Energy recovery control method and device of active suspension, electronic equipment and medium

Abstract

The invention provides an energy recovery control method and device of an active suspension, electronic equipment and a medium. The method comprises the following steps: controlling the conduction state of a plurality of first switch elements in the driving circuit; controlling the conduction state of a plurality of second switch elements in the energy recovery circuit, transmitting the reverse electromotive force generated by the suspension motor to energy storage elements connected in parallel through energy recovery current, and storing energy in the energy storage elements; under the condition that the stored energy is released, the on-state of a plurality of second switch elements in the energy recovery circuit is controlled, the plurality of energy storage elements are switched from a parallel state to a series state, and high-voltage output is formed; and controlling the conduction states of a plurality of third switch elements in the energy recovery circuit, so that the energy storage elements connected in series are connected with the main power supply capacitor in parallel, and the energy storage elements and the main power supply capacitor are used for supplying power to the suspension motor. The cost and the technical complexity are reduced, the applicability and the energy recovery efficiency are improved, and therefore the safety and the stability of the vehicle are improved.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and particularly to an energy recovery control method, device, electronic device and medium for an active suspension. Background Art

[0002] With the rapid development of new energy vehicles and intelligent vehicles, energy recovery technology, as an important means to improve vehicle energy efficiency and extend the driving range, has received extensive attention. At present, energy recovery technology mainly has two implementation methods, namely hydraulic energy recovery and suspension kinetic energy recovery. Among them, hydraulic energy recovery uses a hydraulic system to drive a power generation device during vehicle driving, converts mechanical energy into electrical energy and stores it. Suspension kinetic energy recovery adds a conduction component in the suspension system to conduct the mechanical kinetic energy generated by suspension shaking and vibration to a generator, generates electricity through the motor and stores it in the battery.

[0003] Although the prior art can achieve energy recovery during vehicle driving to a certain extent, there are still the following problems: The active suspension system and its energy recovery scheme involve complex designs and control strategies, resulting in high R & D, production and maintenance costs, which increase the vehicle price. The existing system relies on electronic control units, sensors, actuators and complex algorithms, requiring manufacturers to have high production capabilities, and at the same time increasing the system failure rate. The system performance is easily affected by road conditions, especially in harsh or extreme road conditions, it may perform poorly or even malfunction. Factors such as road surface amplitude, frequency, and vehicle speed limit the efficiency of existing energy recovery devices and fail to fully utilize vehicle vibration energy. In some cases, the system adjusts the suspension performance to achieve energy recovery, which may have an adverse impact on the controllability and safety during emergency braking or obstacle avoidance. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide an energy recovery control method, device, electronic device and medium for an active suspension to solve the problems of high cost, high technical complexity, poor applicability, low energy recovery efficiency in the prior art, and affecting the safety and stability of vehicles.

[0005] In the first aspect of the embodiments of the present application, an energy recovery control method for an active suspension is provided, including: controlling the conduction states of a plurality of first switching elements in a drive circuit according to the operating state of a suspension motor to determine the flow direction of an energy recovery current; wherein the energy recovery circuit includes a drive circuit and an energy recovery circuit connected to the drive circuit, the drive circuit includes a suspension motor and a plurality of first switching elements for controlling the flow direction of the energy recovery current; controlling the conduction states of a plurality of second switching elements in the energy recovery circuit to make a plurality of energy storage elements in a parallel state, and enabling the back electromotive force generated by the suspension motor to be transmitted to the parallel energy storage elements through the energy recovery current, and storing the energy in the energy storage elements; wherein, the energy recovery circuit includes a plurality of energy storage elements, and the plurality of second switching elements are used to control the connection mode of the plurality of energy storage elements; in the case of releasing the stored energy, controlling the conduction states of the plurality of second switching elements in the energy recovery circuit to switch the plurality of energy storage elements from a parallel state to a series state to form a high-voltage output; controlling the conduction states of a plurality of third switching elements in the energy recovery circuit to make the series-connected energy storage elements be in parallel with a main power supply capacitor, and using the energy storage elements and the main power supply capacitor to supply power to the suspension motor, wherein the drive circuit includes a main power supply capacitor.

[0006] In the second aspect of the embodiments of the present application, an energy recovery control device for an active suspension is provided, including: a determination module, configured to control the conduction states of a plurality of first switching elements in a drive circuit according to the operating state of a suspension motor to determine the flow direction of an energy recovery current; wherein the energy recovery circuit includes a drive circuit and an energy recovery circuit connected to the drive circuit, the drive circuit includes a suspension motor and a plurality of first switching elements for controlling the flow direction of the energy recovery current; a control module, configured to control the conduction states of a plurality of second switching elements in the energy recovery circuit to make a plurality of energy storage elements in a parallel state, and enabling the back electromotive force generated by the suspension motor to be transmitted to the parallel energy storage elements through the energy recovery current, and storing the energy in the energy storage elements; wherein, the energy recovery circuit includes a plurality of energy storage elements, and the plurality of second switching elements are used to control the connection mode of the plurality of energy storage elements; a switching module, configured to control the conduction states of the plurality of second switching elements in the energy recovery circuit in the case of releasing the stored energy to switch the plurality of energy storage elements from a parallel state to a series state to form a high-voltage output; a power supply module, configured to control the conduction states of a plurality of third switching elements in the energy recovery circuit to make the series-connected energy storage elements be in parallel with a main power supply capacitor, and using the energy storage elements and the main power supply capacitor to supply power to the suspension motor, wherein the drive circuit includes a main power supply capacitor.

[0007] In the third aspect of the embodiments of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

[0008] In the fourth aspect of the embodiments of the present application, a readable storage medium is provided. The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0010] By controlling the conduction states of a plurality of first switching elements in the drive circuit according to the working state of the suspension motor to determine the flow direction of the energy recovery current; wherein the energy recovery circuit includes a drive circuit and an energy recovery circuit connected to the drive circuit, the drive circuit includes a suspension motor and a plurality of first switching elements for controlling the flow direction of the energy recovery current; controlling the conduction states of a plurality of second switching elements in the energy recovery circuit to make a plurality of energy storage elements in a parallel state, and enabling the back electromotive force generated by the suspension motor to be transmitted to the parallel energy storage elements through the energy recovery current, and storing the energy in the energy storage elements; wherein, the energy recovery circuit includes a plurality of energy storage elements, and a plurality of second switching elements are used to control the connection mode of the plurality of energy storage elements; in the case of releasing the stored energy, controlling the conduction states of the plurality of second switching elements in the energy recovery circuit to switch the plurality of energy storage elements from a parallel state to a series state to form a high-voltage output; controlling the conduction states of a plurality of third switching elements in the energy recovery circuit to make the series-connected energy storage elements in parallel with the main power supply capacitor, and using the energy storage elements and the main power supply capacitor to supply power to the suspension motor, wherein the drive circuit includes a main power supply capacitor. The present application reduces costs and technical complexity, improves applicability and energy recovery efficiency, thereby enhancing the safety and stability of the vehicle. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0012] Figure 1 It is a schematic flowchart of the energy recovery control method for an active suspension provided by the embodiments of the present application;

