A method and system for constructing an input current control function of a magnetorheological damper

Abstract

The embodiments of this specification relate to the field of damping control technology, and specifically to a method and system for constructing an input current control function for a magnetorheological damper. In the method, due to the rheological characteristics of the magnetorheological fluid, the magnitude of the damping force output by the magnetorheological damper is nonlinearly related to the magnetic field strength. Therefore, in the multivariate regression function used in the construction of the input current control function, the damping force value before adjustment and the damping force value after adjustment are used as independent variables, rather than directly using the difference between the damping forces before and after adjustment as the independent variable. Since the magnetic particles in the magnetorheological fluid differ in the chain formation and chain breaking processes, which leads to the asymmetry of the rising and falling stages of the damping force of the magnetorheological fluid, the control function of the input current during the rising stage of the magnetorheological damper output damping force and the control function of the input current during the falling stage of the magnetorheological damper output damping force are constructed respectively. This improves the precise control of the damping force output of the magnetorheological damper.

Description

Technical Field

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

[0002] A magnetorheological damper is an advanced intelligent damping device used, for example, in automobiles to reduce vehicle vibrations, or in medical devices to reduce vibrations. It uses the rheological properties of magnetorheological fluid under the action of a magnetic field to adjust the damping force. Specifically, by adjusting the magnitude of the input current, the intensity of the magnetic field generated by the excitation coil is controlled, thereby changing the viscosity of the magnetorheological fluid. When the current increases, the magnetic field intensity increases, and the magnetic particles in the magnetorheological fluid form chain-like or columnar structures, making the liquid viscous and increasing the damping force; conversely, when the current decreases, the magnetic field intensity decreases, the magnetorheological fluid regains fluidity, and the damping force decreases. This reversible adjustment mechanism enables the magnetorheological damper to respond to changes in external conditions in real time and achieve control of the damping force.

[0003] The damping force output control of the magnetorheological damper is based on the rheological properties of the magnetorheological fluid. However, the rheological properties of the magnetorheological fluid result in a nonlinear relationship between the damping force output by the magnetorheological damper and the magnetic field strength. In addition, due to the difference in the chain formation and chain breaking processes of the magnetic particles in the magnetorheological fluid, the asymmetry between the rising and falling stages of the damping force of the magnetorheological fluid is caused, which makes the precise control of the damping force output difficult. Summary of the Invention

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

[0005] The technical solution is as follows:

[0006] The embodiments of this specification provide a method for constructing an input current control function of a magnetorheological damper, including:

[0007] performing a first mode adjustment operation on the magnetorheological damper, the first mode adjustment operation comprising performing multiple upward adjustments on an input current of the magnetorheological damper so as to adjust the input current from a lower threshold to an upper threshold, and recording an upward parameter set corresponding to each upward adjustment, the upward parameter set comprising an input current adjustment value, a damping force value before adjustment, and a damping force value after adjustment;

[0008] performing a second mode adjustment operation on the magnetorheological damper, the second mode adjustment operation comprising performing multiple downward adjustments on an input current of the magnetorheological damper so as to adjust the input current from an upper threshold value to a lower threshold value, and recording a respective downward parameter set corresponding to each downward adjustment, the downward parameter set comprising an input current adjustment value, a damping force value before adjustment, and a damping force value after adjustment;

[0009] Repeating the first mode adjustment operation and the second mode adjustment operation in a loop, and recording all rising parameter sets and all falling parameter sets during the operation;

[0010] Obtain a multiple regression function, wherein the multiple regression function takes the input current adjustment value as a response variable and takes the damping force value before adjustment and the damping force value after adjustment as multiple independent variables;

[0011] A first solution is performed on the multivariate regression function based on all the rising parameter sets to obtain the rising input current control function, and a second solution is performed on the multivariate regression function based on all the falling parameter sets to obtain the falling input current control function.

[0012] As a preferred solution, each of the rising parameter sets and each of the falling parameter sets further includes information on the historical cumulative damping force variation of the damper before the adjustment of the corresponding input current is performed;

[0013] The multivariate regression function also includes independent variables related to historical cumulative damping force change information.

