Suspension system and control method thereof

Abstract

The invention discloses a suspension system and a control method thereof, and relates to the technical field of suspension systems.The suspension system comprises at least one suspension sub-system, and the suspension sub-system comprises two suspensions and two motor pumps; the first motor pump is connected with the first suspension through a first main oil way and a second main oil way, the second motor pump is connected with the second suspension through a third main oil way and a fourth main oil way, and the first motor pump is further connected with the second suspension through a first interconnection oil way and a second interconnection oil way. The second motor pump is further connected with the first suspension through a third interconnection oil way and a fourth interconnection oil way, and different hydraulic adjusting loops are formed by controlling connection and disconnection of all the main oil ways and / or all the interconnection oil ways, so that the suspension subsystem is switched among multiple different working modes. Various hydraulic adjusting loops can be formed, and the expandability of the suspension system is improved.

Description

Technical Field

[0001] This application relates to the technical field of suspension systems, and particularly to a suspension system and its control method. Background Art

[0002] A suspension system is a system mechanism that connects wheels to a vehicle body, and its main functions are to support the vehicle body to drive smoothly and to reduce the impact from the road surface. According to whether the acting force of the suspension system is adjustable, the suspension system can be divided into a passive suspension and an active suspension.

[0003] Currently, in the hydraulic regulation system of an active suspension, for a quarter vehicle body and its corresponding suspension, generally one motor pump is used for regulation, forming four independent hydraulic regulation circuits, such that the four motor pumps respectively regulate the four suspensions. The problem with this suspension system is that the system scalability is relatively low. Summary of the Invention

[0004] The main objective of this application is to provide a suspension system and its control method, aiming to solve the technical problem of relatively low scalability of the suspension system in related technologies.

[0005] To achieve the above objective, this application proposes a suspension system, including at least one suspension subsystem, and the suspension subsystem includes two suspensions and two motor pumps;

[0006] One end of a first motor pump is connected to the rod chamber of a first suspension through a first main oil path, and the other end of the first motor pump is connected to the non-rod chamber of the first suspension through a second main oil path. One end of a second motor pump is connected to the rod chamber of a second suspension through a third main oil path, and the other end of the second motor pump is connected to the non-rod chamber of the second suspension through a fourth main oil path;

[0007] One end of the first motor pump is further connected to the rod chamber of the second suspension through a first interconnection oil path, and the other end of the first motor pump is further connected to the non-rod chamber of the second suspension through a second interconnection oil path. One end of the second motor pump is further connected to the rod chamber of the first suspension through a third interconnection oil path, and the other end of the second motor pump is further connected to the non-rod chamber of the first suspension through a fourth interconnection oil path;

[0008] By controlling the on / off of each main oil path and / or each interconnection oil path, different hydraulic regulation circuits are formed to enable the suspension subsystem to switch between multiple different working modes.

[0009] In one embodiment, the other end of the first motor pump is further connected to one end of the second motor pump through an equalizing valve;

[0010] The equalizing valve is used to provide hydraulic balance protection when any one of the first motor pump and the second motor pump has an abnormality.

[0011] In one embodiment, the first main oil passage, the second main oil passage, the third main oil passage, and the fourth main oil passage each include a first valve body, an accumulator, and a second valve body connected in series, and a first one-way valve connected in parallel across the second valve body. One end or the other end of the first valve body is connected to the first motor pump / second motor pump. The inlet of the first one-way valve is connected to the accumulator, and the outlet of the first one-way valve and the second valve body are respectively connected to the rod chamber or the non-rod chamber of the first suspension / second suspension;

[0012] The first interconnecting oil passage, the second interconnecting oil passage, the third interconnecting oil passage, and the fourth interconnecting oil passage each include a third valve body and a fourth valve body connected in series, and a second one-way valve connected in parallel across the fourth valve body. One end or the other end of the third valve body is connected to the first motor pump / second motor pump. The inlet of the second one-way valve is connected to the third valve body, and the outlet of the second one-way valve and the fourth valve body are respectively connected to the rod chamber or the non-rod chamber of the first suspension / second suspension.

[0013] In one embodiment, the suspension system further includes a controller;

[0014] The controller is respectively connected to the first valve body and the second valve body of each main oil passage, the third valve body and the fourth valve body of each interconnecting oil passage, and the equalizing valve;

[0015] The controller is configured to control the opening and closing of each valve body to switch the working mode of the suspension subsystem.

[0016] In one embodiment, the working modes include an equalizing self-adjustment mode, a normal rising mode, and a normal falling mode; the controller is further configured to:

[0017] Control the first valve body and the second valve body in the first main oil passage, the second main oil passage, the third main oil passage, and the fourth main oil passage, the third valve body and the fourth valve body in the first interconnecting oil passage, the second interconnecting oil passage, the third interconnecting oil passage, and the fourth interconnecting oil passage, and the equalizing valve to be all opened, so as to switch the suspension subsystem to the equalizing self-adjustment mode;

[0018] Control the first valve body and the second valve body in the first main oil passage, the first valve body in the second main oil passage, the first valve body and the second valve body in the third main oil passage, and the first valve body in the fourth main oil passage to be opened, so as to switch the suspension subsystem to the normal rising mode; or,

[0019] Control the first valve body and the second valve body in the second main oil passage, the first valve body in the first main oil passage, the first valve body and the second valve body in the fourth main oil passage, and the first valve body in the third main oil passage to be opened, so as to switch the suspension subsystem to the normal falling mode.

[0020] In one embodiment, the working modes include a two-side synchronous rising mode and a two-side synchronous falling mode; the controller is further configured to:

[0021] In the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit, the fourth main oil circuit and the second main oil circuit, the first valve body and the second valve body in the first main oil circuit, the third valve body and the fourth valve body in the first interconnected oil circuit, and the third valve body in the second interconnected oil circuit and the third interconnected oil circuit, so that the suspension subsystem switches to the two-side synchronous rising mode; or,

[0022] In the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit, the fourth main oil circuit and the first main oil circuit, the first valve body and the second valve body in the second main oil circuit, the third valve body and the fourth valve body in the second interconnected oil circuit, and the third valve body in the first interconnected oil circuit and the fourth interconnected oil circuit, so that the suspension subsystem switches to the two-side synchronous descending mode.

[0023] In one embodiment, the working modes include the different-side independent rising mode and the different-side independent descending mode; the controller is further configured to:

[0024] In the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit and the fourth main oil circuit, the third valve body and the fourth valve body in the first interconnected oil circuit, and the third valve body in the second interconnected oil circuit, so that the suspension subsystem switches to the different-side independent rising mode; or,

[0025] In the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit and the fourth main oil circuit, the third valve body and the fourth valve body in the second interconnected oil circuit, and the third valve body in the first interconnected oil circuit, so that the suspension subsystem switches to the different-side independent descending mode.

[0026] In one embodiment, the working modes include the double-rate rising mode; the controller is further configured to:

[0027] In the case of a collision occurring at the second suspension, control the opening of the first valve bodies in the third main oil circuit, the fourth main oil circuit and the first main oil circuit, and the third valve body in the second interconnected oil circuit, so that the suspension subsystem switches to the double-rate rising mode.

