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

Abstract

The application 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 switching elements in a driving circuit; controlling the conduction state of a plurality of second switching elements in an energy recovery circuit, and making the reverse electromotive force generated by a suspension motor pass through an energy recovery current to parallel energy storage elements, and storing energy in the energy storage elements; in the case of releasing stored energy, controlling the conduction state of the plurality of second switching elements in the energy recovery circuit, switching the plurality of energy storage elements from a parallel state to a series state, and forming a high-voltage output; controlling the conduction state 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 the energy storage elements and the main power supply capacitor are used to supply power to the suspension motor. The application reduces the cost and technical complexity, improves the applicability and energy recovery efficiency, and thus improves the safety and stability of the vehicle.

Description

Technical Field

[0001] This application relates to the field of new energy vehicle technology, and in particular to an active suspension energy recovery control method, device, electronic equipment and medium. Background Technology

[0002] With the rapid development of new energy vehicles and intelligent vehicles, energy recovery technology has received widespread attention as an important means to improve vehicle energy efficiency and extend driving range. Currently, energy recovery technology mainly falls into two categories: hydraulic energy recovery and suspension kinetic energy recovery. Hydraulic energy recovery utilizes a hydraulic system to drive a generator during vehicle operation, converting mechanical energy into electrical energy and storing it. Suspension kinetic energy recovery adds transmission components to the suspension system, transferring the mechanical kinetic energy generated by suspension swaying and vibration to a generator, which then generates electricity and stores it in the battery.

[0003] While existing technologies can achieve energy recovery during vehicle operation to some extent, the following problems remain: Active suspension systems and their energy recovery schemes involve complex design and control strategies, resulting in high R&D, production, and maintenance costs, thus increasing vehicle prices. Existing systems rely on electronic control units, sensors, actuators, and complex algorithms, requiring manufacturers to have high production capabilities and also increasing the system's failure rate. System performance is susceptible to road conditions, especially under poor or extreme road conditions, where it may perform poorly or even malfunction. Factors such as road vibration amplitude, frequency, and vehicle speed limit the efficiency of existing energy recovery devices, failing to fully utilize vehicle vibration energy. In some cases, the system adjusts suspension performance to achieve energy recovery, which may adversely affect handling and safety during emergency braking or obstacle avoidance. Summary of the Invention

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

[0005] A first aspect of this application provides an energy recovery control method for an active suspension, comprising: controlling the conduction state of a plurality of first switching elements in a drive circuit according to the operating state of a suspension motor to determine the direction of 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 including a suspension motor and a plurality of first switching elements for controlling the direction of energy recovery current; controlling the conduction state of a plurality of second switching elements in the energy recovery circuit to make a plurality of energy storage elements in parallel, and to allow the back electromotive force generated by the suspension motor to be transmitted through the energy recovery current. The energy is fed to parallel energy storage elements and stored 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; when releasing the stored energy, the conduction state of the multiple second switching elements in the energy recovery circuit is controlled to switch the multiple energy storage elements from the parallel state to the series state, forming a high voltage output; the conduction state of the multiple third switching elements in the energy recovery circuit is controlled so that the series-connected energy storage elements 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.

[0006] A second aspect of this application provides an energy recovery control device for an active suspension, comprising: a determining module, configured to control the conduction state of a plurality of first switching elements in a drive circuit according to the operating state of the suspension motor, thereby determining the direction of 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 including a suspension motor and a plurality of first switching elements for controlling the direction of energy recovery current; and a control module, configured to control the conduction state 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 that the back electromotive force generated by the suspension motor is transmitted through the energy recovery current. The energy is fed to parallel energy storage elements and stored 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; a switching module is used to control the conduction state of multiple second switching elements in the energy recovery circuit when releasing stored energy, switching the multiple energy storage elements from a parallel state to a series state to form a high voltage output; a power supply module is used to control the conduction state of multiple 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 power is supplied to the suspension motor using the energy storage elements and the main power supply capacitor, wherein the drive circuit includes the main power supply capacitor.

[0007] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0008] A fourth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0009] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects: The direction of energy recovery current is determined by controlling the conduction state of multiple first switching elements in the drive circuit according to the operating state of the suspension motor. 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 multiple first switching elements for controlling the direction of energy recovery current. The conduction state of multiple second switching elements in the energy recovery circuit is controlled to connect multiple energy storage elements in parallel, and the back electromotive force generated by the suspension motor is transmitted to the parallel energy storage elements through the energy recovery current, storing energy in the energy storage elements. The energy recovery circuit includes multiple energy storage elements, and the multiple second switching elements are used to control the connection method of the multiple energy storage elements. When releasing stored energy, the conduction state of multiple second switching elements in the energy recovery circuit is controlled to switch the multiple energy storage elements from a parallel state to a series state, forming a high-voltage output. The conduction state of multiple third switching elements in the energy recovery circuit is controlled to connect the series-connected energy storage elements 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. The drive circuit includes the main power supply capacitor. This application reduces costs and technical complexity, improves applicability and energy recovery efficiency, thereby enhancing vehicle safety and stability. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart illustrating the energy recovery control method for active suspension provided in an embodiment of this application; Figure 2 This is a schematic diagram of the overall structure of the energy recovery circuit provided in the embodiments of this application; Figure 3 This is a simplified circuit structure diagram of energy recovery provided in the embodiments of this application; Figure 4 This is a simplified circuit structure diagram of energy release provided in an embodiment of this application; Figure 5This is a control timing diagram of the energy recovery circuit provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the energy recovery control device for active suspension provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0012] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0013] With the rapid development of new energy vehicles, more and more users are choosing pure electric vehicles. Due to the differences between pure electric vehicles and traditional fuel passenger vehicles in terms of drive systems and control strategies, passengers, especially rear passengers, experience motion sickness. How to avoid or improve the motion sickness problem of pure electric vehicles and improve driving comfort will become one of the key research focuses in the industry.