[0014] As a preferred solution, the damper historical cumulative damping force change amount information includes the damper historical cumulative damping force increase change amount and the damper historical cumulative damping force decrease change amount;

[0015] The independent variables related to the historical cumulative damping force variation information included in the multivariate regression function include the historical cumulative damping force increase variation of the damper and the historical cumulative damping force decrease variation of the damper;

[0016] The historical cumulative damping force increase variation of the damper is the sum of the damping force differences before and after the adjustment corresponding to all the increase adjustments performed on the input current;

[0017] The historical cumulative damping force decrease variation of the damper is the sum of the damping force differences before and after the adjustment corresponding to all the decrease adjustments performed on the input current.

[0018] As a preferred solution, in the process of cyclically repeating the first mode regulation operation and the second mode regulation operation, the input current regulation values ​​adopted in the upward regulation and the downward regulation both show a downward trend.

[0019] As a preferred solution, in the same cycle of cyclically repeating the first mode adjustment operation and the second mode adjustment operation, the input current adjustment values ​​used in multiple upward adjustments are consistent, and the input current adjustment values ​​used in multiple downward adjustments are also consistent;

[0020] In different rounds of cyclically repeating the first mode regulation operation and the second mode regulation operation, the input current regulation values ​​used in the upward regulation and the input current regulation values ​​used in the downward regulation corresponding to each of the multiple rounds show a downward trend.

[0021] As a preferred solution, the input current adjustment values ​​used in the upward adjustment and the input current adjustment values ​​used in the downward adjustment corresponding to multiple cycle rounds each have a faster downward trend as the number of cycles of repeatedly executing the first mode adjustment operation and the second mode adjustment operation increases.

[0022] As a preferred solution, each of the rising parameter sets and each of the falling parameter sets further includes the damper internal temperature value before performing the adjustment with respect to the respective corresponding input current;

[0023] The multiple regression function also takes the damper internal temperature value as an independent variable.

[0024] As a preferred solution, during the process of cyclically repeating the first mode adjustment operation and the second mode adjustment operation, when the internal temperature value of the damper reaches a first threshold value, the cyclical repetition is paused until the internal temperature value of the damper reaches a second threshold value and the cyclical repetition continues, and the first threshold value is greater than the second threshold value.

[0025] In a second aspect, an embodiment of this specification provides a system for constructing an input current control function of a magnetorheological damper, including a cyclic repetition adjustment module, a recording module, a function acquisition module, and a function solving module;

[0026] The cyclic repetitive adjustment module cyclically and repeatedly performs a first mode adjustment operation and a second mode adjustment operation on the magnetorheological damper, wherein the first mode adjustment operation includes performing multiple upward adjustments on the input current of the magnetorheological damper so as to adjust the input current from a lower threshold to an upper threshold, and the second mode adjustment operation includes performing multiple downward adjustments on the input current of the magnetorheological damper so as to adjust the input current from the upper threshold to the lower threshold;

[0027] The recording module records the rising parameter set corresponding to each rising adjustment and the falling parameter set corresponding to each falling adjustment, and each rising parameter set and falling parameter set includes the corresponding input current adjustment value, the damping force value before adjustment, and the damping force value after adjustment;

[0028] The function acquisition module acquires a multiple regression function, wherein the multiple regression function takes the input current adjustment value as a response variable and the damping force value before adjustment and the damping force value after adjustment as multiple independent variables;

[0029] The function solving module performs a first solution on the multivariate regression function based on all rising parameter sets to obtain a rising input current control function;

[0030] The function solving module further performs a second solution on the multivariate regression function based on all the descent parameter sets to obtain a descent input current control function.

[0031] As a preferred solution, each rising parameter set and each falling parameter set recorded by the recording module also includes historical cumulative damping force variation information of the damper before performing the adjustment of the corresponding input current;

[0032] The multivariate regression function acquired by the function acquisition module also includes independent variables related to the historical cumulative damping force variation information.

[0033] In a third aspect, an embodiment of this specification provides an electronic device comprising 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.

[0034] In a fourth aspect, an embodiment of this specification provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executing the steps described in the first aspect of the above embodiment.