[0028] In one embodiment, the first suspension and the second suspension are hydraulic shock absorbers.

[0029] In addition, to achieve the above object, the present application also provides a control method for a suspension system, which is used for the suspension system as described above, and the suspension system includes at least one suspension subsystem; the method includes:

[0030] Control the on-off of each main oil circuit and / or each interconnected oil circuit in the suspension subsystem to form different hydraulic adjustment circuits, so that the suspension subsystem switches between multiple different working modes.

[0031] One or more technical solutions proposed by the present application have at least the following technical effects:

[0032] A suspension system is proposed, which includes at least one suspension subsystem. The suspension subsystem includes two suspensions and two motor pumps. By connecting a main oil circuit between the first motor pump and the first suspension and between the second motor pump and the second suspension, and connecting an interconnection oil circuit between the first motor pump and the second suspension and between the second motor pump and the first suspension. Then, by controlling the on / off of each main oil circuit and / or each interconnection oil circuit, the suspension subsystem forms a variety of different hydraulic adjustment circuits, which can not only achieve hydraulic adjustment under normal conditions, but also, when one side motor pump fails and stops while the other side motor pump is normal, achieve synchronous adjustment of two suspensions supported by one motor pump and different-side adjustment of one suspension supported by the other side motor pump, and when one side suspension collides, achieve rapid lifting of the other side suspension supported by two motor pumps. That is, the suspension subsystem can switch between multiple different working modes, improving the scalability of the suspension system and meeting the requirements of more different application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0034] Figure 1 is the hydraulic adjustment circuit of a suspension system in related technologies;

[0035] Figure 2 is the hydraulic adjustment circuit of another suspension system in related technologies;

[0036] Figure 3 is the connection schematic diagram of the suspension subsystem provided by an embodiment of the present application;

[0037] Figure 4 is the detailed connection schematic diagram of the suspension subsystem provided by an embodiment of the present application;

[0038] Figure 5 is Figure 4 the oil circuit schematic of the suspension subsystem in the normal rising mode;

[0039] Figure 6 is Figure 4 the oil circuit schematic of the suspension subsystem in the normal descending mode;

[0040] Figure 7 is Figure 4 the oil circuit schematic of the suspension subsystem in the two-side synchronous rising mode;

[0041] Figure 8 For Figure 4 the oil circuit schematic diagram of the suspension system in the synchronous descending mode on both sides;

[0042] Figure 9 For Figure 4 the oil circuit schematic diagram of the suspension system in the single-side rising mode on the opposite sides;

[0043] Figure 10 For Figure 4 the oil circuit schematic diagram of the suspension system in the single-side descending mode on the opposite sides;

[0044] Figure 11 For Figure 4 the oil circuit schematic diagram of the suspension system in the double-rate rising mode.

[0045] The realization of the purpose of this application, functional features and advantages will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0046] Next, the technical solutions in the embodiments of this application will be clearly and completely described with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0047] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, the directional indications are only used to explain the relative position relationship and movement conditions between components in a certain specific posture. If this specific posture changes, the directional indications will also change accordingly. In addition, if there are descriptions such as "first" and "second" involved in the embodiments of this application, the descriptions of "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by this application.

[0048] Currently, in the hydraulic regulation system of an active suspension, for a quarter of the vehicle body and its corresponding suspension, it is generally regulated by a motor pump to form four independent hydraulic regulation circuits, so that four motor pumps respectively regulate four suspensions. As Figure 1 shown is the hydraulic regulation circuit of a suspension system in the related art. As Figure 2 shown is the hydraulic regulation circuit of another suspension system in the related art. Both show the hydraulic regulation circuits of a quarter of the vehicle body and the suspension in the hydraulic regulation system of the active suspension. Among them, Figure 1 is a series-type hydraulic regulation circuit. The rod chamber 011 of the suspension 01, the parallel valve body 02 and check valve 03, accumulator 04, motor pump 05, accumulator 06, the parallel valve body 07 and check valve 08, and the rodless chamber 012 of the suspension 01 are connected in series to form a series circuit; Figure 2 is a parallel-type hydraulic regulation circuit. One branch composed of the check valve 03, accumulator 04 and valve body 02, another branch composed of the check valve 08, accumulator 06 and valve body 07, and the motor pump 05 are respectively connected in parallel between the rod chamber 011 and the rodless chamber 012 of the suspension 01 to form a parallel circuit. From Figure 1 and Figure 2 it can be seen that whether in series or parallel, a quarter of the vehicle body and the suspension are respectively regulated by a motor pump. If the motor pump of one circuit fails and stops, it will directly cause the quarter of the vehicle body to be unable to be regulated, which is not conducive to the normal driving of the whole vehicle, affects the driving experience of users, and reduces the system reliability. Therefore, the problem of this suspension system is that the system scalability is low and it cannot meet the requirements of multiple scenarios.

[0049] In view of the above problems, the present application provides a suspension system and its control method. The present application and the following embodiments will be described below with reference to the drawings.

[0050] The present application proposes a suspension system.

[0051] In an embodiment of the present application, the suspension system may include at least one suspension subsystem. Referring to Figure 3 , Figure 3 is a connection schematic diagram of an embodiment of the suspension subsystem. The suspension subsystem may include two suspensions and two motor pumps;

[0052] One end of the first motor pump is connected to the rod chamber of the first suspension through the first main oil circuit, and the other end of the first motor pump is connected to the rodless chamber of the first suspension through the second main oil circuit. One end of the second motor pump is connected to the rod chamber of the second suspension through the third main oil circuit, and the other end of the second motor pump is connected to the rodless chamber of the second suspension through the fourth main oil circuit. One end of the first motor pump is also connected to the rod chamber of the second suspension through the first interconnecting oil circuit, and the other end of the first motor pump is also connected to the rodless chamber of the second suspension through the second interconnecting oil circuit. One end of the second motor pump is also connected to the rod chamber of the first suspension through the third interconnecting oil circuit, and the other end of the second motor pump is also connected to the rodless chamber of the first suspension through the fourth interconnecting oil circuit.

[0053] By controlling the on-off of each main oil circuit and / or each interconnecting oil circuit, different hydraulic adjustment circuits are formed to enable the suspension subsystem to switch between multiple different working modes.

[0054] It should be noted that the suspension system can be an active suspension. An active suspension refers to a suspension system whose stiffness and damping characteristics can be dynamically and adaptively adjusted according to the driving conditions of the vehicle (such as the motion state of the vehicle and the road surface conditions), so that the system is always in the best vibration damping state. The active suspension has many advantages, such as being able to control the vehicle body height, improve the passability, and balance the ride comfort and handling stability of the vehicle. Among them, the force adjustment of the active suspension includes height adjustment, stiffness adjustment, damping adjustment, etc. In this embodiment, the height adjustment is taken as an example for illustration.