[0014] The core objective of energy recovery technology is to convert and store the mechanical energy (such as vibrational energy and kinetic energy) generated during vehicle operation into electrical energy, thereby improving energy efficiency and reducing energy consumption. This technology is particularly suitable for electric and hybrid vehicles, extending driving range while reducing dependence on the external power grid.

[0015] Currently, existing energy recovery technologies mainly include the following two approaches: 1. Energy recovery is achieved by hydraulically driving a power generation device: When the vehicle is in motion, the pressure from the hydraulic system is used to drive the power generation device, converting kinetic energy into electrical energy and storing it. This method achieves energy recovery by modifying the hydraulic system and utilizing the mechanical kinetic energy generated during vehicle movement.

[0016] 2. Suspension kinetic energy is converted into electrical energy: Adding a new transmission component to the vehicle's suspension system transfers the mechanical kinetic energy generated by the suspension during vehicle vibrations or swaying to an onboard generator. The generator then generates electricity, which is stored in the battery. This solution directly utilizes suspension motion and has a high degree of integration.

[0017] Although these technical directions are theoretically feasible and have been initially implemented, they still have the following significant drawbacks in practical applications: 1. High cost: Developing, producing, and maintaining active suspension systems is costly, especially the research and development of energy recovery control strategies, which requires complex electronic equipment and algorithms. This not only increases the overall vehicle price but may also raise the barrier to entry for consumers.

[0018] 2. High technical complexity: Active suspension systems involve many high-tech components, such as electronic control units, sensors, and actuators, and also require advanced control algorithms. For manufacturers, this demands significant R&D capabilities, and the more complex the system, the higher the failure rate.

[0019] 3. Highly dependent on road conditions: The performance of active suspension systems is sensitive to road conditions. In extreme road conditions or harsh environments, such as potholes or slippery surfaces, the system may fail to function properly, or even experience performance degradation or damage.

[0020] 4. Low energy recovery efficiency: The efficiency of vibration energy recovery is limited by a variety of factors, including the intensity and frequency of road vibrations, vehicle speed, and the efficiency of the energy recovery device itself. This diversity of conditions makes it difficult for existing systems to consistently achieve high-efficiency energy recovery.

[0021] 5. Affects vehicle handling: To achieve energy recovery, the system may adjust suspension performance, but this can negatively impact vehicle handling in certain situations. For example, during emergency braking or obstacle avoidance, if the suspension fails to quickly return to its original settings, it can adversely affect vehicle safety and stability.

[0022] In view of the problems existing in the prior art, this application provides an energy recovery control method for active suspension. This application uses multiple MOSFETs to form an active energy recovery mechanism. By controlling the driving timing of the MOSFETs, parallel supercapacitors are used for energy collection during the initial collection process, and series supercapacitors are used for energy reuse to increase the voltage output. This recovers the energy generated by the active suspension braking and vibration and feeds it back to the power supply circuit.

[0023] The technical solution of this application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0024] Figure 1 This is a schematic flowchart of the energy recovery control method for active suspension provided in an embodiment of this application. Figure 1 As shown, the energy recovery control method of this active suspension may specifically include: S101, based on the operating state of the suspension motor, control the conduction state of multiple first switching elements in the drive circuit to determine the direction of 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 direction of energy recovery current. S102, control the conduction state of multiple second switching elements in the energy recovery circuit so that multiple energy storage elements are in parallel, and 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; wherein, the energy recovery circuit includes multiple energy storage elements, and multiple second switching elements are used to control the connection mode of multiple energy storage elements. S103, when releasing stored energy, controls the conduction state of multiple second switching elements in the energy recovery circuit, switches multiple energy storage elements from parallel state to series state, and forms a high voltage output; S104 controls the conduction state of multiple third switching elements in the energy recovery circuit so that the series-connected energy storage element is connected in parallel with the main power supply capacitor, and uses the energy storage element and the main power supply capacitor to supply power to the suspension motor, wherein the drive circuit includes the main power supply capacitor.

[0025] First, before describing the specific embodiments of the technical solution of this application, the overall structure and principle of the energy recovery circuit involved in the technical solution of this application will be introduced. Figure 2 This is a schematic diagram of the overall structure of the energy recovery circuit provided in an embodiment of this application. Figure 2 As shown, this energy recovery circuit is used in active suspension systems to recover and release energy generated by vibration or braking, and to supply power to the suspension motor in an efficient manner. Its main structure and principle are as follows: 1. Overall structure of the energy recovery circuit 1) Drive circuit section: It includes first switching elements Q1~Q4, which are used to control the working state of the suspension motor (M).

[0026] The suspension motor rotates forward by turning on Q1 and Q4; it rotates in reverse by turning on Q2 and Q3.

[0027] This part is responsible for guiding the back electromotive force generated by the suspension motor to the energy recovery circuit.