[0013] Figure 2 It is a schematic diagram of the overall structure of the energy recovery circuit provided by the embodiments of the present application;

[0014] Figure 3 It is a simplified circuit structure diagram during energy recovery provided by the embodiments of the present application;

[0015] Figure 4It is a schematic diagram of a simplified circuit structure during energy release provided by an embodiment of the present application;

[0016] Figure 5 It is a schematic diagram of the control timing of an energy recovery circuit provided by an embodiment of the present application;

[0017] Figure 6 It is a schematic diagram of the structure of an energy recovery control device for an active suspension provided by an embodiment of the present application;

[0018] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0019] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0020] With the rapid development of new energy vehicles, more and more users have started to choose pure electric vehicles. Due to the differences in drive systems and control strategies between pure electric vehicles and traditional fuel passenger vehicles, it has led to motion sickness problems for passengers, especially those in the back row; how to avoid or improve the motion sickness problem of pure electric vehicles and improve ride comfort will become one of the key research points in the industry.

[0021] The core goal of energy recovery technology is to convert mechanical energy (such as vibration energy, kinetic energy, etc.) generated during vehicle driving into electrical energy and store it, thereby improving energy efficiency and reducing energy consumption. This technology is particularly suitable for electric vehicles and hybrid vehicles, which can extend the driving range and reduce dependence on the external power grid at the same time.

[0022] Currently, the existing energy recovery technologies mainly include the following two solutions:

[0023] 1. Energy recovery is carried out by pushing a power generation device through hydraulic pressure:

[0024] When the vehicle is driving, the pressure of the hydraulic system is used to push the power generation device to convert kinetic energy into electrical energy and store it. This method realizes energy recovery by transforming the hydraulic system and leveraging the mechanical kinetic energy generated during vehicle driving.

[0025] 2. Suspension kinetic energy is converted into electrical energy:

[0026] Adding a new conduction component to the suspension system of a vehicle to conduct the mechanical kinetic energy generated by the suspension during vehicle vibration or sway to an in-vehicle generator. After the motor rotates, it generates electricity and stores it in the battery. This solution directly utilizes the suspension movement and has a relatively high degree of integration.

[0027] Although these technical directions are theoretically feasible and have been initially realized, there are still the following significant disadvantages in practical applications:

[0028] 1. High cost:

[0029] The cost of developing, producing, and maintaining an active suspension system is relatively high. Especially the research and development of energy recovery control strategies require complex electronic devices and algorithm support. This not only pushes up the price of the whole vehicle but may also increase the purchase threshold for consumers.

[0030] 2. High technical complexity:

[0031] The active suspension system involves many components with high technical content, such as electronic control units, sensors, and actuators, etc. At the same time, advanced control algorithms are also required. For manufacturers, this requires relatively high R & D capabilities, and the more complex the system, the higher the failure rate will be accordingly.

[0032] 3. Strong dependence on road conditions:

[0033] The performance of the active suspension system is sensitive to road conditions. If encountering extreme road conditions or harsh environments, such as potholed or slippery roads, the system may not work properly, and may even lead to performance degradation or damage.

[0034] 4. Low energy recovery efficiency:

[0035] The recovery efficiency of vibration energy is restricted by various factors, including the intensity and frequency of road vibrations, vehicle driving speed, and the efficiency of the energy recovery device itself. The diversity of these conditions makes it difficult for existing systems to continuously achieve high-efficiency energy recovery.

[0036] 5. Affect vehicle handling:

[0037] In order to achieve energy recovery, the system may adjust the suspension performance, but this will have a negative impact on vehicle handling in some cases. For example, during emergency braking or obstacle avoidance, if the suspension fails to quickly restore its original settings, it may have an adverse effect on vehicle safety and stability.

[0038] In view of the problems existing in the above-mentioned prior art, the present application provides an energy recovery control method for an active suspension. The present application uses multiple MOS transistors to form an active energy recovery method. By controlling the driving timing of the MOS transistors, it realizes parallel collection with a supercapacitor during the collection process and series connection with the supercapacitor during the secondary utilization of energy, improves the voltage output, and recovers and feeds back the energy generated by the active suspension braking and vibration to the power supply circuit.

[0039] The following describes in detail the content of the technical solution of the present application in conjunction with the accompanying drawings and specific embodiments.

[0040] Figure 1 It is a schematic flowchart of the energy recovery control method for the active suspension provided by the embodiment of the present application.

[0041] As Figure 1 shown, the energy recovery control method for the active suspension may specifically include:

[0042] S101, according to the working state of the suspension motor, control the conduction state of multiple first switching elements in the drive circuit to determine the flow direction of the energy recovery current; wherein the energy recovery circuit includes a drive circuit and an energy recovery circuit connected to the drive circuit, and the drive circuit includes a suspension motor and multiple first switching elements for controlling the flow direction of the energy recovery current;

[0043] S102, control the conduction state of multiple second switching elements in the energy recovery circuit to make multiple energy storage elements in a parallel state, and make the back electromotive force generated by the suspension motor be transmitted to the parallel energy storage elements through the energy recovery current, and store the energy in the energy storage elements; wherein, the energy recovery circuit includes multiple energy storage elements, and multiple second switching elements are used to control the connection mode of the multiple energy storage elements;

[0044] S103, in the case of releasing the stored energy, control the conduction state of multiple second switching elements in the energy recovery circuit to switch the multiple energy storage elements from a parallel state to a series state to form a high-voltage output;

[0045] S104, control the conduction state of multiple third switching elements in the energy recovery circuit to make the series-connected energy storage elements be connected in parallel with the main power supply capacitor, and use the energy storage elements and the main power supply capacitor to supply power to the suspension motor, wherein the drive circuit includes a main power supply capacitor.