[0035] The beneficial effects of the technical solutions provided by some embodiments of this specification include at least:

[0036] Because the rheological properties of the magnetorheological fluid result in a nonlinear relationship between the damping force output by the magnetorheological damper and the magnetic field strength, the multivariate regression function used in constructing the input current control function uses the damping force values ​​before and after adjustment as independent variables, rather than simply using the difference between the damping forces before and after adjustment. Because the magnetic particles in the magnetorheological fluid differ in their chain formation and chain breakage processes, resulting in asymmetry in the rising and falling phases of the magnetorheological fluid's damping force, control functions for the input current during the rising phase of the magnetorheological damper's output damping force and during the falling phase of the damping force were constructed separately. This improves the precise control of the magnetorheological damper's damping force output. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is a flow chart of a method for constructing an input current control function of a magnetorheological damper provided in an embodiment of this specification.

[0039] Figure 2 This is a structural diagram of a system for constructing an input current control function of a magnetorheological damper provided in an embodiment of this specification.

[0040] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of this specification will be described clearly and completely below in conjunction with the drawings in the embodiments of this specification.

[0042] Throughout this specification, the claims, and the accompanying drawings, the terms "first," "second," "third," and the like are used to distinguish between different items, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may include other steps or elements inherent to the process, method, product, or apparatus.

[0043] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of this specification. Various examples may appropriately omit, replace, or add various processes or components. For example, the described methods may be performed in an order different from the order described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined in other examples.

[0044] Reference Figure 1 As shown, Figure 1 A flowchart of a method for constructing an input current control function of a magnetorheological damper provided in an embodiment of this specification may at least include:

[0045] Step 102: performing a first mode adjustment operation on the magnetorheological damper, the first mode adjustment operation comprising performing multiple upward adjustments on the input current of the magnetorheological damper so as to adjust the input current from a lower threshold to an upper threshold, and recording an upward parameter set corresponding to each upward adjustment, the upward parameter set comprising an input current adjustment value, a damping force value before adjustment, and a damping force value after adjustment;

[0046] Step 104: performing a second mode adjustment operation on the magnetorheological damper, the second mode adjustment operation comprising performing multiple downward adjustments on the input current of the magnetorheological damper so as to adjust the input current from an upper threshold value to a lower threshold value, and recording a corresponding downward parameter set for each downward adjustment, the downward parameter set comprising an input current adjustment value, a damping force value before adjustment, and a damping force value after adjustment;

[0047] Step 106: Repeat the first mode adjustment operation and the second mode adjustment operation in a loop, and record all ascending parameter sets and all descending parameter sets during the operation (Note: the loop may be repeated for a preset number of iterations before terminating).

[0048] Step 108: Obtain a multiple regression function, wherein the multiple regression function takes the input current adjustment value as a response variable and the damping force value before adjustment and the damping force value after adjustment as multiple independent variables;

[0049] Step 110 : performing a first solution on the multivariate regression function based on all the increasing parameter sets to obtain an increasing input current control function, and performing a second solution on the multivariate regression function based on all the decreasing parameter sets to obtain a decreasing input current control function.

[0050] Since the rheological properties of magnetorheological fluid result in a nonlinear relationship between the damping force output by the magnetorheological damper and the magnetic field intensity, in the multivariate regression function used in the construction of the input current control function, the damping force value before adjustment and the damping force value after adjustment are used as independent variables, instead of directly using the damping force difference before and after adjustment as the independent variable.

[0051] It is understandable that due to the rheological properties of the magnetorheological fluid, the damping force output by the magnetorheological damper has a nonlinear relationship with the magnetic field strength. Therefore, even for the same output damping force adjustment amount, the magnetic field strength value that needs to be changed will be different based on different output damping forces. Furthermore, the input current value required to adjust the magnetorheological damper will also be different. Therefore, in the embodiments of this specification, in the multivariate regression function used in the construction of the input current control function, the damping force value before adjustment and the damping force value after adjustment are used as independent variables, rather than directly using the damping force difference before and after adjustment as the independent variable. This improves the precise control of the damping force output of the magnetorheological damper.