[0028] 2) Energy recovery circuit section: The second switching element includes Q7, Q9, Q10, and Q12, which are used to configure the energy storage elements C2, C3, and C4 in parallel to perform the energy recovery function.

[0029] Energy storage components: including multiple supercapacitors (C2, C3, C4) for storing the energy converted from the reverse electromotive force generated by the suspension motor.

[0030] Switching elements controlling the series connection state: including Q8, Q11 (controlled by Ctrl2) and Q13, Q14 (controlled by Ctrl3), used to switch the energy storage elements from parallel connection to series connection to generate high voltage output and realize energy release function.

[0031] 3) Main power supply capacitor: The main power supply capacitor C1, as the main energy source for the suspension motor, can be powered by energy storage elements during the energy release phase.

[0032] 4) Control signal section: Ctrl1: Controls the conduction of Q7, Q9, Q10, and Q12 to ensure that the energy storage elements recover energy in parallel.

[0033] Ctrl2: Controls the conduction of Q8 and Q11, switching the energy storage element to a series state to achieve high voltage output.

[0034] Ctrl3: Controls the conduction of Q13 and Q14, connecting the series-connected energy storage element in parallel with the main power supply capacitor for power supply.

[0035] 2. Working principle of energy recovery circuit 1) Energy recovery stage Generation and guidance of back electromotive force: When the suspension motor is affected by vibration or braking, the first switching element (Q1~Q4) in the drive circuit is turned on to determine the current flow direction according to the forward or reverse rotation state of the suspension motor, and guides the back electromotive force to the energy recovery circuit.

[0036] Parallel charging of energy storage elements: Under the control of Ctrl1, the second switching elements (Q7, Q9, Q10, Q12) are turned on, configuring energy storage elements C2, C3, and C4 into 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, ultimately realizing the charging of the energy storage elements.

[0037] 2) Energy release phase Series Switching and High Voltage Generation: When the main power supply capacitor C1 is not fully charged or the suspension motor requires a rapid response, Q8 and Q11 are turned on under the control of Ctrl2, switching the energy storage elements from parallel to series connection. Simultaneously, Q13 and Q14 are turned on under the control of Ctrl3, forming 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.

[0038] The energy storage element is connected in parallel with the main power supply capacitor: After the high-voltage output is formed, the series-connected energy storage element and the main power supply capacitor C1 are connected in parallel through a third switching element to supply power to the suspension motor. The parallel power supply characteristic allows the energy storage element and the main power supply capacitor to jointly provide instantaneous high power output, improving the dynamic response speed and stability of the suspension motor.

[0039] Therefore, in summary, Figure 2 The energy recovery circuit shown achieves efficient energy storage during the energy recovery phase through the coordinated control of the drive circuit, energy storage element, and switching element. During the energy release phase, it generates a high voltage through the series energy storage element and supplies power in parallel with the main power supply capacitor. This design improves energy recovery efficiency and enhances the instantaneous response capability of the suspension motor, effectively solving the problems of low energy utilization and high system complexity in existing technologies.

[0040] In some embodiments, controlling the conduction state of a plurality of first switching elements in the drive circuit according to the operating state of the suspension motor to determine the direction of energy recovery current includes: When it is necessary to collect energy from the active suspension, the forward or reverse rotation state of the suspension motor is detected according to the working status of the suspension motor. When the suspension motor is rotating in the forward direction, the conduction state of the first switching element is controlled so that the current enters the energy recovery circuit through the first path; When the suspension motor is in reverse, the conduction state of the first switching element is controlled so that current enters the energy recovery circuit through the second path.

[0041] Specifically, when the vehicle's suspension system is subjected to vibration or other external forces, the suspension motor generates mechanical motion, thereby producing a back electromotive force. The system detects the motor's rotation direction in real time based on its operating status, determining whether it is rotating forward or backward. The detection result serves as the basis for controlling the conduction state of the first switching element in the drive circuit, thus determining the direction of the energy recovery current.

[0042] Furthermore, when the suspension motor is in forward rotation, the conduction state of the first switching elements Q1 and Q4 is controlled so that the current flows to the energy recovery circuit through the first path.

[0043] At this time, the first switching element Q4 is turned off, and the first switching element Q5 is turned on simultaneously, so that the back electromotive force generated by the suspension motor is introduced into the energy recovery circuit through the drive circuit. The current flow path is: suspension motor → Q1 → Q5 → energy recovery circuit.

[0044] Furthermore, when the suspension motor is in reverse, the conduction state of the first switching elements Q2 and Q3 is controlled so that the current flows to the energy recovery circuit through the second path.

[0045] At this time, the first switching element Q3 is turned off, and the first switching element Q6 is turned on, so that the back electromotive force generated by the suspension motor is introduced into the energy recovery circuit through the drive circuit. The current flow path is: suspension motor → Q2 → Q6 → energy recovery circuit.

[0046] Furthermore, by detecting the forward or reverse rotation of the suspension motor in real time, the system can precisely control the on and off states of Q1 to Q6, thereby enabling the switching of current between the first and second paths.

[0047] Guided by the above path, the back electromotive force generated by the suspension motor can be effectively transmitted to the energy recovery circuit, achieving efficient energy recovery.

[0048] For example, in one instance, when a vehicle is traveling on a bumpy road, the suspension system is frequently subjected to impacts, causing the suspension motor to rotate frequently in both forward and reverse directions. The method in the above embodiments can quickly respond to changes in the rotational state of the suspension motor. By controlling the conduction state of the first switching element in real time, it ensures that the current always enters the energy recovery circuit along the correct path, thereby improving the energy recovery efficiency of the system.