[0046] First, before describing the specific embodiments of the technical solution of the present application in detail, the overall structure and principle of the energy recovery circuit involved in the technical solution of the present application are introduced. Figure 2 It is a schematic diagram of the overall structure of the energy recovery circuit provided by the embodiment of the present application. As Figure 2As shown, this energy recovery circuit is used in an active suspension system to recover and release the energy generated by vibration or braking, and supply power to the suspension motor in an efficient manner. Its main structure and principle are as follows:

[0047] 1. Overall structure of the energy recovery circuit

[0048] 1) Drive circuit part:

[0049] It includes the first switching elements Q1 to Q4, which are used to control the working state of the suspension motor (M).

[0050] The forward rotation of the suspension motor is achieved by the conduction of Q1 and Q4; the reverse rotation of the suspension motor is achieved by the conduction of Q2 and Q3.

[0051] This part is responsible for guiding the back electromotive force generated by the suspension motor to the energy recovery circuit.

[0052] 2) Energy recovery circuit part:

[0053] Second switching elements: including Q7, Q9, Q10, Q12, which are used to configure the energy storage elements C2, C3, C4 in a parallel state and perform the energy recovery function.

[0054] Energy storage elements: including multiple supercapacitors (C2, C3, C4), which are used to store the energy converted from the back electromotive force generated by the suspension motor.

[0055] Switching elements for controlling the series state: including Q8, Q11 (controlled by Ctrl2) and Q13, Q14 (controlled by Ctrl3), which are used to switch the energy storage elements from a parallel state to a series state to generate a high - voltage output and achieve the energy release function.

[0056] 3) Main power - supply capacitor:

[0057] The main power - supply capacitor C1, as the main energy source of the suspension motor, can be powered by the energy storage elements during the energy release stage.

[0058] 4) Control signal part:

[0059] Ctrl1: Controls the conduction of Q7, Q9, Q10, Q12 to ensure energy recovery of the energy storage elements in a parallel state.

[0060] Ctrl2: Controls the conduction of Q8, Q11 to switch the energy storage elements to a series state to achieve a high - voltage output.

[0061] Ctrl3: Controls the conduction of Q13, Q14 to parallel - supply the series - connected energy storage elements with the main power - supply capacitor.

[0062] 2. Working principle of the energy recovery circuit

[0063] 1) Energy recovery stage

[0064] Generation and guidance of back electromotive force: When the suspension motor is affected by vibration or braking, according to the forward or reverse rotation state of the suspension motor, the first switching elements (Q1~Q4) in the drive circuit are turned on to determine the current flow direction, and the back electromotive force is guided to the energy recovery circuit.

[0065] Parallel charging of energy storage elements: Under the control of Ctrl1, the second switching elements (Q7, Q9, Q10, Q12) are turned on, and the energy storage elements C2, C3, C4 are configured in a parallel state. A voltage difference is formed between the back electromotive force and the parallel energy storage elements, triggering the flow of energy recovery current, and finally realizing the charging of the energy storage elements.

[0066] 2) Energy release stage

[0067] Series switching and high voltage generation: When the main power supply capacitor C1 is not fully charged or the suspension motor needs to respond quickly, under the control of Ctrl2, Q8 and Q11 are turned on, and the energy storage elements are switched from a parallel state to a series state; at the same time, under the control of Ctrl3, Q13 and Q14 are turned on to form a high voltage output. In the series state, the voltages of the energy storage elements are superimposed to generate a high voltage, meeting the high voltage power supply requirements of the suspension motor.

[0068] Parallel power supply of energy storage elements and main power supply capacitor: After the high voltage output is formed, the series energy storage elements and the main power supply capacitor C1 are connected in parallel through the third switching element to supply power to the suspension motor. The characteristics of parallel power supply enable the energy storage elements and the main power supply capacitor to jointly provide an instantaneous high power output, improving the dynamic response speed and stability of the suspension motor.

[0069] Therefore, in summary, Figure 1 The shown energy recovery circuit can achieve efficient energy storage during the energy recovery stage through the coordinated control of the drive circuit, energy storage elements, and switching elements. During the energy release stage, a high voltage is generated by the series energy storage elements and they are connected in parallel with the main power supply capacitor to supply power. This design not only improves the energy recovery efficiency but also enhances the instantaneous response ability of the suspension motor, effectively solving the problems of low energy utilization rate and high system complexity in the existing technology.

[0070] In some embodiments, according to the working state of the suspension motor, the conduction states of multiple first switching elements in the drive circuit are controlled to determine the flow direction of the energy recovery current, including:

[0071] When it is necessary to collect the energy of the active suspension, the forward or reverse rotation state of the suspension motor is detected according to the working state of the suspension motor;

[0072] When the suspension motor is in the forward rotation state, control the conduction state of the first switching element so that the current enters the energy recovery circuit via the first path;

[0073] When the suspension motor is in the reverse rotation state, control the conduction state of the first switching element so that the current enters the energy recovery circuit via the second path.

[0074] Specifically, when the suspension system of the vehicle is subjected to vibration or other external forces, the suspension motor generates mechanical motion, thereby generating a back electromotive force. The system detects the rotation direction of the motor in real time according to the working state of the suspension motor to determine whether it is in the forward rotation state or the reverse rotation state. The detection result is used as the basis for controlling the conduction state of the first switching element in the drive circuit to determine the flow direction of the energy recovery current.

[0075] Further, when the suspension motor is in the forward rotation state, control the conduction states of the first switching elements Q1 and Q4 so that the current flows to the energy recovery circuit via the first path.

[0076] At this time, turn off the first switching element Q4, and at the same time turn on the first switching element Q5, and introduce the back electromotive force generated by the suspension motor into the energy recovery circuit through the drive circuit. The current flow path is: suspension motor → Q1 → Q5 → energy recovery circuit.

[0077] Further, when the suspension motor is in the reverse rotation state, control the conduction states of the first switching elements Q2 and Q3 so that the current flows to the energy recovery circuit via the second path.

[0078] At this time, turn off the first switching element Q3, and at the same time turn on the first switching element Q6, and introduce the back electromotive force generated by the suspension motor into the energy recovery circuit through the drive circuit. The current flow path is: suspension motor → Q2 → Q6 → energy recovery circuit.

[0079] Further, through the real-time detection of the forward or reverse rotation state of the suspension motor, the system can accurately control the conduction and cut-off of Q1~Q6, thereby realizing the switching of the current between the first path and the second path.

[0080] Through the above path guidance, the back electromotive force generated by the suspension motor can be effectively transmitted to the energy recovery circuit, realizing efficient energy recovery.