[0052] It is also understandable that there are differences in the chain formation and chain breaking processes of magnetic particles in magnetorheological fluids, which are mainly reflected in:

[0053] 1. During the chain formation process (the stage when the output damping force of the magnetorheological damper increases):

[0054] When a magnetic field is applied, the magnetic particles need to overcome the viscous resistance of the base liquid and the 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 the chain formation process.

[0055] 2. During the chain breaking process (the stage when the output damping force of the magnetorheological damper decreases):

[0056] Although magnetorheological fluid uses soft magnetic material particles, which have almost no remanence after the external magnetic field drops or is removed, in a strict sense, there will still be a certain amount of remanence, so there may still be a certain 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 disconnection of the particle chain, and the viscous resistance of the base liquid will also hinder the disconnection of the particle chain; while the elastic recovery force of the base liquid and the Brownian thermal motion will assist the particle chain to break.

[0057] Because the magnetic particles in the magnetorheological fluid exhibit at least the aforementioned differences in chain formation and chain breakage, leading to asymmetry in the rising and falling phases of the magnetorheological fluid's damping force, the embodiments of this specification construct control functions for the input current during the rising phase of the magnetorheological damper's output damping force, and for the falling phase of the magnetorheological damper's output damping force, respectively. This further improves the precise control of the magnetorheological damper's damping force output.

[0058] It should be noted that a 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). In the embodiments of this specification, the damping force output by the magnetorheological damper exhibits a nonlinear relationship with the magnetic field strength due to the rheological properties of the magnetorheological fluid, necessitating the use of a multiple nonlinear regression function.

[0059] The multivariate nonlinear regression function model allows the relationship between independent variables and dependent variables to be expressed by a nonlinear 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 nonlinear function, which can be but is not limited to any of the exponential function, logarithmic function, and power function.

[0060] The solution of multivariate nonlinear regression function models usually uses computer algorithms such as Newton-Raphson method, gradient descent method, genetic algorithm, etc. to estimate model parameters.

[0061] Therefore, based on the obtained rising input current control function and falling input current control function, the corresponding input current control value can be obtained based on the known damping force value before adjustment and the expected damping force value to be achieved (i.e., the independent variable of the damping force value after adjustment in the corresponding multivariate regression function). The key point is that if the damping force value before adjustment is less than the expected damping force value, the calculation should be based on the rising input current control function; if the damping force value before adjustment is greater than the expected damping force value, the calculation should be based on the falling input current control function.

[0062] Specifically, the process of applying the rising input current control function and the falling input current control function to control the input current includes the following steps:

[0063] Obtain the damping force value before adjustment and the expected damping force value;

[0064] Based on the damping force value before adjustment and the expected damping force value to be achieved, a target current control function is obtained by selecting from the rising input current control function and the falling input current control function;

[0065] The input current adjustment value is calculated based on the damping force value before adjustment, the expected damping force value to be achieved, and the target current control function;

[0066] The input current of the magnetorheological damper is regulated based on the calculated input current adjustment value.

[0067] It is understandable that, for a magnetorheological damper, the output of its damping force mainly depends on the fluid properties of the magnetorheological fluid therein. However, as the magnetorheological fluid is used, its fluid properties will change. Therefore, in some embodiments of this specification, each rising parameter set and each falling parameter set also include information on the historical cumulative damping force change of the damper before performing the adjustment corresponding to the input current.

[0068] The multivariate regression function also includes independent variables related to historical cumulative damping force change information.

[0069] It is understandable that the greater the historical cumulative damping force variation of the damper, the greater the change in the fluid properties of the magnetorheological fluid. Therefore, the multiple regression function also includes independent variables related to the historical cumulative damping force variation information.

[0070] The impact of the damper's historical cumulative damping force change on the magnetorheological fluid is mainly reflected in:

[0071] As the historical cumulative damping force variation of the damper increases, the magnetic particles in the magnetorheological fluid may be worn due to friction, collision, etc., and the carrier fluid in the magnetorheological fluid may evaporate.