[0049] According to the method of this embodiment, by real-time monitoring of the operating status of the suspension motor and precise control of the conduction state of the first switching element, the automatic switching of the current path is effectively realized, ensuring that the back electromotive force can be efficiently transmitted to the energy recovery circuit under different rotational states. Through a reasonable control strategy, not only is the energy recovery efficiency improved, but the energy loss of the system is also reduced, making it suitable for the efficient recovery of vibration energy in active suspension systems.

[0050] In some embodiments, the back electromotive force generated by the suspension motor is transferred to a parallel energy storage element via an energy recovery current, and the energy is stored in the energy storage element, including: Based on the forward or reverse rotation of the suspension motor, multiple energy storage elements are connected in parallel to create a voltage difference between the reverse electromotive force generated by the suspension motor and the parallel energy storage elements, triggering the flow of energy recovery current. Based on the flow of energy recovery current, the back electromotive force generated by the suspension motor is transmitted to the parallel energy storage element through the energy recovery current, and the back electromotive force is converted into electrical energy for storage.

[0051] Specifically, the energy recovery circuit controls the parallel connection of multiple energy storage elements to transfer the back electromotive force generated by the suspension motor to the energy storage elements and store it as electrical energy. The implementation of this embodiment will be described below with reference to the specific implementation process and accompanying drawings.

[0052] Figure 3 This is a simplified circuit structure diagram for energy recovery provided in an embodiment of this application. Figure 3 As shown, the energy recovery control process of this application includes the following: 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. Depending on whether the suspension motor rotates forward or backward, the drive circuit determines the direction of the energy recovery current by controlling the conduction state of the first switching elements (Q1~Q6).

[0053] In the forward rotation state: Q1 is turned on, Q4 is turned off, and Q5 is turned on, allowing current to flow from the suspension motor through the first path into the energy recovery circuit. In the reverse rotation state: Q3 is turned off, and Q2 and Q6 are turned on, allowing current to flow from the suspension motor through the second path into the energy recovery circuit.

[0054] Furthermore, when the suspension motor generates a back electromotive force, the second switching elements Q7, Q9, Q10, and Q12 are simultaneously turned on by the control signal Ctrl1, configuring the energy storage elements C2, C3, and C4 into a parallel state.

[0055] The parallel connection of energy storage components increases the total equivalent capacitance, lowers the charging voltage threshold, and ensures that the back electromotive force of the suspension motor can effectively trigger the flow of energy recovery current.

[0056] Furthermore, when the energy storage elements are in parallel, the back electromotive force of the suspension motor is transferred to the supercapacitors C2, C3, and C4 through the energy recovery current to complete the charging process.

[0057] Because the voltages of the energy storage elements are consistent in parallel operation, the back electromotive force generated by the suspension motor forms a stable voltage difference with the energy storage elements, thereby efficiently realizing the transmission and storage of electrical energy.

[0058] For example, in one example, the forward rotation energy recovery process is as follows: When the suspension motor rotates forward, Q4 is turned off and Q5 is turned on, guiding the current 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. The reverse electromotive force of the suspension motor is converted into electrical energy and stored in the supercapacitor.

[0059] The energy recovery process during reversal is as follows: When the suspension motor reverses, Q3 is turned off and Q6 is turned on, guiding the current to the energy recovery circuit through the second path. Under the control of Ctrl1, the energy storage elements C2, C3, and C4 remain in parallel, using the same path to complete energy recovery during reversal.

[0060] It should be noted that the parallel connection of energy storage components plays a key role in the energy recovery stage, achieving a more efficient charging process by increasing the equivalent capacitance.

[0061] Through the control method described above, this embodiment can fully utilize the back electromotive force generated when the suspension motor rotates forward or in reverse, ensuring the efficiency and reliability of the energy recovery process, thereby meeting the energy recovery requirements of the active suspension system.

[0062] In some embodiments, when releasing stored energy, controlling the conduction state of multiple second switching elements in the energy recovery circuit switches the multiple energy storage elements from a parallel state to a series state to form a high-voltage output, including: Based on the voltage status 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 element; 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, the conduction state of multiple second switching elements is controlled so that multiple energy storage elements are switched from parallel state to series state, and a high voltage output is formed by superimposing the voltages of the series-connected energy storage elements.

[0063] Specifically, in this embodiment, by controlling the conduction state 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, thereby converting 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 main power supply capacitor.

[0064] First, the system determines whether it is necessary to release energy from the energy storage element by real-time monitoring of the voltage state of the main power supply capacitor C1 and the operating requirements of the suspension motor. The first scenario: When it is detected that the voltage of the main power supply capacitor C1 is not fully charged, the energy release process is initiated to replenish the main power supply capacitor with electrical energy.

[0065] The second scenario: When the suspension motor needs to respond quickly, such as during emergency adjustments to suspension height or sudden changes in road conditions, the energy release process is initiated to provide high power output.

[0066] Furthermore, upon detecting the energy release demand, the second switching elements Q8 and Q11, as well as the series control switching elements Q13 and Q14, are turned on by control signals Ctrl2 and Ctrl3 respectively, switching the energy storage elements C2, C3, and C4 from the parallel state to the series state.

[0067] When energy storage elements are connected in series, their total voltage is the sum of the voltages of each energy storage element, thus converting the stored low voltage into a high voltage output.