[0055] It should also be noted that the first suspension and the second suspension in the suspension subsystem can be hydraulic shock absorbers. The rod chamber of the suspension is the rod chamber of the hydraulic shock absorber, and the rodless chamber of the suspension is the rodless chamber of the hydraulic shock absorber. The motor pump can be a hydraulic electric pump, which drives an oil pump through an electric motor, converts electrical energy into hydraulic energy, and transmits the energy to each actuator in the hydraulic system through hydraulic oil, providing pressure and flow for the hydraulic system to meet the working requirements of the system. The motor pump can also control the movement speed and force magnitude of the actuators in the hydraulic system by adjusting the output pressure and flow rate, that is, hydraulic adjustment control can be achieved.

[0056] In addition, it should be noted that the total number of suspensions and motor pumps in the suspension system can be correspondingly equipped based on the number of wheels of the vehicle where it is located. For example, a four-wheel vehicle is correspondingly provided with four suspensions and four motor pumps. The two suspensions included in a single suspension subsystem can be the two suspensions configured for two physically adjacent wheels (such as the left front wheel and the right front wheel, the left rear wheel and the right rear wheel). Each is connected to a motor pump through two main oil circuits. Specifically, the rod chamber is connected to one end of the motor pump through one main oil circuit, and the rodless chamber is connected to the other end of the motor pump through the other main oil circuit.

[0057] Exemplarily, taking a four-wheel vehicle as an example, the two suspensions configured corresponding to the left front wheel and the right front wheel, the two motor pumps, and the oil circuit therebetween are set as one sub-suspension system of the suspension system, and the two suspensions configured corresponding to the left rear wheel and the right rear wheel, the two motor pumps, and the oil circuit therebetween are set as another sub-suspension system of the suspension system. That is to say, the suspension system includes two sub-suspension systems, and the structure of each sub-suspension system can refer to Figure 3 as shown. Assume that one sub-suspension system includes a first suspension 5 and a second suspension 6, as well as a first motor pump 1 and a second motor pump 2; wherein, the motor pump corresponding to the first suspension 5 is the first motor pump 1, and the motor pump corresponding to the second suspension 6 is the second motor pump 2.

[0058] As Figure 3 shown, one end of the first motor pump 1 is connected to the rod chamber 51 of the first suspension 5 through a first main oil circuit 101, and the other end of the first motor pump 1 is connected to the rodless chamber 52 of the first suspension 5 through a second main oil circuit 102. One end of the second motor pump 2 is connected to the rod chamber 61 of the second suspension 6 through a third main oil circuit 103, and the other end of the second motor pump 2 is connected to the rodless chamber 62 of the second suspension 6 through a fourth main oil circuit 104. One end of the first motor pump 1 is further connected to the rod chamber 61 of the second suspension 6 through a first interconnection oil circuit 201, and the other end of the first motor pump 1 is further connected to the rodless chamber 62 of the second suspension 6 through a second interconnection oil circuit 202. One end of the second motor pump 2 is further connected to the rod chamber 51 of the first suspension 5 through a third interconnection oil circuit 203, and the other end of the second motor pump 2 is further connected to the rodless chamber 52 of the first suspension 5 through a fourth interconnection oil circuit 204.

[0059] In a feasible implementation manner, the other end of the first motor pump is further connected to one end of the second motor pump through a balance valve; the balance valve is used to provide hydraulic balance protection when any one of the first motor pump and the second motor pump fails.

[0060] As Figure 3 shown, the first motor pump 1 is connected to the second motor pump 2 through a balance valve 19. The balance valve 19 can be a pressure valve such as a switch valve or a throttle valve.

[0061] In a feasible implementation manner, each of the first main oil circuit, the second main oil circuit, the third main oil circuit, and the fourth main oil circuit includes a first valve body, an accumulator, and a second valve body connected in series, and a first one-way valve connected in parallel at both ends of the second valve body. The first valve body is connected to one end or the other end of the first motor pump / second motor pump. The inlet of the first one-way valve is connected to the accumulator, and the outlet of the first one-way valve and the second valve body are respectively connected to the rod chamber or the rodless chamber of the first suspension / second suspension;

[0062] The first interconnecting oil circuit, the second interconnecting oil circuit, the third interconnecting oil circuit, and the fourth interconnecting oil circuit each include a third valve body and a fourth valve body connected in series, and a second one-way valve connected in parallel at both ends of the fourth valve body. The third valve body is connected to one end or the other end of the first motor pump / second motor pump. The inlet of the second one-way valve is connected to the third valve body, and the outlet of the second one-way valve and the fourth valve body are respectively connected to the rod chamber or the non-rod chamber of the first suspension / second suspension.

[0063] It should be noted that the first valve body, the second valve body, the third valve body, and the fourth valve body can be pressure valves such as on-off valves or throttle valves. The accumulator can convert the energy in the system into compressed energy or potential energy and store it. When the system needs it, it can convert the compressed energy or potential energy back into hydraulic energy in the oil circuit and release it to replenish the system again, that is, the accumulator can supply oil to the motor pump; it can also absorb energy when the system pressure increases instantaneously to ensure the normal pressure of the entire system, that is, the accumulator can be filled with oil by the motor pump.

[0064] Refer to Figure 4 , Figure 4 For Figure 3 a detailed connection schematic diagram of the middle suspension subsystem; the first main oil circuit 101 includes a first valve body 12, an accumulator 41, and a second valve body 11 connected in series, and a first one-way valve 31 connected in parallel at both ends of the second valve body 11. One end of the first valve body 12 is connected to the first motor pump 1. The inlet of the first one-way valve 31 is connected to the accumulator 41. The outlet of the first one-way valve 31 and the second valve body 11 are respectively connected to the rod chamber 51 of the first suspension 5; the second main oil circuit 102 includes a first valve body 14, an accumulator 42, and a second valve body 13 connected in series, and a first one-way valve 32 connected in parallel at both ends of the second valve body 13. The other end of the first valve body 14 is connected to the first motor pump 1. The inlet of the first one-way valve 32 is connected to the accumulator 42. The outlet of the first one-way valve 32 and the second valve body 13 are respectively connected to the non-rod chamber 52 of the first suspension 5; the third main oil circuit 103 includes a first valve body 16, an accumulator 43, and a second valve body 15 connected in series, and a first one-way valve 33 connected in parallel at both ends of the second valve body 15. One end of the first valve body 16 is connected to the second motor pump 2. The inlet of the first one-way valve 33 is connected to the accumulator 43. The outlet of the first one-way valve 33 and the second valve body 15 are respectively connected to the rod chamber 61 of the second suspension 6; the fourth main oil circuit 104 includes a first valve body 18, an accumulator 44, and a second valve body 17 connected in series, and a first one-way valve 34 connected in parallel at both ends of the second valve body 17. The other end of the first valve body 18 is connected to the second motor pump 2. The inlet of the first one-way valve 34 is connected to the accumulator 44. The outlet of the first one-way valve 34 and the second valve body 17 are respectively connected to the non-rod chamber 62 of the second suspension 6.