[0072] As the change in the historical cumulative damping force of the damper increases, the change in the magnetic field intensity also increases, which in turn causes the magnetization properties of the magnetic particles to change to a certain extent.

[0073] In addition, as the historical cumulative damping force change 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 damping force output control of the magnetorheological damper.

[0074] Based on the foregoing description, it can be seen that the magnetic particles in the magnetorheological fluid differ in their chain formation and chain breaking processes. Therefore, even if the same damping force change occurs during the damping force increase phase and the damping force decrease phase, the two phases will still have different degrees of impact on the damping force output control of the magnetorheological damper. Therefore, in some embodiments of this specification, the damper's historical cumulative damping force change information includes the damper's historical cumulative damping force increase change and the damper's historical cumulative damping force decrease change.

[0075] The independent variables related to the historical cumulative damping force variation information included in the multivariate regression function include the historical cumulative damping force increase variation of the damper and the historical cumulative damping force decrease variation of the damper;

[0076] The historical cumulative damping force increase variation of the damper is the sum of the damping force differences before and after the adjustment corresponding to all the increase adjustments performed on the input current;

[0077] The historical cumulative damping force decrease variation of the damper is the sum of the damping force differences before and after the adjustment corresponding to all the decrease adjustments performed on the input current.

[0078] The following examples illustrate:

[0079] Assume that a total of 2 rising adjustments and 2 falling adjustments are carried out in sequence, namely rising adjustment 1, rising adjustment 2, falling adjustment 1, and falling adjustment 2, and the output damping force of the magnetorheological damper is adjusted from 0N to 100N through rising adjustment 1, the output damping force of the magnetorheological damper is adjusted from 100N to 200N through rising adjustment 2, the output damping force of the magnetorheological damper is adjusted from 200N to 150N through falling adjustment 1, and the output damping force of the magnetorheological damper is adjusted from 150N to 70N through falling adjustment 2. Among them, the historical cumulative damping force change information of the damper in the rising parameter set corresponding to the rising adjustment includes the historical cumulative damping force increase change of 100N and the historical cumulative damping force decrease change of 0N; the historical cumulative damping force change information of the damper in the rising parameter set corresponding to the rising adjustment two includes the historical cumulative damping force increase change of 200N and the historical cumulative damping force decrease change of 0N; the historical cumulative damping force change information of the damper in the descending parameter set corresponding to the descending adjustment one includes the historical cumulative damping force increase change of 200N and the historical cumulative damping force decrease change of 50N; the historical cumulative damping force change information of the damper in the descending parameter set corresponding to the descending adjustment two includes the historical cumulative damping force increase change of 200N and the historical cumulative damping force decrease change of 130N.

[0080] Therefore, based on the obtained rising input current control function and falling input current control function, the corresponding input current adjustment value can be obtained based on the known damping force value before adjustment, the expected damping force value to be achieved (that is, the independent variable of the damping force value after adjustment in the corresponding multivariate regression function), the historical cumulative damping force increase change of the damper, and the historical cumulative damping force decrease change of the damper.

[0081] It is understandable that as the cycle progresses, the historical cumulative damping force increase change, the historical cumulative damping force decrease change, and the historical cumulative damping force total change (i.e., the sum of the historical cumulative damping force increase change and the historical cumulative damping force decrease change) all gradually increase, thereby gradually increasing the degree of influence on the damping force output control of the magnetorheological damper. Therefore, in some embodiments of this specification, during the cyclic repetition of the first mode adjustment operation and the second mode adjustment operation, the input current adjustment value used in the increase adjustment and decrease adjustment both exhibit a downward trend, so that the parameters in the decrease parameter set and the increase parameter set are more dense when the influence is greater, thereby making the subsequent solution of the corresponding parameters in the multivariate regression function more accurate, further improving the precise control of the damping force output of the magnetorheological damper.

[0082] It should also be noted that because the historical cumulative damping force change of the damper has a relatively small impact on the damping force output control of the magnetorheological damper, the input current adjustment value is relatively large, so the adjustment density will be relatively small. Therefore, when the above-mentioned adjustment method of the input current adjustment value is adopted, the speed of constructing the input current control function is also accelerated.