[0068] Furthermore, when the energy storage elements are in series, the high voltage is transmitted to the main power supply capacitor C1 through the conducting Q13 and Q14, and is connected in parallel with C1.

[0069] In series, the high voltage generated by supercapacitors C2, C3, and C4 can not only provide energy replenishment for the main power supply capacitor, but also provide instantaneous high power output for the suspension motor through the parallel connection characteristics of the main power supply capacitor and the energy storage element.

[0070] In some examples, in the first case (main power supply capacitor not fully charged), when the voltage of the main power supply capacitor C1 drops below the set threshold during vehicle operation, the system controls Q8 and Q11 to conduct through Ctrl2 and Q13 and Q14 to conduct through Ctrl3, so that the energy storage elements C2, C3 and C4 switch to a series state and generate a high voltage output to replenish the power of C1.

[0071] In some examples, under the second scenario (where the suspension motor needs to respond quickly), such as when the vehicle suddenly encounters a pothole or brakes suddenly, the suspension motor needs to adjust rapidly. In this case, through the control operations described above, the high voltage generated by the energy storage elements C2, C3, and C4 connected in series is connected in parallel with the main power supply capacitor to power the motor, thereby meeting the demand for high power output.

[0072] According to the method described in this embodiment, this embodiment effectively improves energy utilization efficiency by switching the series connection of energy storage elements and generating high-voltage output. In emergency situations, it can quickly provide high-voltage support to the suspension motor while ensuring energy replenishment of the main power supply capacitor. Through precise switching control, the system achieves seamless switching of energy storage elements from parallel collection to series release, improving the dynamic response capability of the overall system.

[0073] In some embodiments, controlling the conduction state of multiple third switching elements in the energy recovery circuit to connect the series-connected energy storage element in parallel with the main power supply capacitor, and using the energy storage element and the main power supply capacitor to supply power to the suspension motor, includes: When the energy storage element is in series and forms a high voltage output, the conduction state of multiple third switching elements is controlled so that the series-connected energy storage element is connected in parallel with the main power supply capacitor. The high-voltage output of the series energy storage element is transmitted to the main power supply capacitor so that the main power supply capacitor can store energy and supply power to the suspension motor; By utilizing the parallel power supply characteristics of the main power supply capacitor and the series energy storage element, instantaneous high power output is provided to the suspension motor.

[0074] Specifically, in this embodiment, by controlling the conduction state of multiple third switching elements, the series-connected energy storage element can be connected in parallel with the main power supply capacitor, thereby utilizing the energy storage element and the main power supply capacitor to jointly supply power to the suspension motor and provide instantaneous high power output.

[0075] The implementation method of this embodiment will be described below with reference to the specific implementation process and accompanying drawings. Figure 4This is a simplified circuit structure diagram for energy release provided in an embodiment of this application. Figure 4 As shown, the energy reuse process of this application includes the following: First, after the energy storage elements C2, C3, and C4 switch from a parallel state to a series state, a high voltage output is formed through the superposition of the voltages of the energy storage elements.

[0076] The series-connected energy storage elements provide high voltage for subsequent power supply, which can effectively meet the high power supply requirements of the suspension motor.

[0077] Furthermore, when the energy storage element generates a high voltage output, the third switching elements Q13 and Q14 are simultaneously turned on by the control signal Ctrl3.

[0078] The energy storage elements C2, C3, and C4, connected in series, are connected in parallel with the main power supply capacitor C1 through Q13 and Q14, so that the energy storage elements and the main power supply capacitor participate in the power supply together.

[0079] Furthermore, in parallel operation, 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 main power supply capacitor's energy storage.

[0080] The main power supply capacitor and the energy storage element are connected in parallel to provide energy output to the suspension motor M simultaneously.

[0081] Due to the combined effect 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.

[0082] For example, in some 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 provides auxiliary power to the suspension motor through Q13, Q14 and C1.

[0083] For example, in other scenarios, when the vehicle needs to quickly adjust the suspension state, such as when passing through bumpy roads or during emergency braking, 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 and avoid response delays caused by insufficient power supply.

[0084] It should be noted that, Figure 4 The energy release circuit shown generates high voltage through series switching of energy storage elements, and improves the reliability and dynamic response of the power supply system by connecting it in parallel with the main power supply capacitor. The coordinated power supply of the energy storage elements and the main power supply capacitor can simultaneously meet the requirements of high power output of the motor and system stability.

[0085] Through the method described in this embodiment, this embodiment can fully utilize the high voltage output characteristics of the energy storage element, and at the same time combine the stable energy storage capacity of the main power supply capacitor to achieve efficient energy support for the suspension motor.

[0086] In some embodiments, the method further includes: During the energy recovery and energy release process based on active suspension, the on and off states of the first, second, and third switching elements are controlled respectively based on predetermined control timing signals.

[0087] Specifically, in order to achieve efficient switching between energy recovery and release in the active suspension system, this embodiment controls the on and off states of the first, second, and third switching elements respectively through predetermined control timing signals, thereby accurately realizing the switching between parallel and series states of the energy storage elements, taking into account both energy recovery and power supply requirements.