[0065] As Figure 4As shown in the figure, the first interconnected oil circuit 201 includes a third valve body 21 and a fourth valve body 22 connected in series, and a second one-way valve 35 connected in parallel at both ends of the fourth valve body 22; one end of the third valve body 21 is connected to one end of the first motor pump 1, the inlet of the second one-way valve 35 is connected to the other end of the third valve body 21, and the outlet of the second one-way valve 35 and the fourth valve body 22 are respectively connected to the rod chamber 61 of the second suspension 6; the second interconnected oil circuit 202 includes a third valve body 23 and a fourth valve body 24 connected in series, and a second one-way valve 36 connected in parallel at both ends of the fourth valve body 24; one end of the third valve body 23 is connected to the other end of the first motor pump 1, the inlet of the second one-way valve 36 is connected to the other end of the third valve body 23, and the outlet of the second one-way valve 36 and the fourth valve body 24 are respectively connected to the rodless chamber 62 of the second suspension 6; the third interconnected oil circuit 203 includes a third valve body 25 and a fourth valve body 26 connected in series, and a second one-way valve 37 connected in parallel at both ends of the fourth valve body 26; one end of the third valve body 25 is connected to one end of the second motor pump 2, the inlet of the second one-way valve 37 is connected to the other end of the third valve body 25, and the outlet of the second one-way valve 37 and the fourth valve body 26 are respectively connected to the rod chamber 51 of the first suspension 5; the fourth interconnected oil circuit 204 includes a third valve body 27 and a fourth valve body 28 connected in series, and a second one-way valve 38 connected in parallel at both ends of the fourth valve body 28; one end of the third valve body 27 is connected to the other end of the second motor pump 2, the inlet of the second one-way valve 38 is connected to the other end of the third valve body 27, and the outlet of the second one-way valve 38 and the fourth valve body 28 are respectively connected to the rodless chamber 52 of the first suspension 5.

[0066] The suspension system proposed in this embodiment includes at least one suspension subsystem, and this suspension subsystem includes two suspensions and two motor pumps. By connecting and arranging main oil circuits between the first motor pump and the first suspension and between the second motor pump and the second suspension, and connecting and arranging interconnected oil circuits between the first motor pump and the second suspension and between the second motor pump and the first suspension, and then controlling the on-off of each main oil circuit and / or each interconnected oil circuit, the suspension subsystem forms a variety of different hydraulic adjustment circuits, which can not only achieve hydraulic adjustment under normal conditions, but also, when one side motor pump fails and stops while the other side motor pump is normal, achieve synchronous adjustment of one motor pump supporting two suspensions and different-side adjustment of one side motor pump supporting the other side suspension, and when one side suspension collides, achieve rapid lifting of the other side suspension by two motor pumps, that is, this suspension subsystem can switch between multiple different working modes, improving the scalability of the suspension system and meeting the requirements of more different application scenarios.

[0067] In a feasible implementation manner, the suspension system may further include a controller; the controller is respectively connected to the first valve body and the second valve body of each main oil circuit, the third valve body and the fourth valve body of each interconnected oil circuit, and the balance valve; the controller is used to control the on-off of each valve body to switch the working mode of the suspension subsystem.

[0068] It should be noted that the first valve body and the second valve body of each main oil circuit, the third valve body and the fourth valve body of each interconnected oil circuit, and the balance valve all adopt valve bodies with controllable on / off, and the on / off control is performed by a controller. Therefore, the control method of this suspension system can be executed on the controller, and the control method can be optionally placed in the controller in the form of a preset program. During specific implementation, the on / off of each valve body in each suspension subsystem is controlled by the controller, so as to control the on / off of each main oil circuit and / or each interconnected oil circuit, enabling the suspension subsystem to switch between multiple different working modes.

[0069] Exemplarily, based on the above example, the suspension subsystem can achieve the following switching of several hydraulic adjustment working modes: balance self-adjustment mode, normal rising mode / normal falling mode with one motor pump corresponding to one suspension, both-sides synchronous rising mode / both-sides synchronous falling mode with one motor pump corresponding to two suspensions, different-side individual rising mode / different-side individual falling mode with one motor pump corresponding to another suspension, and double-speed rising mode of the suspension during collision, etc. Among them, system pressure holding can also be achieved in modes such as normal rising mode, normal falling mode, both-sides synchronous rising mode, both-sides synchronous falling mode, different-side individual rising mode, and different-side individual falling mode. Among them, the balance self-adjustment mode, normal rising mode, and normal falling mode can be applied in normal vehicle use scenarios to provide users with a normal driving experience; the both-sides synchronous rising mode, both-sides synchronous falling mode, different-side individual rising mode, and different-side individual falling mode can be applied in vehicle use scenarios with unilateral failures, enabling the system to still achieve suspension dynamic adjustment, vehicle body height adjustment, vehicle body height holding, etc. even when one of the motor pumps fails, and even achieving vehicle body adjustment when motor pump A fails and suspension B fails, but suspension A is normal and motor pump B is normal; the double-speed rising mode can achieve double-speed lifting of the wheels when a side collision occurs to the vehicle body, such as when there are trapped people under the vehicle body, so as to quickly lift the vehicle body and ensure the safety of personnel.

[0070] In this embodiment, the controller can control each valve body according to the actually required working mode, making full use of the motor pump product to optimize the oil circuit of the active suspension. On the basis of realizing different hydraulic adjustment working modes, it can also ensure the adjustment requirements of the vehicle body in the case of partial system failures, including motor pump failures or suspension failures, improving the user's driving and riding experience and the reliability of the system.

[0071] In another embodiment of the present application, for the same or similar content as the above embodiment, reference may be made to the above introduction and will not be repeated hereinafter. On this basis, the working modes may include an equalization self-regulation mode, a normal rising mode, and a normal falling mode; the controller is further configured to: control the first valve body and the second valve body in the first main oil circuit, the second main oil circuit, the third main oil circuit, and the fourth main oil circuit, the third valve body and the fourth valve body in the first interconnecting oil circuit, the second interconnecting oil circuit, the third interconnecting oil circuit, and the fourth interconnecting oil circuit, and the equalization valve to be opened, so that the suspension subsystem is switched to the equalization self-regulation mode; control the first valve body and the second valve body in the first main oil circuit, the first valve body in the second main oil circuit, the first valve body and the second valve body in the third main oil circuit, and the first valve body in the fourth main oil circuit to be opened, so that the suspension subsystem is switched to the normal rising mode; or control the first valve body and the second valve body in the second main oil circuit, the first valve body in the first main oil circuit, the first valve body and the second valve body in the fourth main oil circuit, and the first valve body in the third main oil circuit to be opened, so that the suspension subsystem is switched to the normal falling mode.

[0072] Exemplarily, referring to Figure 4 , when all valve bodies are opened, the suspension subsystem is in the equalization self-regulation mode. Specifically, when the vehicle is stationary, the controller can control all valve bodies in the suspension subsystem to be opened to ensure the pressure balance in all oil circuits. Optionally, the controller can detect whether the vehicle is stationary, and then output an opening control signal to each valve body when detecting that the vehicle is stationary, so that the suspension subsystem enters the equalization self-regulation mode, or directly receive an externally input instruction to correspondingly control each valve body to be opened, so that the suspension subsystem enters the equalization self-regulation mode.