[0083] Specifically: In some embodiments of the present specification, in the same cycle of cyclically repeating the first mode regulation operation and the second mode regulation operation, the input current regulation value used in multiple up-regulations is consistent, and the input current regulation value used in multiple down-regulations is also consistent (Note: to avoid changes in the input current regulation value in the same cycle);

[0084] In different cycles of cyclically repeating the first mode adjustment operation and the second mode adjustment operation, the input current adjustment values ​​used in the upward adjustment and the input current adjustment values ​​used in the downward adjustment corresponding to each of the multiple cycles all show a downward trend (Note: that is, the input current adjustment value is changed with the cycle round as the time unit).

[0085] In some embodiments of the present specification, the input current regulation values ​​used in the upward regulation and the input current regulation values ​​used in the downward regulation corresponding to each of the multiple cycle rounds both decrease faster as the number of cycle rounds of the first mode regulation operation and the second mode regulation operation increases.

[0086] It is understandable that for magnetorheological fluids, temperature changes will also have a certain impact on their fluid properties. Therefore, in some embodiments of this specification, each rising parameter set and each falling parameter set also include the damper internal temperature value before performing the adjustment corresponding to the input current;

[0087] The multiple regression function also takes the damper internal temperature value as an independent variable.

[0088] Therefore, based on the obtained rising input current control function and falling input current control function, the corresponding input current control value can be obtained based on the known damping force value before adjustment, the expected damping force value to be achieved (that is, the independent variable of the damping force value after adjustment in the corresponding multivariate regression function), the historical cumulative damping force increase change of the damper, the historical cumulative damping force decrease change of the damper, and the internal temperature value of the damper.

[0089] It can be understood that during the process of cyclically repeating the first mode adjustment operation and the second mode adjustment operation, 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 the magnetorheological damper from being damaged or affecting its performance due to excessive temperature, in some embodiments of the present specification, during the process of cyclically repeating the first mode adjustment operation and the second mode adjustment operation, when the internal temperature value of the damper reaches a first threshold, the cyclic repetition is paused until the internal temperature value of the damper reaches a second threshold, and the cyclic repetition continues, and the first threshold is greater than the second threshold.

[0090] The first threshold value may be set according to actual conditions, and the second threshold value may be set according to the actual operating environment temperature of the magnetorheological damper.

[0091] It can be understood that through the parameter acquisition method in the input current control function construction method described in the embodiment of this specification (i.e., "repeatedly executing the first mode adjustment operation and the second mode adjustment operation" and "pausing the repeated execution of the loop when the internal temperature value of the damper reaches the first threshold value and continuing the repeated execution of the loop until the internal temperature value of the damper reaches the second threshold value"), the parameters in the rising parameter set and the falling parameter set can be made more comprehensive and balanced under the conditions of different historical cumulative damping force changes of the damper and different internal temperature values ​​of the damper, thereby improving the adaptability and robustness of the input current control function.

[0092] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0093] See next Figure 2 , Figure 2 A schematic diagram of the structure of a system for constructing an input current control function for a magnetorheological damper provided in an embodiment of this specification is shown, which may include at least a cyclic repetition adjustment module, a recording module, a function acquisition module, and a function solving module;

[0094] The cyclic repetitive adjustment module cyclically and repeatedly performs a first mode adjustment operation and a second mode adjustment operation on the magnetorheological damper, wherein the first mode adjustment operation includes performing multiple upward adjustments on the input current of the magnetorheological damper so as to adjust the input current from a lower threshold to an upper threshold, and the second mode adjustment operation includes performing multiple downward adjustments on the input current of the magnetorheological damper so as to adjust the input current from the upper threshold to the lower threshold;

[0095] The recording module records the rising parameter set corresponding to each rising adjustment and the falling parameter set corresponding to each falling adjustment, and each rising parameter set and falling parameter set includes the corresponding input current adjustment value, the damping force value before adjustment, and the damping force value after adjustment;

[0096] The function acquisition module acquires a multiple regression function, wherein the multiple regression function takes the input current adjustment value as a response variable and the damping force value before adjustment and the damping force value after adjustment as multiple independent variables;

[0097] The function solving module performs a first solution on the multivariate regression function based on all rising parameter sets to obtain a rising input current control function;

[0098] The function solving module further performs a second solution on the multivariate regression function based on all the descent parameter sets to obtain a descent input current control function.