[0081] For example, in an example, when the vehicle is driving on a potholed road surface, due to the frequent impact on the suspension system, the suspension motor is in a state of frequent forward and reverse rotations. The method in the above embodiment can quickly respond to the change in the rotation state of the suspension motor, and by controlling the conduction state of the first switching element in real time, the current always enters the energy recovery circuit along the correct path, thereby improving the energy recovery efficiency of the system.

[0082] According to the method of this embodiment above, by monitoring the working state of the suspension motor in real time, this embodiment accurately controls the conduction state of the first switching element, effectively realizes the automatic switching of the current path, and ensures that the back electromotive force can be efficiently transmitted to the energy recovery circuit under different rotation states. Through a reasonable control strategy, not only the energy recovery efficiency is improved, but also the energy loss of the system is reduced, which is applicable to the efficient recovery of vibration energy in the active suspension system.

[0083] In some embodiments, the back electromotive force generated by the suspension motor is transmitted to the parallel-connected energy storage elements through the energy recovery current, and the energy is stored in the energy storage elements, including:

[0084] Based on the forward or reverse rotation state of the suspension motor, control multiple energy storage elements to be connected in parallel, so that a voltage difference is formed between the back electromotive force generated by the suspension motor and the parallel-connected energy storage elements, triggering the flow of the energy recovery current;

[0085] Based on the flow of the energy recovery current, transmit the back electromotive force generated by the suspension motor to the parallel-connected energy storage elements through the energy recovery current, and convert the back electromotive force into electrical energy for storage.

[0086] Specifically, the energy recovery circuit controls the parallel connection of multiple energy storage elements to transmit the back electromotive force generated by the suspension motor to the energy storage elements and store it as electrical energy. The implementation manner of this embodiment will be described below in combination with the specific implementation process and the drawings.

[0087] Figure 3 It is a schematic diagram of a simplified circuit structure during energy recovery provided by an embodiment of the present application. As Figure 3 shown, the energy recovery control process of the present application includes the following contents:

[0088] When the suspension system causes the suspension motor (M) to rotate due to vibration or other external forces, the motor generates a back electromotive force. According to the forward or reverse rotation state of the suspension motor, the drive circuit determines the flow direction of the energy recovery current by controlling the conduction state of the first switching elements (Q1~Q6).

[0089] Among them, in the forward rotation state: turn on Q1, turn off Q4, and turn on Q5, so that the current flows from the suspension motor through the first path into the energy recovery circuit. In the reverse rotation state: turn off Q3, turn on Q2 and Q6, so that the current flows from the suspension motor through the second path into the energy recovery circuit.

[0090] Further, in the case where the suspension motor generates a back electromotive force, control signals Ctrl1 are used to turn on the second switching elements Q7, Q9, Q10, Q12 simultaneously, and configure the energy storage elements C2, C3, C4 in a parallel state.

[0091] The parallel connection state of the energy storage elements increases the total equivalent capacitance, lowers the threshold of the charging voltage, and ensures that the back electromotive force of the suspension motor can effectively trigger the flow of the energy recovery current.

[0092] Further, when the energy storage elements are in the parallel connection state, the back electromotive force of the suspension motor is transmitted to the supercapacitors C2, C3, and C4 through the energy recovery current to complete the charging process.

[0093] Due to the consistent voltage among the energy storage elements in the parallel connection state, a stable voltage difference is formed between the back electromotive force generated by the suspension motor and the energy storage elements, thus efficiently realizing the transmission and storage of electrical energy.

[0094] For example, in one example, the process of recovering the forward rotation energy is as follows: When the suspension motor rotates forward, Q4 is turned off and Q5 is turned on, and the current is guided to the energy recovery circuit through the first path. Under the control of Ctrl1, Q7, Q9, Q10, and Q12 are turned on, and the energy storage elements C2, C3, and C4 are charged in parallel, and the back electromotive force of the suspension motor is converted into electrical energy and stored in the supercapacitor.

[0095] The process of recovering the reverse rotation energy is as follows: When the suspension motor rotates in reverse, Q3 is turned off and Q6 is turned on, and the current is guided to the energy recovery circuit through the second path. Under the control of Ctrl1, the energy storage elements C2, C3, and C4 are still in the parallel connection state, and the energy recovery in the reverse rotation state is completed using the same path.

[0096] It should be noted that the parallel connection state of the energy storage elements plays a key role in the energy recovery stage, and a more efficient charging process is achieved by increasing the equivalent capacitance.

[0097] Through the control method of the above embodiments, this embodiment can make full use of the back electromotive force generated when the suspension motor rotates forward or in reverse, ensure the efficiency and reliability of the energy recovery process, and thus meet the energy recovery requirements of the active suspension system.

[0098] In some embodiments, in the case of releasing the stored energy, the conduction states of multiple second switching elements in the energy recovery circuit are controlled to switch the multiple energy storage elements from the parallel connection state to the series connection state to form a high-voltage output, including:

[0099] According to the voltage state of the main power supply capacitor or the working requirements of the suspension motor, detect whether it is necessary to release the energy in the energy storage elements;

[0100] When it is detected that the voltage of the main power supply capacitor is not fully charged or the suspension motor needs a quick response, control the conduction states of the multiple second switching elements to switch the multiple energy storage elements from the parallel connection state to the series connection state, and form a high-voltage output according to the voltage superposition of the series-connected energy storage elements.

[0101] Specifically, in this embodiment, by controlling the conduction states of multiple second switching elements in the energy recovery circuit, multiple energy storage elements can be switched from a parallel state to a series state, so as to convert the low-voltage energy stored in the energy storage elements into a high-voltage output to meet the rapid response requirements of the suspension motor or to supplement the power supply for the main power supply capacitor.

[0102] First, the system determines whether to release the energy in the energy storage element by detecting the voltage state of the main power supply capacitor C1 and the working requirements of the suspension motor in real time:

[0103] The first case: When it is detected that the voltage of the main power supply capacitor C1 is not fully charged, the energy release process is started to supplement electrical energy for the main power supply capacitor.

[0104] The second case: When the suspension motor needs to respond quickly, such as when the suspension height is adjusted urgently or the road condition changes suddenly, the energy release process is started to provide high-power output.

[0105] Further, after the energy release requirement is detected, the second switching elements Q8 and Q11 are turned on respectively through the control signals Ctrl2 and Ctrl3, and the series control switching elements Q13 and Q14 are controlled in series, so as to switch the energy storage elements C2, C3, and C4 from a parallel state to a series state.

[0106] After the energy storage elements are connected in series, their total voltage is the superposition of the voltages of each energy storage element, so as to convert the stored low voltage into a high-voltage output.