[0073] It should be noted that in the normal rising mode, each motor pump injects oil into the rodless cavity of its corresponding suspension through the corresponding main oil circuit, and the rod chamber of the suspension replenishes oil to the motor pump through the corresponding main oil circuit, realizing the normal rising of the corresponding quarter body. Among them, the accumulator located on the oil injection route can be injected with oil, and the accumulator located on the oil replenishment route can also replenish oil to the motor pump to achieve pressure maintenance; in the normal falling mode, each motor pump injects oil into the rod chamber of its corresponding suspension through the corresponding main oil circuit, and the rodless cavity of the suspension replenishes oil to the motor pump through the corresponding main oil circuit, realizing the normal falling of the corresponding quarter body. Among them, the accumulator located on the oil injection route can be injected with oil, and the accumulator located on the oil replenishment route can also replenish oil to the motor pump to achieve pressure maintenance.

[0074] Exemplarily, referring to Figure 5 , Figure 5The oil circuit schematic diagram of the suspension system in the normal rising mode is shown. The first valve body 12, the second valve body 11, the first valve body 14, the first valve body 16, the second valve body 15, and the first valve body 18 can be specifically controlled to be opened, and the remaining other valve bodies are controlled to be closed, so that the suspension system enters the normal descending mode. At this time, the first motor pump 1 injects oil into the rodless cavity 52 of the first suspension 5 through the first valve body 14 and the first one-way valve 32, and can also inject oil into the accumulator 42. The rod chamber 51 of the first suspension 5 replenishes oil to the first motor pump 1 through the second valve body 11 and the first valve body 12, and the accumulator 41 can also replenish oil to the first motor pump 1. The oil circuit between the second motor pump 2 and the second suspension 6 is similar and will not be elaborated here. In this state, the first motor pump 1 controls the first suspension 5 to rise, and the second motor pump 2 controls the second suspension 6 to rise.

[0075] Refer to Figure 6 , Figure 6 The oil circuit schematic diagram of the suspension system in the normal descending mode is shown. The first valve body 14, the second valve body 13, the first valve body 12, the first valve body 18, the second valve body 17, and the first valve body 16 can be specifically controlled to be opened, and the remaining other valve bodies are controlled to be closed, so that the suspension system enters the normal descending mode. At this time, the first motor pump 1 injects oil into the rod chamber 51 of the first suspension 5 through the first valve body 12 and the first one-way valve 31, and can also inject oil into the accumulator 41. The rodless cavity 52 of the first suspension 5 replenishes oil to the first motor pump 1 through the second valve body 13 and the first valve body 14, and the accumulator 42 can also replenish oil to the first motor pump 1. The oil circuit between the second motor pump 2 and the second suspension 6 is similar and will not be elaborated here. In this state, the first motor pump 1 controls the first suspension 5 to descend, and the second motor pump 6 controls the second suspension 6 to descend.

[0076] In a feasible implementation manner, the working mode can also include the two-side synchronous rising mode and the two-side synchronous descending mode; the controller is further configured to: in the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit, the fourth main oil circuit, and the second main oil circuit, the first valve body and the second valve body in the first main oil circuit, the third valve body and the fourth valve body in the first interconnection oil circuit, and the third valve body in the second interconnection oil circuit and the third interconnection oil circuit, so that the suspension system switches to the two-side synchronous rising mode; or, in the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit, the fourth main oil circuit, and the first main oil circuit, the first valve body and the second valve body in the second main oil circuit, the third valve body and the fourth valve body in the second interconnection oil circuit, and the third valve body in the first interconnection oil circuit and the fourth interconnection oil circuit, so that the suspension system switches to the two-side synchronous descending mode.

[0077] It should be noted that in the two-side synchronous rising mode, if any motor pump fails and stops, the other motor pump injects oil into the rodless cavity of any suspension through the corresponding interconnection oil circuit, and injects oil into the rodless cavity of the other suspension through the corresponding main oil circuit; the rodless cavity of the other suspension replenishes oil to the other motor pump through the corresponding main oil circuit, and the rodless cavity of any suspension replenishes oil to the other motor pump through the corresponding interconnection oil circuit, so as to realize the synchronous rising of two suspensions controlled by one motor pump. Among them, the other motor pump can also inject oil into the accumulator through the first valve body in the main oil circuit between the other motor pump and the rodless cavity of the other suspension; the accumulator in the main oil circuit between the other motor pump and the rodless cavity of the other suspension can replenish oil to the other motor pump through the first valve body; the accumulator in the main oil circuit between any motor pump and the rodless cavity of any suspension can sequentially replenish oil to the other motor pump through the first one-way valve and the interconnection oil circuit between any motor pump and the rodless cavity of the other suspension, or can sequentially replenish oil to the other motor pump through the first valve body, the interconnection oil circuit between any motor pump and the rodless cavity of the other suspension, and the main oil circuit between the other motor pump and the rodless cavity of the other suspension; the accumulator in the main oil circuit between any motor pump and the rodless cavity of any suspension can sequentially replenish oil to the other motor pump through the first valve body, any motor pump, the interconnection oil circuit between any motor pump and the rodless cavity of the other suspension, and the main oil circuit between the other motor pump and the rodless cavity of the other suspension, so as to realize pressure maintaining.

[0078] Exemplarily, assume that any motor pump that fails and stops is the second motor pump 2, and any suspension is the second suspension 6, then the other motor pump is the first motor pump 1, and the other suspension is the first suspension 5. Refer to Figure 7 , Figure 7 is a schematic diagram of the oil circuit of the suspension subsystem in the two-side synchronous rising mode. The first valve body 16 and the first valve body 18, the first valve body 14, the first valve body 12 and the second valve body 11, the third valve body 21 and the fourth valve body 22, the third valve body 23, and the third valve body 25 can be specifically controlled to be opened, and the remaining other valve bodies are controlled to be closed, so that the suspension subsystem enters the two-side synchronous rising mode. Among them, the second valve body 15 and the fourth valve body 26 can be closed or opened.

[0079] At this time, the first motor pump 1 injects oil into the rodless cavity 62 through the third valve body 23 and the second one-way valve 36, and injects oil into the rodless cavity 52 through the first valve body 14 and the first one-way valve 32; the rod chamber 51 replenishes oil to the first motor pump 1 through the second valve body 11 and the first valve body 12, and the rod chamber 61 replenishes oil to the first motor pump 1 through the fourth valve body 22 and the third valve body 21. Among them, the first motor pump 1 can also inject oil into the accumulator 42 through the first valve body 14; the accumulator 41 can replenish oil to the first motor pump 1 through the first valve body 12, and the accumulator 43 can replenish oil to the first motor pump 1 successively through the first one-way valve 33 and the fourth valve body 22 and the third valve body 21 or successively through the first valve body 16, the third valve body 25, the second one-way valve 37 and the second valve body 11 and the first valve body 12, and the accumulator 44 can replenish oil to the first motor pump 1 successively through the first valve body 18, any motor pump 2, the third valve body 25, the second one-way valve 37 and the second valve body 11 and the first valve body 12. In this state, the second motor pump 2 fails and stops, and the first motor pump 1 controls the first suspension 5 and the second suspension 6 to rise synchronously.

