for example, a Solid State Disk (SSD)), etc.

[0066] Those of ordinary skill in the art can understand that all or part of the process of implementing the above embodiment method can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The foregoing storage medium includes: various media such as ROM, RAM, magnetic disk or optical disc that can store program codes. Without conflict, the technical features in this embodiment and the implementation scheme can be combined arbitrarily.

[0067] The embodiments described above are merely described as preferred embodiments of this specification, and do not limit the scope of this specification. Without departing from the design spirit of this specification, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of this specification shall fall within the protection scope determined by the claims of this specification.

Claims

1. A method for constructing an input current regulation function of a magnetorheological damper, characterized in that Including: Perform a first-mode adjustment operation on the magnetorheological damper, where the first-mode adjustment operation includes performing multiple upward adjustments on the input current of the magnetorheological damper to adjust the input current from a lower threshold to an upper threshold, and recording the respective upward parameter sets corresponding to each upward adjustment. The upward parameter set includes the input current adjustment value, the damping force value before adjustment, and the damping force value after adjustment; Perform a second-mode adjustment operation on the magnetorheological damper, where the second-mode adjustment operation includes performing multiple downward adjustments on the input current of the magnetorheological damper to adjust the input current from the upper threshold to the lower threshold, and recording the respective downward parameter sets corresponding to each downward adjustment. The downward parameter set includes the input current adjustment value, the damping force value before adjustment, and the damping force value after adjustment; Repeatedly execute the first-mode adjustment operation and the second-mode adjustment operation in a cycle, and record all the upward parameter sets and all the downward parameter sets during the operation process; Obtain a multiple regression function, where the multiple regression function uses the input current adjustment value as the response variable and the damping force value before adjustment and the damping force value after adjustment as multiple independent variables; Perform a first solution on the multiple regression function based on all the upward parameter sets to obtain an upward input current control function, and perform a second solution on the multiple regression function based on all the downward parameter sets to obtain a downward input current control function.

2. The method for constructing the input current regulation function of a magnetorheological damper according to claim 1, wherein Each of the upward parameter sets and each of the downward parameter sets further includes the information on the historical cumulative damping force change amount of the damper before the input current adjustment corresponding to each; The multiple regression function further includes independent variables related to the information on the historical cumulative damping force change amount; 3. A method for constructing an input current regulation function of a magnetorheological damper according to claim 2, characterized in that, The information on the historical cumulative damping force change amount of the damper includes the historical cumulative damping force upward change amount and the historical cumulative damping force downward change amount of the damper; The independent variables related to the information on the historical cumulative damping force change amount included in the multiple regression function include the historical cumulative damping force upward change amount and the historical cumulative damping force downward change amount of the damper; The historical cumulative damping force upward change amount of the damper is the sum of the differences in the damping force before and after adjustment corresponding to each of the upward adjustments performed on the input current; The historical cumulative damping force downward change amount of the damper is the sum of the differences in the damping force before and after adjustment corresponding to each of the downward adjustments performed on the input current.

4. A method for constructing an input current regulation function of a magnetorheological damper according to claim 2, characterized in that, During the process of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation in a cycle, the input current adjustment values used for the upward adjustment and the downward adjustment both show a downward trend.

5. The method for constructing the input current regulation function of a magnetorheological damper according to claim 4, characterized in that, In the same cycle of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation, the input current adjustment values used for the multiple upward adjustments are the same, and the input current adjustment values used for the multiple downward adjustments are also the same; In different cycles of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation, the input current adjustment values used for the upward adjustment and the input current adjustment values used for the downward adjustment corresponding to each of the multiple cycles both show a downward trend.

6. The method for constructing the input current regulation function of a magnetorheological damper according to claim 5, wherein The input current adjustment values used during the rising adjustment and the input current adjustment values used during the falling adjustment, each corresponding to a plurality of cycle rounds, both show a faster downward trend as the number of cycle rounds of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation increases.

7. A method for constructing an input current regulation function of a magnetorheological damper according to claim 1, characterized in that, Each of the rising parameter sets and each of the falling parameter sets further includes the internal damper temperature value before the corresponding input current adjustment is performed; The multiple regression function also uses the internal damper temperature value as an independent variable.

8. A method for constructing an input current regulation function of a magnetorheological damper according to claim 7, characterized in that During the process of repeatedly executing the first-mode adjustment operation and the second-mode adjustment operation in a cycle, when the internal damper temperature value reaches a first threshold, the cycle repetition needs to be paused until the internal damper temperature value reaches a second threshold, and then the cycle repetition continues. The first threshold is greater than the second threshold.

9. A system for constructing an input current regulation function of a magnetorheological damper, characterized in that, It includes a cycle repetition adjustment module, a recording module, a function acquisition module, and a function solving module; The cycle repetition adjustment module repeatedly executes the first-mode adjustment operation and the second-mode adjustment operation on the magnetorheological damper. The first-mode adjustment operation includes performing multiple rising adjustments on the input current of the magnetorheological damper to adjust the input current from a lower limit threshold to an upper limit threshold. The second-mode adjustment operation includes performing multiple falling adjustments on the input current of the magnetorheological damper to adjust the input current from the upper limit threshold to the lower limit threshold; The recording module records the rising parameter set corresponding to each rising adjustment and the falling parameter set corresponding to each falling adjustment. Each rising parameter set and each falling parameter set include their corresponding input current adjustment values, the damper force value before adjustment, and the damper force value after adjustment; The function acquisition module acquires a multiple regression function. The multiple regression function uses the input current adjustment value as the response variable and the damper force value before adjustment and the damper force value after adjustment as multiple independent variables; The function solving module performs a first solution on the multiple regression function based on all the rising parameter sets to obtain a rising input current control function; The function solving module also performs a second solution on the multiple regression function based on all the falling parameter sets to obtain a falling input current control function.

10. The system for constructing the input current regulation function of a magnetorheological damper according to claim 9, characterized in that, Each of the rising parameter sets and each of the falling parameter sets recorded by the recording module further includes information on the historical cumulative damper force change amount before the corresponding input current adjustment is performed; The multiple regression function acquired by the function acquisition module also includes an independent variable related to the historical cumulative damper force change amount information.

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