[0107] Further, when the energy storage elements are in a series state, the high voltage is transmitted to the main power supply capacitor C1 through the turned-on Q13 and Q14 and is connected in parallel with C1.

[0108] In the series state, the high voltage generated by the supercapacitors C2, C3, and C4 can not only provide energy supplement for the main power supply capacitor, but also provide instantaneous high-power output for the suspension motor through the parallel characteristics of the main power supply capacitor and the energy storage elements.

[0109] In some examples, in the first case (the main power supply capacitor is not fully charged), when the voltage of the main power supply capacitor C1 drops below the set threshold during the vehicle driving process, the system controls Q8 and Q11 to conduct through Ctrl2, and controls Q13 and Q14 to conduct through Ctrl3, so that the energy storage elements C2, C3, and C4 are switched to a series state and a high-voltage output is generated to supplement electrical energy for C1.

[0110] In some examples, in the second case (where the suspension motor needs to respond quickly), for example, when the vehicle suddenly encounters a pothole or emergency braking, the suspension motor needs to be adjusted quickly. At this time, through the above control operation, the high voltage generated by connecting the energy storage elements C2, C3, and C4 in series is connected in parallel with the main power supply capacitor to supply power to the motor, so as to meet the demand for high-power output.

[0111] According to the method of this embodiment above, in this embodiment, by switching the series state of the energy storage elements and generating high-voltage output, the energy utilization efficiency is effectively improved. In an emergency, high-voltage support can be quickly provided for the suspension motor, while ensuring the energy replenishment of the main power supply capacitor. Through precise switch control, the system realizes a seamless switch of the energy storage elements from parallel collection to series release, improving the dynamic response ability of the overall system.

[0112] In some embodiments, controlling the conduction states of multiple third switch elements in the energy recovery circuit to connect the series-connected energy storage elements in parallel with the main power supply capacitor, and using the energy storage elements and the main power supply capacitor to supply power to the suspension motor, includes:

[0113] When the energy storage elements are in a series state and form a high-voltage output, controlling the conduction states of multiple third switch elements to connect the series-connected energy storage elements in parallel with the main power supply capacitor;

[0114] Transmitting the high-voltage output of the series-connected energy storage elements to the main power supply capacitor, so that the main power supply capacitor stores energy and supplies power to the suspension motor;

[0115] Using the parallel power supply characteristics of the main power supply capacitor and the series-connected energy storage elements to provide instantaneous high-power output to the suspension motor.

[0116] Specifically, in this embodiment, by controlling the conduction states of multiple third switch elements, the series-connected energy storage elements can be connected in parallel with the main power supply capacitor, so as to use the energy storage elements and the main power supply capacitor to supply power to the suspension motor together to provide instantaneous high-power output.

[0117] The implementation manner of this embodiment will be described below in combination with the specific implementation process and the drawings. Figure 4 is a simplified circuit structure diagram when the energy is released provided by the embodiment of the present application. As Figure 4 shown, the process of secondary utilization of the energy of the present application includes the following contents:

[0118] First, after the energy storage elements C2, C3, and C4 are switched from a parallel state to a series state, through the voltage superposition of the energy storage elements, a high-voltage output is formed.

[0119] The series-connected energy storage elements provide a high voltage for subsequent power supply, which can effectively meet the demand of the suspension motor for high-power power supply.

[0120] Further, when the energy storage element forms a high-voltage output, the third switching elements Q13 and Q14 are simultaneously turned on by the control signal Ctrl3.

[0121] The energy storage elements C2, C3, and C4 in series are connected in parallel with the main power supply capacitor C1 through Q13 and Q14, enabling the energy storage elements and the main power supply capacitor to jointly participate in power supply.

[0122] Further, in the parallel state, the high-voltage output generated by the series energy storage elements C2, C3, and C4 is directly transmitted to the main power supply capacitor C1 to supplement the energy storage of the main power supply capacitor.

[0123] The main power supply capacitor and the energy storage element can simultaneously provide energy output to the suspension motor M through the parallel power supply characteristic.

[0124] Due to the combined action of the high-voltage output of the energy storage element and the main power supply capacitor, the suspension motor can obtain instantaneous high-power support, thereby improving the response speed of the active suspension system in emergency situations.

[0125] For example, in some example scenarios, when the voltage of the main power supply capacitor C1 is insufficient to support the operation of the suspension motor, the energy storage element forms a high voltage through series switching, and then is connected in parallel with C1 through Q13 and Q14 to provide auxiliary power supply for the suspension motor.

[0126] For another example, in some other example scenarios, when the vehicle passes through a bumpy road section or emergency braking and other situations where the suspension state needs to be quickly adjusted, the parallel power supply of the energy storage element and the main power supply capacitor can quickly respond to the high-power demand of the motor, avoiding response delays caused by insufficient power supply.

[0127] It should be noted that Figure 4 The shown energy release circuit realizes high-voltage generation through the series switching of the energy storage element, and improves the reliability and dynamic response ability of the power supply system through the parallel configuration with the main power supply capacitor. The coordinated power supply of the energy storage element and the main power supply capacitor can simultaneously meet the requirements of high-power output of the motor and system stability.

[0128] Through the method of this embodiment above, this embodiment can make full use of the high-voltage output characteristic of the energy storage element, and at the same time combine the stable energy storage ability of the main power supply capacitor to achieve efficient energy support for the suspension motor.

[0129] In some embodiments, the method further includes:

[0130] During the energy recovery and energy release based on the active suspension, the on-off states of the first switching element, the second switching element, and the third switching element are respectively controlled based on a predetermined control timing signal.

[0131] Specifically, to achieve efficient switching between energy recovery and release of the active suspension system, in this embodiment, the conduction and off states of the first switching element, the second switching element, and the third switching element are respectively controlled by a predetermined control timing signal, so as to accurately achieve the switching of the energy storage element between the parallel and series states, taking into account both energy recovery and power supply requirements.

[0132] The implementation manner of this embodiment will be described below in combination with the specific implementation process and the drawings. Figure 5 It is a schematic diagram of the control timing of the energy recovery circuit provided by the embodiment of the present application. As Figure 5 shown, the control timing of the energy recovery circuit of the present application includes the following content:

[0133] In some examples, the control timing signal may include Ctrl1, Ctrl2, and Ctrl3, which respectively correspond to the switch control in different stages:

[0134] Ctrl1: Used to control the second switching element (such as Q7, Q9, Q10, Q12), and configure the energy storage element in a parallel state during the energy recovery stage to ensure that the back electromotive force generated by the suspension motor can be efficiently transmitted to the energy storage element.