[0080] It should be noted that in the synchronous lowering mode on both sides, when any motor pump fails and stops, the other motor pump injects oil into the rod chamber of any suspension through the corresponding interconnection oil path, and injects oil into the rod chamber of the other suspension through the corresponding main oil path; the rodless cavity of the other suspension replenishes oil to the other motor pump through the corresponding main oil path, and the rodless cavity of any suspension replenishes oil to the other motor pump through the corresponding interconnection oil path, realizing the synchronous lowering of two suspensions controlled by one motor pump. Among them, the other motor pump can also inject oil into the accumulator through the first valve body in the main oil path between the other motor pump and the rod chamber of the other suspension; the accumulator in the main oil path between the other motor pump and the rodless cavity of the other suspension can replenish oil to the other motor pump through the first valve body; the accumulator in the main oil path between any motor pump and the rodless cavity of any suspension can replenish oil to the other motor pump successively through the first one-way valve and the interconnection oil path between any motor pump and the rodless cavity of any suspension, or can successively through the first valve body, the interconnection oil path between any motor pump and the rodless cavity of the other suspension and the main oil path between the other motor pump and the rodless cavity of the other suspension; the accumulator in the main oil path between any motor pump and the rod chamber of any suspension can replenish oil to the other motor pump successively through the first valve body, any motor pump, the interconnection oil path between any motor pump and the rodless cavity of the other suspension and the main oil path between the other motor pump and the rodless cavity of the other suspension, realizing pressure maintenance.

[0081] Exemplarily, assume that any motor pump that fails and stops is the second motor pump 2, and any suspension is the second suspension 6, then the other motor pump is the first motor pump 1, and the other suspension is the first suspension 5. Refer to Figure 8 , Figure 8The oil circuit schematic diagram for the synchronous downward mode of the suspension system on both sides is shown. It can specifically control the opening of the first valve body 16, the first valve body 18, the first valve body 12, the first valve body 14, the second valve body 13, the third valve body 21, the third valve body 23, the fourth valve body 24, and the third valve body 27, and control the shutdown of the remaining other valve bodies, so that the suspension system enters the synchronous downward mode on both sides. Among them, the second valve body 17 and the fourth valve body 28 can be shut down or opened.

[0082] At this time, the first motor pump 1 injects oil into the rod chamber 61 through the third valve body 21 and the second one-way valve 35, and injects oil into the rod chamber 51 through the first valve body 12 and the first one-way valve 31; the rodless chamber 52 replenishes oil to the first motor pump 1 through the second valve body 13 and the first valve body 14, and the rodless chamber 62 replenishes oil to the first motor pump 1 through the fourth valve body 24 and the third valve body 23. Among them, the first motor pump 1 can also inject oil into the accumulator 41 through the first valve body 12; the accumulator 42 can replenish oil to the first motor pump 1 through the first valve body 14, and the accumulator 44 can replenish oil to the first motor pump 1 successively through the first one-way valve 34, the fourth valve body 24, and the third valve body 23 or successively through the first valve body 18, the third valve body 27, the second one-way valve 38, the second valve body 13, and the first valve body 14, and the accumulator 43 can replenish oil to the first motor pump 1 successively through the first valve body 16, any motor pump 2, the third valve body 27, the second one-way valve 38, the second valve body 13, and the first valve body 14. In this state, the second motor pump 2 fails and stops, and the first motor pump 1 controls the synchronous downward movement of the first suspension 5 and the second suspension 6.

[0083] In a feasible implementation manner, the working mode can also include the separate rising mode on the opposite side and the separate falling mode on the opposite side; the controller is further configured to: in the case of the failure and shutdown of the second motor pump, control the opening of the first valve body in the third main oil circuit and the fourth main oil circuit, the third valve body and the fourth valve body in the first interconnected oil circuit, and the third valve body in the second interconnected oil circuit, so that the suspension system switches to the separate rising mode on the opposite side; or, in the case of the failure and shutdown of the second motor pump, control the opening of the first valve body in the third main oil circuit and the fourth main oil circuit, the third valve body and the fourth valve body in the second interconnected oil circuit, and the third valve body in the first interconnected oil circuit, so that the suspension system switches to the separate falling mode on the opposite side.

[0084] It should be noted that in the single-side independent lifting mode, if any motor pump fails and stops, the other motor pump injects oil into the rodless chamber of any suspension through the corresponding interconnection oil circuit; the rod chamber of any suspension replenishes oil to the other motor pump through the corresponding interconnection oil circuit, realizing the independent lifting of one side's motor pump controlling the other side's suspension. Among them, the accumulator in the main oil circuit between any motor pump and the rod chamber of any suspension can replenish oil to the other motor pump through the first one-way valve and the interconnection oil circuit between the other motor pump and the rod chamber of any suspension in sequence; the accumulator in the main oil circuit between any motor pump and the rodless chamber of any suspension can replenish oil to the other motor pump through the first valve body, any motor pump, the main oil circuit between any motor pump and the rod chamber of any suspension, and the interconnection oil circuit between the other motor pump and the rod chamber of any suspension in sequence, realizing pressure maintenance.

[0085] Exemplarily, assume that any motor pump that fails and stops is the second motor pump 2, and any suspension is the second suspension 6, then the other motor pump is the first motor pump 1, and the other suspension is the first suspension 5. Refer to Figure 9 , Figure 9 which is a schematic diagram of the oil circuit of the suspension subsystem in the single-side independent lifting mode. The first valve body 16 and the first valve body 18, the third valve body 21 and the fourth valve body 22, and the third valve body 23 can be specifically controlled to be opened, and the remaining other valve bodies are controlled to be closed, so that the suspension subsystem enters the single-side independent lifting mode.

[0086] At this time, the first motor pump 1 injects oil into the rodless chamber 62 through the third valve body 23 and the second one-way valve 36; the rod chamber 61 replenishes oil to the first motor pump 1 through the fourth valve body 22 and the third valve body 21. Among them, the accumulator 43 can replenish oil to the first motor pump 1 through the first one-way valve 33 and the fourth valve body 22 and the third valve body 21 in sequence, and the accumulator 44 can replenish oil to the first motor pump 1 through the first valve body 18, any motor pump 2, the first valve body 16, the first one-way valve 33, and the fourth valve body 22 and the third valve body 21 in sequence. In this state, the second motor pump 2 fails and stops, and the first motor pump 1 controls the independent lifting of the second suspension 6.

[0087] It should be noted that in the single-side independent lowering mode, when any motor pump fails and stops operating, the other motor pump injects oil into the rod chamber of any suspension through the corresponding interconnected oil circuit; the oil-free chamber of any suspension replenishes oil to the other motor pump through the corresponding interconnected oil circuit, realizing the independent lowering of one side's suspension controlled by the motor pump on the other side. Among them, the accumulator in the main oil circuit between any motor pump and the oil-free chamber of any suspension can replenish oil to the other motor pump through the first one-way valve and the interconnected oil circuit between the other motor pump and the oil-free chamber of any suspension in sequence; the accumulator in the main oil circuit between any motor pump and the rod chamber of any suspension can replenish oil to the other motor pump through the first valve body, any motor pump, the main oil circuit between any motor pump and the oil-free chamber of any suspension, and the interconnected oil circuit between the other motor pump and the oil-free chamber of any suspension in sequence, realizing pressure maintenance.