[0099] In some embodiments of the present specification, each rising parameter set and each falling parameter set recorded by the recording module further includes historical cumulative damping force variation information of the damper before performing adjustment on the corresponding input current;

[0100] The multivariate regression function acquired by the function acquisition module also includes independent variables related to the historical cumulative damping force variation information.

[0101] Each embodiment in this specification is described in a progressive manner, and similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the control function construction system embodiment, since it is basically similar to the control function construction method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the control function construction method embodiment.

[0102] See also Figure 3 A schematic structural diagram of an electronic device provided in an embodiment of this specification is shown.

[0103] like 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 .

[0104] The communication bus 302 may be used to implement the connection and communication between the above components.

[0105] The user interface 303 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0106] The network interface 304 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, and the like.

[0107] Among them, the processor 301 may include one or more processing cores. The processor 301 uses various interfaces and lines to connect the various parts of the entire electronic device 300, and executes various functions of the electronic device 300 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the processor 301 can be implemented in at least one hardware form of DSP, FPGA, and PLC. The processor 301 can integrate one or a combination of CPU, GPU, and modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used to handle wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 301, but may be implemented separately through a chip.

[0108] Memory 305 may include either RAM or ROM. Optionally, memory 305 may include non-transitory computer-readable media. Memory 305 may be used to store instructions, programs, codes, code sets, or instruction sets. Memory 305 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, sound playback function, image playback function, etc.), instructions for implementing the aforementioned method embodiments, etc.; the data storage area may store data related to the aforementioned method embodiments, etc. Memory 305 may optionally be at least one storage device located remotely from the processor 301. Memory 305, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a control function construction application. Processor 301 may be configured to invoke the control function construction program stored in memory 305 and execute the steps of the control function construction method described in the aforementioned embodiments.

[0109] The embodiments of this specification also provide a computer-readable storage medium having instructions stored therein that, when executed on a computer or processor, cause the computer or processor to perform one or more steps of the aforementioned control function construction method embodiment. If the various component modules of the aforementioned electronic device are implemented as software functional units and sold or used as independent products, they may be stored in the computer-readable storage medium.

[0110] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented 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, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via 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 via wired (e.g., coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. 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 or data center that integrates one or more available media. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state drive (SSD)).

[0111] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. The technical features of this embodiment and the implementation scheme can be combined in any manner unless they conflict.

[0112] The embodiments described above are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Without departing from the design spirit of this specification, various modifications and improvements made to the technical solutions of this specification by ordinary technicians in this field should fall within the scope of protection determined by the claims of this specification.

Claims

1. A method for constructing an input current control function of a magnetorheological damper, characterized in that: include: performing a first mode adjustment operation on the magnetorheological damper, the first mode adjustment operation comprising performing multiple upward adjustments on an input current of the magnetorheological damper so as to adjust the input current from a lower threshold to an upper threshold, and recording an upward parameter set corresponding to each upward adjustment, the upward parameter set comprising an input current adjustment value, a damping force value before adjustment, and a damping force value after adjustment; performing a second mode adjustment operation on the magnetorheological damper, the second mode adjustment operation comprising performing multiple downward adjustments on an input current of the magnetorheological damper so as to adjust the input current from an upper threshold value to a lower threshold value, and recording a respective downward parameter set corresponding to each downward adjustment, the downward parameter set comprising an input current adjustment value, a damping force value before adjustment, and a damping force value after adjustment; cyclically repeatedly performing the first mode adjustment operation and the second mode adjustment operation, and recording all rising parameter sets and all falling parameter sets during the operation; Obtain a multiple regression function, wherein the multiple regression function takes the input current adjustment value as a response variable and takes the damping force value before adjustment and the damping force value after adjustment as multiple independent variables; Performing a first solution on the multivariate regression function based on all the rising parameter sets to obtain the rising input current control function, and performing a second solution on the multivariate regression function based on all the falling parameter sets to obtain the falling input current control function; Each of the rising parameter sets and each of the falling parameter sets also includes historical cumulative damping force variation information of the damper before performing adjustment on the corresponding input current; The multivariate regression function also includes independent variables related to the historical cumulative damping force change information; The damper historical cumulative damping force change amount information includes the damper historical cumulative damping force increase change amount and the damper historical cumulative damping force decrease change amount; The independent variables related to the historical cumulative damping force variation information included in the multivariate regression function include the historical cumulative damping force increase variation of the damper and the historical cumulative damping force decrease variation of the damper; The historical cumulative damping force increase variation of the damper is the sum of the damping force differences before and after the adjustment corresponding to all the increase adjustments performed on the input current; The historical cumulative damping force decrease variation of the damper is the sum of the damping force differences before and after the adjustment corresponding to all the decrease adjustments performed on the input current.