[0135] Ctrl2: Used to control the second switching element (such as Q8, Q11), and switch the energy storage element from a parallel state to a series state during the energy release stage to generate a high-voltage output.

[0136] Ctrl3: Used to control the third switching element (such as Q13, Q14), and connect the series-connected energy storage element in parallel with the main power supply capacitor to achieve common power supply.

[0137] Through the coordinated action of the above control timing, seamless switching during the energy recovery and release processes can be achieved.

[0138] In some examples, when the suspension motor generates a back electromotive force due to vibration or braking, through the control signal Ctrl1, Q7, Q9, Q10, and Q12 are simultaneously turned on, and the energy storage element (super capacitors C2, C3, C4) is configured in a parallel state.

[0139] The parallel connection of the energy storage elements increases the total equivalent capacitance and reduces the threshold of the charging voltage, enabling the back electromotive force of the suspension motor to trigger the flow of the energy recovery current.

[0140] During this process, the first switching element (such as Q1~Q6) conducts according to the forward or reverse rotation state of the suspension motor to control the current flow direction of the back electromotive force, so that the energy recovery current is transmitted to the parallel-connected energy storage element and the electrical energy is stored.

[0141] In some examples, when the voltage of the main power supply capacitor C1 is detected to be insufficient or the suspension motor needs to respond quickly, Q8 and Q11 are turned on through the control signal Ctrl2, and the energy storage elements C2, C3, and C4 are switched from the parallel state to the series state.

[0142] Under the control of Ctrl3, Q13 and Q14 are turned on, and the energy storage elements after being connected in series are connected in parallel with the main power supply capacitor C1.

[0143] The high voltage of the series energy storage elements is transmitted to the main power supply capacitor C1 through the parallel structure, which not only replenishes energy for C1 but also provides instantaneous high-power output for the suspension motor in cooperation with C1.

[0144] In some examples, during the energy recovery phase, Ctrl1 ensures that the energy storage elements are always in the parallel state and adapts to the back electromotive force of the suspension motor for charging; during the energy release phase, Ctrl2 and Ctrl3 coordinate to control the energy storage elements to switch from parallel to series and provide high-voltage power supply by being connected in parallel with the main power supply capacitor.

[0145] The control timing signal of this embodiment is closely combined with the state detection of the suspension motor, and can dynamically adjust the connection mode of the energy storage elements according to the motor demand or the state of the main power supply capacitor to ensure the balance of power supply and recovery efficiency. Through precise control based on the predetermined control timing signal, this embodiment realizes the efficient switching of the energy storage elements in different states and takes into account the dynamic balance of energy recovery efficiency and power supply demand.

[0146] In some embodiments, the on and off states of the first switching element, the second switching element, and the third switching element are respectively controlled based on a predetermined control timing signal, including:

[0147] During the energy recovery process, the conduction states of multiple switches in the second switching element are controlled by using the first control timing signal, so that multiple energy storage elements are connected in parallel;

[0148] During the energy release process, the conduction states of the second switching element and the third switching element are respectively controlled by using the second control timing signal and the third control timing signal, so that multiple energy storage elements are switched from the parallel state to the series state.

[0149] Specifically, when the suspension motor generates a back electromotive force due to vibration or braking, the conduction states of multiple switches in the second switching element are controlled by using the first control timing signal (Ctrl1), so that the energy storage elements (such as supercapacitors C2, C3, and C4) are in the parallel connection state.

[0150] In some examples, during the energy recovery process, the energy storage elements are connected in parallel, and the Ctrl1 signal simultaneously controls Q7, Q9, Q10, and Q12 to conduct.

[0151] The supercapacitors C2, C3, and C4 are connected in parallel, increasing their equivalent capacitance, reducing the charging voltage threshold, and ensuring that the back electromotive force generated by the suspension motor can efficiently trigger the flow of the energy recovery current.

[0152] The back electromotive force is guided into the energy recovery circuit through the first switching element (such as Q1 - Q6) of the drive circuit.

[0153] In the parallel state, a voltage difference is formed between the back electromotive force of the motor and the parallel supercapacitors, and the supercapacitors are charged through the energy recovery current to complete the energy storage process. In the parallel state, the energy storage element can quickly absorb the energy generated by the suspension motor, optimizing the energy recovery efficiency.

[0154] In some examples, during the energy release process, the energy storage elements are switched in series. When it is detected that the voltage of the main power supply capacitor C1 is insufficient or the suspension motor needs to respond quickly, the energy release process is initiated, and the series switching and power supply of the energy storage elements are achieved through the second control timing signal (Ctrl2) and the third control timing signal (Ctrl3).

[0155] Using the Ctrl2 signal to control the conduction of Q8 and Q11, the energy storage elements are switched from the parallel state to the series state. After being connected in series, the voltages of the energy storage elements are superimposed to form a high - voltage output, meeting the high - power requirements of the suspension motor.

[0156] Using the Ctrl3 signal to control the conduction of Q13 and Q14, the series - connected energy storage elements are connected in parallel with the main power supply capacitor C1. In the parallel state, the supercapacitors and the main power supply capacitor jointly supply power to the suspension motor, improving the stability and instantaneous response ability of the power supply system.

[0157] In some examples, the specific control process is as follows:

[0158] Series switching: The Ctrl2 signal controls the conduction of Q8 and Q11 to switch the energy storage elements to the series state.

[0159] Parallel power supply: The Ctrl3 signal controls the conduction of Q13 and Q14 to form a parallel relationship between the supercapacitors and the main power supply capacitor, and provides energy for the suspension motor through the high voltage.

[0160] For example, during the charging stage (energy recovery): When the suspension motor is in the vibration or braking state, Ctrl1 controls the conduction of Q7, Q9, Q10, and Q12, and the energy storage elements are connected in parallel to quickly absorb and store the energy formed by the back electromotive force.

[0161] Discharge stage (energy release): When the voltage of the main power supply capacitor C1 is insufficient or the suspension motor needs to respond quickly, Ctrl2 controls Q8 and Q11 to conduct, switching the energy storage elements to the series state; Ctrl3 controls Q13 and Q14 to conduct, connecting the series energy storage elements in parallel with the main power supply capacitor to jointly provide high-voltage energy output for the suspension motor.

[0162] Through precise control based on a predetermined control timing signal, this embodiment realizes the dynamic switching of the energy storage elements between the parallel state and the series state, taking into account both the energy recovery efficiency and the power supply demand. This embodiment can dynamically adjust the connection mode of the energy storage elements, make full use of the characteristics of the energy storage elements, and achieve efficient energy management of the active suspension system.