[0088] Exemplarily, assume that any motor pump that fails and stops operating is the second motor pump 2, and any suspension is the second suspension 6, then the other motor pump is the first motor pump 1, and the other suspension is the first suspension 5. Refer to Figure 10 , Figure 10 , which is a schematic diagram of the oil circuit of the suspension subsystem in the single-side independent lowering mode. The first valve body 16 and the first valve body 18, the third valve body 21, and the third valve body 23 and the fourth valve body 24 can be specifically controlled to be opened, and the remaining other valve bodies are controlled to be closed, so that the suspension subsystem enters the single-side independent lowering mode.

[0089] At this time, the first motor pump 1 injects oil into the rod chamber 61 through the third valve body 21 and the second one-way valve 35, and the oil-free chamber 62 replenishes oil to the first motor pump 1 through the fourth valve body 24 and the third valve body 23. Among them, the accumulator 44 can replenish oil to the first motor pump 1 through the first one-way valve 34 and the fourth valve body 24 and the third valve body 23 in sequence, and the accumulator 43 can replenish oil to the first motor pump 1 through the first valve body 16, any motor pump 2, the first valve body 18, the first one-way valve 34, and the fourth valve body 24 and the third valve body 23 in sequence. In this state, the second motor pump 2 fails and stops operating, and the first motor pump 1 controls the independent lowering of the second suspension 6.

[0090] In a feasible implementation manner, the working mode can further include a double-speed rising mode; the controller is further configured to control the opening of the first valve body in the third main oil circuit, the fourth main oil circuit, and the first main oil circuit and the third valve body in the second interconnected oil circuit in the case of a collision occurring at the second suspension, so that the suspension subsystem switches to the double-speed rising mode.

[0091] It should be noted that in the double-speed rising mode, any suspension is lifted at double speed. Specifically, any motor pump corresponding to the suspension injects oil into the rodless cavity of the suspension through the corresponding main oil circuit, and the other motor pump also injects oil into the rodless cavity of the suspension through the corresponding interconnection oil circuit; the accumulator in the main oil circuit between any motor pump and the rodless cavity of any suspension replenishes oil to any motor pump through the first valve body, and the accumulator in the main oil circuit between the other motor pump and the rodless cavity of the other suspension replenishes oil to the other motor pump through the first valve body.

[0092] It should also be noted that the controller can also be used to determine the target suspension and its adjacent suspension where a collision occurs, as well as the target motor pump corresponding to the target suspension and the adjacent motor pump corresponding to the adjacent suspension when receiving a collision signal, and then correspondingly control the opening of the first valve body in the main oil circuit between the target suspension and its corresponding target motor pump, the first valve body in the main oil circuit connecting the adjacent motor pump and the rodless cavity of the adjacent suspension, and the third valve body in the interconnection oil circuit connecting the adjacent motor pump and the rodless cavity of the target suspension.

[0093] Exemplarily, it is assumed that a collision occurs at the second suspension 6. The external collision detection device detects the collision event and generates a corresponding collision signal, and sends it to the controller of the suspension system; after receiving the collision signal, the controller determines that the target suspension is the second suspension 6, its adjacent suspension is the first suspension 5 within the same subsystem, the motor pump corresponding to the second suspension 6, that is, the target motor pump, is the second motor pump 2, and the motor pump corresponding to the first suspension 5, that is, the adjacent motor pump, is the first motor pump 1. Refer to Figure 11 , Figure 11 For the oil circuit schematic diagram of the suspension subsystem in the double-speed rising mode, the first valve body 16, the first valve body 18, the first valve body 12, and the third valve body 23 can be specifically controlled to open, and the remaining other valve bodies are controlled to be shut off, so that the suspension subsystem enters the double-speed rising mode.

[0094] At this time, the first motor pump 1 injects oil into the rodless cavity 62 through the third valve body 23 and the second one-way valve 36, and the second motor pump 2 injects oil into the rodless cavity 62 through the first valve body 18 and the first one-way valve 34; the accumulator 43 replenishes oil to the second motor pump 2 through the first valve body 16, and the accumulator 41 replenishes oil to the first motor pump 1 through the first valve body 12. In this state, the second suspension 6 is controlled to rise rapidly by the first motor pump 1 and the second motor pump 2 together.

[0095] The suspension system proposed in this embodiment forms different hydraulic regulation circuits by controlling the on / off states of numerous valve bodies to achieve different working modes, including the mode of raising / lowering each suspension and maintaining pressure under normal conditions; the mode of still being able to synchronously raise / lower and maintain pressure for both sides of the suspension (such as the suspensions of the left rear wheel and the right rear wheel) after one side's motor pump fails and shuts down; the mode of the other side's suspension (such as the right rear wheel's suspension when the left rear wheel's suspension fails) raising / lowering independently and maintaining pressure; and the mode of the target suspension raising at double speed after a vehicle collision, and the target suspension is determined through collision detection. Compared with the related art, each sub-suspension system in this suspension system has more adjustment modes and can meet various scenario requirements.

[0096] This application also proposes a control method for a suspension system. This control method for the suspension system is used for the suspension system as described in the above embodiment. The suspension system includes at least one sub-suspension system. This method may include step S10:

[0097] Step S10, controlling the on / off states of each main oil path and / or each interconnected oil path in the sub-suspension system to form different hydraulic regulation circuits, so that the sub-suspension system can switch between multiple different working modes.

[0098] In an optional implementation, step S10 may include any of the following steps:

[0099] Step S11, controlling the first valve body and the second valve body in the first main oil path, the second main oil path, the third main oil path, and the fourth main oil path, the third valve body and the fourth valve body in the first interconnected oil path, the second interconnected oil path, the third interconnected oil path, and the fourth interconnected oil path, and the balance valve to be opened, so that the sub-suspension system switches to the balanced self-regulation mode;

[0100] Step S12, controlling the first valve body and the second valve body in the first main oil path, the first valve body in the second main oil path, the first valve body and the second valve body in the third main oil path, and the first valve body in the fourth main oil path to be opened, so that the sub-suspension system switches to the normal raising mode; or,

[0101] Step S13, controlling the first valve body and the second valve body in the second main oil path, the first valve body in the first main oil path, the first valve body and the second valve body in the fourth main oil path, and the first valve body in the third main oil path to be opened, so that the sub-suspension system switches to the normal lowering mode;

[0102] Step S14, in the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit, the fourth main oil circuit and the second main oil circuit, the first valve body and the second valve body in the first main oil circuit, the third valve body and the fourth valve body in the first interconnected oil circuit, and the third valve body in the second interconnected oil circuit and the third interconnected oil circuit, so that the suspension subsystem switches to the two-side synchronous rising mode;

[0103] Step S15, in the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit, the fourth main oil circuit and the first main oil circuit, the first valve body and the second valve body in the second main oil circuit, the third valve body and the fourth valve body in the second interconnected oil circuit, and the third valve body in the first interconnected oil circuit and the fourth interconnected oil circuit, so that the suspension subsystem switches to the two-side synchronous descending mode;

[0104] Step S16, in the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit and the fourth main oil circuit, the third valve body and the fourth valve body in the first interconnected oil circuit, and the third valve body in the second interconnected oil circuit, so that the suspension subsystem switches to the different-side independent rising mode;

[0105] Step S17, in the case of the failure and shutdown of the second motor pump, control the opening of the first valve bodies in the third main oil circuit and the fourth main oil circuit, the third valve body and the fourth valve body in the second interconnected oil circuit, and the third valve body in the first interconnected oil circuit, so that the suspension subsystem switches to the different-side independent descending mode;

[0106] Step S18, in the case of a collision at the second suspension, control the opening of the first valve bodies in the third main oil circuit, the fourth main oil circuit and the first main oil circuit, and the third valve body in the second interconnected oil circuit, so that the suspension subsystem switches to the double-speed rising mode.