2. The method for constructing an input current control function of a magnetorheological damper according to claim 1, characterized in that: During the process of cyclically repeating the first mode regulation operation and the second mode regulation operation, the input current regulation values ​​adopted in the up regulation and the down regulation both show a downward trend.

3. The method for constructing an input current control function of a magnetorheological damper according to claim 2, characterized in that: In the same cycle of cyclically repeating the first mode adjustment operation and the second mode adjustment operation, the input current adjustment values ​​used in the multiple upward adjustments are consistent, and the input current adjustment values ​​used in the multiple downward adjustments are also consistent; In different rounds of cyclically repeating the first mode regulation operation and the second mode regulation operation, the input current regulation values ​​used in the upward regulation and the input current regulation values ​​used in the downward regulation corresponding to each of the multiple rounds show a downward trend.

4. The method for constructing an input current control function of a magnetorheological damper according to claim 3, characterized in that: The input current adjustment values ​​used in the upward adjustment and the input current adjustment values ​​used in the downward adjustment corresponding to the multiple cycle rounds each have a decreasing trend that becomes faster as the number of cycles of the first mode adjustment operation and the second mode adjustment operation increases.

5. The method for constructing an input current control 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 a damper internal temperature value before performing adjustment on the corresponding input current; The multiple regression function also takes the damper internal temperature value as an independent variable.

6. The method for constructing an input current control function of a magnetorheological damper according to claim 5, characterized in that: During the process of cyclically repeating the first mode adjustment operation and the second mode adjustment operation, when the internal temperature value of the damper reaches a first threshold, the cyclic repetition is paused until the internal temperature value of the damper reaches a second threshold, and the cyclic repetition continues, and the first threshold is greater than the second threshold.

7. A system for constructing an input current control function of a magnetorheological damper, based on a method for constructing an input current control function of a magnetorheological damper according to any one of claims 1 to 6, characterized in that: It includes a loop repetition adjustment module, a recording module, a function acquisition module, and a function solving module; The cyclic repetitive adjustment module cyclically and repeatedly performs a first mode adjustment operation and a second mode adjustment operation on the magnetorheological damper, wherein the first mode adjustment operation includes performing multiple upward adjustments on the input current of the magnetorheological damper so as to adjust the input current from a lower threshold to an upper threshold, and the second mode adjustment operation includes performing multiple downward adjustments on the input current of the magnetorheological damper so as to adjust the input current from the upper threshold to the lower threshold; The recording module records the rising parameter set corresponding to each rising adjustment and the falling parameter set corresponding to each falling adjustment, and each rising parameter set and falling parameter set includes 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, wherein the multiple regression function takes the input current adjustment value as a 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 multivariate regression function based on all rising parameter sets to obtain a rising input current control function; The function solving module further performs a second solution on the multivariate regression function based on all the descent parameter sets to obtain a descent input current control function.

8. The system for constructing an input current control function of a magnetorheological damper according to claim 7, characterized in that: Each rising parameter set and each falling parameter set recorded by the recording module also includes historical cumulative damping force variation information of the damper before performing the adjustment of the corresponding input current; The multivariate regression function acquired by the function acquisition module also includes independent variables related to the historical cumulative damping force variation information.

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