[0163] According to the technical solution provided by this embodiment above, this embodiment has at least the following advantages:

[0164] I. Improve energy utilization efficiency and energy recovery efficiency

[0165] Energy recovery and reuse: The active suspension energy recovery technology can convert the vibration energy generated during vehicle driving (such as braking, bumpy roads, etc.) into electrical energy through a specific circuit and store it for subsequent use. This mechanism of energy recovery and reuse significantly improves the energy utilization efficiency and reduces energy waste.

[0166] Improve energy recovery efficiency: In the active energy recovery circuit, there is no threshold voltage when the MOS transistor conducts, avoiding the problem that part of the energy cannot be recovered due to the inherent threshold voltage of the diode in the passive recovery circuit, and improving the energy recovery efficiency.

[0167] II. Enhance vehicle performance

[0168] Improve the suspension response speed: When the active suspension works frequently, the capacitor is also in a continuous charging and discharging condition. When the capacitor voltage drops but the capacitor has not had time to be fully charged, the energy recovered by turning on the super capacitor at this time can release a large current, thereby quickly responding to the active suspension, improving the suspension response speed, and enhancing the vehicle's handling and stability.

[0169] The following is an embodiment of the device of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0170] Figure 6 It is a schematic structural diagram of the energy recovery control device of the active suspension provided by the embodiment of the present application.

[0171] As Figure 6 shown, the energy recovery control device of the active suspension includes:

[0172] A determination module 601, configured to control the conduction states of a plurality of first switching elements in a drive circuit according to the operating state of a suspension motor, so as to determine the flow direction of an energy recovery current; wherein the energy recovery circuit includes a drive circuit and an energy recovery circuit connected to the drive circuit, the drive circuit includes a suspension motor and a plurality of first switching elements for controlling the flow direction of the energy recovery current;

[0173] A control module 602, configured to control the conduction states of a plurality of second switching elements in the energy recovery circuit, so that a plurality of energy storage elements are in a parallel state, and enable a back electromotive force generated by the suspension motor to be transmitted to the parallel energy storage elements through the energy recovery current, and store the energy in the energy storage elements; wherein, the energy recovery circuit includes a plurality of energy storage elements, and the plurality of second switching elements are used to control the connection manner of the plurality of energy storage elements;

[0174] A switching module 603, configured to control the conduction states of a plurality of second switching elements in the energy recovery circuit when releasing the stored energy, and switch the plurality of energy storage elements from a parallel state to a series state to form a high-voltage output;

[0175] A power supply module 604, configured to control the conduction states of a plurality of third switching elements in the energy recovery circuit, so that the series-connected energy storage elements are connected in parallel with a main power supply capacitor, and supply power to the suspension motor by using the energy storage elements and the main power supply capacitor, wherein the drive circuit includes a main power supply capacitor.

[0176] In some embodiments, Figure 6 When the determination module 601 needs to collect the energy of the active suspension, it detects the forward or reverse rotation state of the suspension motor according to the operating state of the suspension motor; when the suspension motor is in the forward rotation state, it controls the conduction state of the first switching element so that the current enters the energy recovery circuit through the first path; when the suspension motor is in the reverse rotation state, it controls the conduction state of the first switching element so that the current enters the energy recovery circuit through the second path.

[0177] In some embodiments, Figure 6 The control module 602 controls a plurality of energy storage elements to be connected in parallel based on the forward or reverse rotation state of the suspension motor, so as to form a voltage difference between the back electromotive force generated by the suspension motor and the parallel energy storage elements, and trigger the flow of the energy recovery current; based on the flow of the energy recovery current, the back electromotive force generated by the suspension motor is transmitted to the parallel energy storage elements through the energy recovery current, and the back electromotive force is converted into electric energy for storage.

[0178] In some embodiments, Figure 6The switching module 603 detects whether it is necessary to release the energy in the energy storage element according to the voltage state of the main power supply capacitor or the working requirements of the suspension motor; when it is detected that the voltage of the main power supply capacitor is not fully charged or the suspension motor needs to respond quickly, it controls the conduction states of a plurality of second switching elements, so that a plurality of energy storage elements are switched from a parallel state to a series state, and a high voltage output is formed according to the voltage superposition of the series-connected energy storage elements.

[0179] In some embodiments, Figure 6 The power supply module 604 controls the conduction states of a plurality of third switching elements when the energy storage elements are in a series state and form a high voltage output, so that the series-connected energy storage elements are connected in parallel with the main power supply capacitor; transmits the high voltage output of the series energy storage elements to the main power supply capacitor, so that the main power supply capacitor stores energy and supplies power to the suspension motor; uses the parallel power supply characteristic of the main power supply capacitor and the series energy storage elements to provide an instantaneous high power output to the suspension motor.

[0180] In some embodiments, Figure 6 The control module 602 controls the conduction and cutoff states of the first switching element, the second switching element, and the third switching element respectively based on a predetermined control timing signal during the energy recovery and energy release of the active suspension.

[0181] In some embodiments, Figure 6 During the energy recovery process, the control module 602 uses the first control timing signal to control the conduction states of a plurality of switches in the second switching element, so that a plurality of energy storage elements are connected in parallel; during the energy release process, the second control timing signal and the third control timing signal are used to control the conduction states of the second switching element and the third switching element respectively, so that a plurality of energy storage elements are switched from a parallel state to a series state.

[0182] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0183] Figure 7 is a schematic structural diagram of the electronic device 7 provided by the embodiment of the present application. As Figure 7 shown, the electronic device 7 of this embodiment includes: a processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable on the processor 701. When the processor 701 executes the computer program 703, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 701 executes the computer program 703, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0184] Exemplarily, the computer program 703 can be divided into one or more modules / units, which are stored in the memory 702 and executed by the processor 701 to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 703 in the electronic device 7.

[0185] The electronic device 7 can be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 7 can include, but is not limited to, the processor 701 and the memory 702. Those skilled in the art can understand that Figure 7 merely being examples of the electronic device 7 does not constitute a limitation on the electronic device 7. It may include more or fewer components than shown in the figure, or combine certain components, or have different components. For example, the electronic device may also include input / output devices, network access devices, a bus, etc.

[0186] The processor 701 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or this processor can also be any conventional processor, etc.

[0187] The memory 702 can be an internal storage unit of the electronic device 7. For example, the hard disk or memory of the electronic device 7. The memory 702 can also be an external storage device of the electronic device 7. For example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the electronic device 7. Further, the memory 702 can also include both the internal storage unit and the external storage device of the electronic device 7. The memory 702 is used to store computer programs and other programs and data required by the electronic device. The memory 702 can also be used to temporarily store data that has been output or will be output.