[0088] The implementation method of this embodiment will be described below with reference to the specific implementation process and accompanying drawings. Figure 5 This is a control timing diagram of the energy recovery circuit provided in an embodiment of this application. For example... Figure 5 As shown, the control timing of the energy recovery circuit in this application includes the following: In some examples, the control timing signals may include Ctrl1, Ctrl2, and Ctrl3, each corresponding to a different stage of on / off control: Ctrl1: Used to control the second switching element (such as Q7, Q9, Q10, Q12) to configure the energy storage element in parallel during the energy recovery phase, ensuring that the back electromotive force generated by the suspension motor can be efficiently transmitted to the energy storage element.

[0089] Ctrl2: Used to control the second switching element (such as Q8, Q11), which switches the energy storage element from parallel to series during the energy release phase to generate a high voltage output.

[0090] Ctrl3: Used to control the third switching element (such as Q13, Q14), which connects the series-connected energy storage element in parallel with the main power supply capacitor to achieve common power supply.

[0091] Through the coordinated action of the aforementioned control timing, seamless switching between energy recovery and release processes can be achieved.

[0092] In some examples, when the suspension motor generates a back electromotive force due to vibration or braking, the energy storage elements (supercapacitors C2, C3, and C4) are configured to be connected in parallel by controlling the signal Ctrl1 and simultaneously opening Q7, Q9, Q10, and Q12.

[0093] The parallel connection of energy storage elements increases the total equivalent capacitance, lowers the charging voltage threshold, and enables the back electromotive force of the suspension motor to trigger the flow of energy recovery current.

[0094] During this process, the first switching element (such as Q1~Q6) is turned on according to the forward or reverse rotation state of the suspension motor, controlling the current flow of the reverse electromotive force, so that the energy recovery current is transmitted to the parallel energy storage element and completes the energy storage.

[0095] In some examples, when insufficient voltage is detected in the main power supply capacitor C1 or when the suspension motor needs to respond quickly, the energy storage elements C2, C3, and C4 are switched from parallel to series connection by turning on Q8 and Q11 via the control signal Ctrl2.

[0096] Under Ctrl3 control, turn on Q13 and Q14 to connect the series-connected energy storage element in parallel with the main power supply capacitor C1.

[0097] The high voltage of the series energy storage element is transmitted to the main power supply capacitor C1 through the parallel structure, which not only replenishes the energy of C1, but also works with C1 to provide instantaneous high power output for the suspension motor.

[0098] In some examples, during the energy recovery phase, Ctrl1 ensures that the energy storage element is always in parallel and is charged by adapting to the back electromotive force of the suspension motor; during the energy release phase, Ctrl2 and Ctrl3 coordinate to switch the energy storage element from parallel to series and provide high-voltage power supply by connecting it in parallel with the main power supply capacitor.

[0099] In this embodiment, the control timing signal is closely integrated with the state detection of the suspension motor, enabling dynamic adjustment of the connection mode of the energy storage element according to the motor's needs or the state of the main power supply capacitor, ensuring a balance between power supply and recovery efficiency. Through precise control based on predetermined control timing signals, this embodiment achieves efficient switching of the energy storage element in different states, while also taking into account the dynamic balance between energy recovery efficiency and power supply demand.

[0100] In some embodiments, controlling the on and off states of the first switching element, the second switching element, and the third switching element based on predetermined control timing signals includes: During the energy recovery process, the first control timing signal is used to control the conduction state of multiple switches in the second switching element so that multiple energy storage elements are connected in parallel. During the energy release process, the second and third control timing signals are used to control the conduction state of the second and third switching elements respectively, so that multiple energy storage elements switch from parallel state to series state.

[0101] Specifically, when the suspension motor generates a back electromotive force due to vibration or braking, the first control timing signal (Ctrl1) is used to control the conduction state of multiple switches in the second switching element, so that the energy storage elements (such as supercapacitors C2, C3, and C4) are in a parallel connection state.

[0102] In some examples, the energy storage elements are connected in parallel during the energy recovery process, and the Ctrl1 signal simultaneously controls the conduction of Q7, Q9, Q10, and Q12.

[0103] The supercapacitors C2, C3, and C4 are connected in parallel, which increases their equivalent capacitance and lowers the charging voltage threshold, ensuring that the back electromotive force generated by the suspension motor can efficiently trigger the flow of energy recovery current.

[0104] The reverse electromotive force is guided into the energy recovery circuit through the first switching element (such as Q1~Q6) of the drive circuit.

[0105] In parallel operation, a voltage difference is created between the motor's back electromotive force and the parallel supercapacitor. The supercapacitor is then charged via energy recovery current, completing the energy storage process. In parallel operation, the energy storage element can quickly absorb the energy generated by the suspension motor, optimizing energy recovery efficiency.

[0106] In some examples, the energy storage elements are switched in series during the energy release process. When the voltage of the main power supply capacitor C1 is insufficient or the suspension motor needs to respond quickly, the energy release process is started. The series switching of the energy storage elements and the power supply are realized through the second control timing signal (Ctrl2) and the third control timing signal (Ctrl3).

[0107] The Ctrl2 signal controls the conduction of Q8 and Q11, switching the energy storage elements from a parallel state to a series state. The voltages of the series-connected energy storage elements are superimposed to form a high-voltage output, meeting the high power requirements of the suspension motor.

[0108] The Ctrl3 signal controls the conduction of Q13 and Q14, connecting the series-connected energy storage element in parallel with the main power supply capacitor C1. In parallel operation, the supercapacitor and the main power supply capacitor jointly power the suspension motor, improving the stability and instantaneous response capability of the power supply system.

[0109] In some examples, the specific control flow is as follows: Series switching: The Ctrl2 signal controls Q8 and Q11 to conduct, switching the energy storage element to the series state.

[0110] Parallel power supply: The Ctrl3 signal controls Q13 and Q14 to conduct, forming a parallel relationship between the supercapacitor and the main power supply capacitor, and providing energy to the suspension motor through high voltage.

[0111] For example, during the charging phase (energy recovery): when the suspension motor is in a vibrating or braking state, Ctrl1 controls Q7, Q9, Q10, and Q12 to conduct, and the energy storage elements are connected in parallel to quickly absorb and store the energy generated by the back electromotive force.

[0112] Discharge phase (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 element to series state; Ctrl3 controls Q13 and Q14 to conduct, connecting the series energy storage element in parallel with the main power supply capacitor, together providing high-voltage energy output for the suspension motor.

[0113] This embodiment achieves dynamic switching between parallel and series states of energy storage elements through precise control based on predetermined control timing signals, balancing energy recovery efficiency and power supply requirements. This embodiment can dynamically adjust the connection method of energy storage elements, fully utilizing their characteristics to achieve efficient energy management of the active suspension system.

[0114] Based on the technical solution provided in this embodiment, this embodiment has at least the following advantages: I. Improve energy utilization efficiency and energy recovery efficiency Energy recovery and reuse: Active suspension energy recovery technology can convert the vibration energy generated during vehicle operation (such as braking, bumpy road surfaces, etc.) into electrical energy through a specific circuit and store it for later use. This energy recovery and reuse mechanism significantly improves energy utilization efficiency and reduces energy waste.

[0115] Improved energy recovery efficiency: With an active energy recovery circuit, there is no threshold voltage when the MOSFET is turned on, avoiding the problem of some energy not being recovered due to the inherent threshold voltage of the diode in the passive recovery circuit, thus improving the energy recovery efficiency.

[0116] II. Enhancing Vehicle Performance Improving suspension response speed: When the active suspension is working frequently, the capacitor is also in a state of constant charging and discharging. When the capacitor voltage drops, but the capacitor has not had time to fully charge, the energy recovered by opening the supercapacitor can release a large current, thereby quickly responding to the active suspension, improving the suspension response speed, and thus enhancing the vehicle's handling and stability.

[0117] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0118] Figure 6 This is a schematic diagram of the structure of the energy recovery control device for the active suspension provided in an embodiment of this application. Figure 6 As shown, the energy recovery control device of the active suspension includes: The determining module 601 is used to control the conduction state of multiple first switching elements in the drive circuit according to the working state of the suspension motor, so as to determine the direction of 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 direction of energy recovery current. The control module 602 is used to control the conduction state of multiple second switching elements in the energy recovery circuit so that multiple energy storage elements are in parallel and the reverse 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; 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. The switching module 603 is used to control the conduction state of multiple second switching elements in the energy recovery circuit when releasing stored energy, and to switch multiple energy storage elements from parallel state to series state to form a high voltage output. The power supply module 604 is used to control the conduction state of multiple third switching elements in the energy recovery circuit so that the series-connected energy storage element is connected in parallel with the main power supply capacitor, and the energy storage element 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.

[0119] In some embodiments, Figure 6 When the determination module 601 needs to collect energy from the active suspension, it detects 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, 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.

[0120] In some embodiments, Figure 6 The control module 602 controls multiple energy storage elements to be connected in parallel based on the forward or reverse rotation state of the suspension motor, so that a voltage difference is formed between the back electromotive force generated by the suspension motor and the parallel energy storage elements, triggering the flow of energy recovery current; based on the flow of 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 electrical energy for storage.

[0121] In some embodiments, Figure 6The switching module 603 detects whether energy needs to be released from the energy storage element based on 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 state of multiple second switching elements to switch multiple energy storage elements from parallel state to series state, and forms a high voltage output based on the voltage superposition of the series-connected energy storage elements.

[0122] In some embodiments, Figure 6 When the energy storage element is in series and forms a high voltage output, the power supply module 604 controls the conduction state of multiple third switching elements so that the series-connected energy storage element is connected in parallel with the main power supply capacitor; the high voltage output of the series-connected energy storage element is transmitted to the main power supply capacitor so that the main power supply capacitor stores energy and supplies power to the suspension motor; and the parallel power supply characteristics of the main power supply capacitor and the series-connected energy storage element are used to provide instantaneous high power output to the suspension motor.

[0123] In some embodiments, Figure 6 In the process of energy recovery and energy release based on active suspension, the control module 602 controls the conduction and cut-off states of the first switching element, the second switching element and the third switching element respectively based on a predetermined control timing signal.

[0124] In some embodiments, Figure 6 During the energy recovery process, the control module 602 uses a first control timing signal to control the conduction state of multiple switches in the second switching element so that multiple 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 state of the second switching element and the third switching element respectively so that multiple energy storage elements switch from the parallel state to the series state.

[0125] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0126] Figure 7 This is a schematic diagram of the structure of the electronic device 7 provided in an embodiment of this application. Figure 7 As 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, it implements the steps in the various method embodiments described above. Alternatively, when the processor 701 executes the computer program 703, it implements the functions of each module / unit in the various device embodiments described above.

[0127] For example, computer program 703 may be divided into one or more modules / units, which are stored in memory 702 and executed by processor 701 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 703 in electronic device 7.