[0188] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0189] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0190] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in the form of hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0191] In the embodiments provided in this application, it should be understood that the disclosed device / computer device and method can be implemented in other ways. For example, the device / computer device embodiments described above are only illustrative. For example, the division of modules or units is only a logical functional division, and there can be other division methods in actual implementation. Multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0192] The unit described as a separated component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0193] In addition, in each embodiment of the present application, each functional unit can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0194] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. The computer program can include computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0195] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An energy recovery control method for an active suspension, characterized in that Including: According to the working state of the suspension motor, control the conduction states of multiple first switching elements in the drive circuit to determine the flow direction of the energy recovery current; Wherein the energy recovery circuit includes the drive circuit and an energy recovery circuit connected to the drive circuit, the drive circuit includes the suspension motor and the multiple first switching elements for controlling the flow direction of the energy recovery current; Control the conduction states of multiple second switching elements in the energy recovery circuit to make multiple energy storage elements in a parallel state, and enable the back electromotive force generated by the suspension motor to be transmitted to the parallel energy storage elements through the energy recovery current, and store the energy in the energy storage elements; wherein, the energy recovery circuit includes multiple energy storage elements, and the multiple second switching elements are used to control the connection mode of the multiple energy storage elements; In the case of releasing the stored energy, control the conduction states of the multiple second switching elements in the energy recovery circuit to switch the multiple energy storage elements from a parallel state to a series state to form a high-voltage output; Control the conduction states of multiple third switching elements in the energy recovery circuit to make the series-connected energy storage elements in parallel with the main power supply capacitor, and supply power to the suspension motor by using the energy storage elements and the main power supply capacitor, wherein the drive circuit includes the main power supply capacitor.

2. The method according to claim 1, characterized in that, The controlling the conduction states of the multiple first switching elements in the drive circuit according to the working state of the suspension motor to determine the flow direction of the energy recovery current includes: When it is necessary to collect the energy of the active suspension, detect the forward or reverse rotation state of the suspension motor according to the working state of the suspension motor; When the suspension motor is in the forward rotation state, control the conduction state of the first switching element to enable the current to enter the energy recovery circuit through the first path; When the suspension motor is in the reverse rotation state, control the conduction state of the first switching element to enable the current to enter the energy recovery circuit through the second path.

3. The method according to claim 1, characterized in that The back electromotive force generated by the suspension motor is transmitted to the parallel energy storage elements through the energy recovery current, and the energy is stored in the energy storage elements, including: Based on the forward or reverse rotation state of the suspension motor, control the multiple energy storage elements to be connected in parallel to form a voltage difference between the back electromotive force generated by the suspension motor and the parallel energy storage elements, and trigger the flow of the energy recovery current; Based on the flow of the energy recovery current, transmit the back electromotive force generated by the suspension motor to the parallel energy storage elements through the energy recovery current, and convert the back electromotive force into electrical energy for storage.

4. The method according to claim 1, wherein The controlling the conduction states of the multiple second switching elements in the energy recovery circuit in the case of releasing the stored energy to switch the multiple energy storage elements from a parallel state to a series state to form a high-voltage output includes: According to the voltage state of the main power supply capacitor or the working requirements of the suspension motor, detect whether it is necessary to release the energy in the energy storage elements; When it is detected that the voltage of the main power supply capacitor is not fully charged or the suspension motor needs to respond quickly, control the conduction states of a plurality of second switching elements, so that a plurality of energy storage elements are switched from a parallel state to a series state, and a high voltage output is formed according to the voltage superposition of the series-connected energy storage elements.

5. The method according to claim 4, wherein The controlling the conduction states of a plurality of third switching elements in the energy recovery circuit, so that the series-connected energy storage elements are connected in parallel with the main power supply capacitor, and supplying power to the suspension motor by using the energy storage elements and the main power supply capacitor includes: In the case where the energy storage elements are in a series state and form a high voltage output, control the conduction states of a plurality of third switching elements, so that the series-connected energy storage elements are connected in parallel with the main power supply capacitor; Transmit the high voltage output of the series-connected energy storage elements to the main power supply capacitor, so that the main power supply capacitor stores energy and supplies power to the suspension motor; Use the parallel power supply characteristic of the main power supply capacitor and the series-connected energy storage elements to provide an instantaneous high power output to the suspension motor.

6. The method according to claim 1, wherein The method further includes: During the process of energy recovery and energy release based on the active suspension, respectively control the conduction and cut-off states of the first switching element, the second switching element and the third switching element based on a predetermined control timing signal.

7. The method according to claim 6, wherein The respectively controlling the conduction and cut-off states of the first switching element, the second switching element and the third switching element based on a predetermined control timing signal includes: During the energy recovery process, use a first control timing signal to control the conduction states of a plurality of switches in the second switching element, so that a plurality of energy storage elements are connected in parallel; During the energy release process, use a second control timing signal and a third control timing signal to respectively control the conduction states of the second switching element and the third switching element, so that a plurality of energy storage elements are switched from a parallel state to a series state.

8. An energy recovery control device for an active suspension, characterized in that, Includes: A determination module, configured to control the conduction states of a plurality of first switching elements in the drive circuit according to the working state of the suspension motor to determine the flow direction of the energy recovery current; wherein the energy recovery circuit includes the drive circuit and an energy recovery circuit connected to the drive circuit, and the drive circuit includes the suspension motor and the plurality of first switching elements for controlling the flow direction of the energy recovery current; A control module, configured to control the conduction states of a plurality of second switching elements in the energy recovery circuit, so that a plurality of energy storage elements are in a parallel state, and enable the back electromotive force generated by the suspension motor to be transmitted to the parallel-connected energy storage elements through the energy recovery current, and store energy in the energy storage elements; wherein, the energy recovery circuit includes a plurality of energy storage elements, and the plurality of second switching elements are used to control the connection mode of the plurality of energy storage elements; A switching module, configured to control the conduction states of a plurality of second switching elements in the energy recovery circuit in the case of releasing the stored energy, and switch a plurality of energy storage elements from a parallel state to a series state to form a high voltage output; A power supply module, configured to control the on / off states of a plurality of third switching elements in the energy recovery circuit, so that the energy storage elements in series are connected in parallel with the main power supply capacitor, and the energy storage elements and the main power supply capacitor are used to supply power to the suspension motor, wherein the drive circuit includes the main power supply capacitor.

9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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