[0128] Electronic device 7 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 7 may include, but is not limited to, processor 701 and memory 702. Those skilled in the art will understand that... Figure 7 This is merely an example of electronic device 7 and does not constitute a limitation on electronic device 7. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device may also include input / output devices, network access devices, buses, etc.

[0129] 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. A general-purpose processor can be a microprocessor or any conventional processor.

[0130] The memory 702 can be an internal storage unit of the electronic device 7, such as a hard disk or RAM of the electronic device 7. The memory 702 can also be an external storage device of the electronic device 7, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the electronic device 7. Furthermore, the memory 702 can include both internal and external storage units 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.

[0131] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, 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. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0132] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0133] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0134] In the embodiments provided in this application, it should be understood that the disclosed apparatus / computer devices and methods can be implemented in other ways. For example, the apparatus / computer device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0135] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0136] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0137] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0138] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An energy recovery control method for an active suspension, characterized in that, include: Based on the operating state of the suspension motor, the conduction state of multiple first switching elements in the drive circuit is controlled to determine the direction of energy recovery current flow. The drive circuit is connected to the energy recovery circuit, and the drive circuit includes the suspension motor and the plurality of first switching elements for controlling the direction of the energy recovery current. The conduction state of multiple second switching elements in the energy recovery circuit is controlled to enable multiple energy storage elements to be connected in parallel, and 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; 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; When releasing stored energy, the conduction state of multiple second switching elements in the energy recovery circuit is controlled to switch multiple energy storage elements from a parallel state to a series state, thereby forming a high voltage output; The conduction state of multiple third switching elements in the energy recovery circuit is controlled so that the series-connected energy storage element is connected in parallel with the main power supply capacitor, and the energy storage element 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.

2. The method according to claim 1, characterized in that, The step of controlling the conduction state of multiple first switching elements in the drive circuit according to the operating state of the suspension motor to determine the direction of energy recovery current includes: When it is necessary to collect energy from the active suspension, the forward or reverse rotation state of the suspension motor is detected according to the working state of the suspension motor. When the suspension motor is in forward rotation, the conduction state of the first switching element is controlled so that current enters the energy recovery circuit through the first path; When the suspension motor is in reverse, the conduction state of the first switching element is controlled so that current enters the energy recovery circuit via 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 element through the energy recovery current, and the energy is stored in the energy storage element, including: Based on the forward or reverse rotation state of the suspension motor, multiple energy storage elements are controlled to be connected in parallel so that a voltage difference is formed between the reverse electromotive force generated by the suspension motor and the parallel energy storage elements, triggering the flow of 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 element through the energy recovery current, and the back electromotive force is converted into electrical energy for storage.

4. The method according to claim 1, characterized in that, When releasing stored energy, controlling the conduction state of multiple second switching elements in the energy recovery circuit to switch multiple energy storage elements from a parallel state to a series state to form a high voltage output includes: Based on the voltage state of the main power supply capacitor or the operating requirements of the suspension motor, it is determined whether the energy in the energy storage element needs to be released. 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, the conduction state of multiple second switching elements is controlled so that multiple energy storage elements are switched from parallel state to series state, and a high voltage output is formed by superimposing the voltages of the series-connected energy storage elements.

5. The method according to claim 4, characterized in that, Controlling the conduction state of multiple third switching elements in the energy recovery circuit to connect the series-connected energy storage element in parallel with the main power supply capacitor, and using the energy storage element and the main power supply capacitor to supply power to the suspension motor, includes: When the energy storage element is in series and forms a high voltage output, the conduction state of multiple third switching elements is controlled so that the series-connected energy storage element is connected in parallel with the main power supply capacitor. The high-voltage output of the series energy storage element is transmitted to the main power supply capacitor so that the main power supply capacitor stores energy and supplies power to the suspension motor; By utilizing the parallel power supply characteristics of the main power supply capacitor and the series energy storage element, instantaneous high power output is provided to the suspension motor.

6. The method according to claim 1, characterized in that, The method further includes: During the energy recovery and energy release process based on active suspension, the on and off states of the first switching element, the second switching element, and the third switching element are controlled respectively based on predetermined control timing signals.

7. The method according to claim 6, characterized in that, The control of the on / off states of the first switching element, the second switching element, and the third switching element based on predetermined control timing signals includes: During the energy recovery process, the first control timing signal is used to control the conduction state of multiple switches in the second switching element so that multiple 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 state of the second switching element and the third switching element respectively, so that multiple energy storage elements switch from parallel state to series state.

8. An energy recovery control device for an active suspension, characterized in that, include: The determination module is used to control the conduction state of multiple first switching elements in the drive circuit according to the working state of the suspension motor, so as to determine the direction of energy recovery current flow. The drive circuit is connected to the energy recovery circuit, and the drive circuit includes the suspension motor and the plurality of first switching elements for controlling the direction of the energy recovery current. A control module is used to control the conduction state of multiple second switching elements in the energy recovery circuit, so that multiple energy storage elements are in parallel connection, and 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; 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; The switching module is used to control the conduction state of multiple second switching elements in the energy recovery circuit when releasing stored energy, switching multiple energy storage elements from a parallel state to a series state to form a high voltage output; The power supply module is used to control the conduction state of multiple third switching elements in the energy recovery circuit so that the series-connected energy storage element is connected in parallel with the main power supply capacitor, and the energy storage element 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, it implements the steps of the method as described in any one of claims 1 to 7.

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

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