[0107] In an optional implementation manner, before step S10, the method may further include any one of steps S01 to S03:

[0108] Step S01, receive a mode switching instruction through the controller, and execute any one of steps S11 - S13 according to the mode switching instruction to switch between the balanced self-regulation mode, the normal rising mode, and the normal descending mode;

[0109] Step S02, receive a fault detection signal through the controller, determine the target motor pump with failure and shutdown and its adjacent motor pumps according to the fault detection signal, as well as their respective corresponding suspensions, then generate a corresponding mode switching instruction, and execute any one of steps S14 - S17 according to the mode switching instruction to switch between the two-side synchronous rising mode, the two-side synchronous descending mode, the different-side independent rising mode, and the different-side independent descending mode;

[0110] Step S03: Receive the collision signal through the controller, determine the target suspension and its adjacent suspensions where the collision occurs, as well as the respective motor pumps corresponding thereto, then generate a corresponding mode switching instruction, and execute Step S18 according to the mode switching instruction to switch to the double-rate rising mode.

[0111] It should be noted that the specific structure of the suspension system refers to the above embodiments. Since the control method of this suspension system adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0112] The above are only partial embodiments of this application, and thus do not limit the protection scope of this application. Any equivalent structural transformation made under the technical concept of this application by using the content of the specification and drawings of this application, or direct / indirect application in other related technical fields, is included in the protection scope of this application.

Claims

1. A suspension system, characterized in that, Comprising at least one suspension subsystem, the suspension subsystem including two suspensions and two motor pumps; One end of the first motor pump is connected to the rod chamber of the first suspension through a first main oil passage, the other end of the first motor pump is connected to the rodless chamber of the first suspension through a second main oil passage, one end of the second motor pump is connected to the rod chamber of the second suspension through a third main oil passage, and the other end of the second motor pump is connected to the rodless chamber of the second suspension through a fourth main oil passage; One end of the first motor pump is further connected to the rod chamber of the second suspension through a first interconnection oil passage, the other end of the first motor pump is further connected to the rodless chamber of the second suspension through a second interconnection oil passage, one end of the second motor pump is further connected to the rod chamber of the first suspension through a third interconnection oil passage, and the other end of the second motor pump is further connected to the rodless chamber of the first suspension through a fourth interconnection oil passage; By controlling the on / off of each main oil passage and / or each interconnection oil passage, different hydraulic regulation circuits are formed to enable the suspension subsystem to switch between multiple different working modes.

2. The suspension system according to claim 1, wherein, The other end of the first motor pump is further connected to one end of the second motor pump through an equalizing valve; The equalizing valve is used to provide hydraulic balance protection when any one of the first motor pump and the second motor pump has an abnormality.

3. The suspension system according to claim 2, characterized in that, The first main oil passage, the second main oil passage, the third main oil passage, and the fourth main oil passage each include a first valve body, an accumulator, and a second valve body connected in series, and a first check valve connected in parallel at both ends of the second valve body. The first valve body is connected to one end or the other end of the first motor pump / the second motor pump. The inlet of the first check valve is connected to the accumulator, and the outlet of the first check valve and the second valve body are respectively connected to the rod chamber or the rodless chamber of the first suspension / the second suspension; The first interconnection oil passage, the second interconnection oil passage, the third interconnection oil passage, and the fourth interconnection oil passage each include a third valve body and a fourth valve body connected in series, and a second check valve connected in parallel at both ends of the fourth valve body. The third valve body is connected to one end or the other end of the first motor pump / the second motor pump. The inlet of the second check valve is connected to the third valve body, and the outlet of the second check valve and the fourth valve body are respectively connected to the rod chamber or the rodless chamber of the first suspension / the second suspension.

4. The suspension system according to claim 3, wherein The suspension system further includes a controller; The controller is respectively connected to the first valve body and the second valve body of each main oil passage, the third valve body and the fourth valve body of each interconnection oil passage, and the equalizing valve; The controller is used to control the on / off of each valve body to switch the working mode of the suspension subsystem.

5. The suspension system according to claim 4, characterized in that, The working modes include an equalizing self-adjustment mode, a normal rising mode, and a normal falling mode; the controller is further used for: Controlling the first valve body and the second valve body in the first main oil passage, the second main oil passage, the third main oil passage, and the fourth main oil passage, the third valve body and the fourth valve body in the first interconnection oil passage, the second interconnection oil passage, the third interconnection oil passage, and the fourth interconnection oil passage, and the equalizing valve to be all opened, so that the suspension subsystem switches to the equalizing self-adjustment mode; Control the first valve body and the second valve body in the first main oil circuit, the first valve body in the second main oil circuit, the first valve body and the second valve body in the third main oil circuit, and the first valve body in the fourth main oil circuit to be opened, so as to switch the suspension subsystem to the normal rising mode; or, Control the first valve body and the second valve body in the second main oil circuit, the first valve body in the first main oil circuit, the first valve body and the second valve body in the fourth main oil circuit, and the first valve body in the third main oil circuit to be opened, so as to switch the suspension subsystem to the normal descending mode.

6. The suspension system according to claim 4, wherein, The working modes include the two-side synchronous rising mode and the two-side synchronous descending mode; the controller is further configured to: In the case of the failure and shutdown of the second motor pump, control the first valve body in the third main oil circuit, the fourth main oil circuit, and the second main oil circuit, the first valve body and the second valve body in the first main oil circuit, the third valve body and the fourth valve body in the first interconnected oil circuit, and the third valve body in the second interconnected oil circuit and the third interconnected oil circuit to be opened, so as to switch the suspension subsystem to the two-side synchronous rising mode; or, In the case of the failure and shutdown of the second motor pump, control the first valve body in the third main oil circuit, the fourth main oil circuit, and the first main oil circuit, the first valve body and the second valve body in the second main oil circuit, the third valve body and the fourth valve body in the second interconnected oil circuit, and the third valve body in the first interconnected oil circuit and the fourth interconnected oil circuit to be opened, so as to switch the suspension subsystem to the two-side synchronous descending mode.

7. The suspension system according to claim 4, wherein, The working modes include the different-side independent rising mode and the different-side independent descending mode; the controller is further configured to: In the case of the failure and shutdown of the second motor pump, control the first valve body in the third main oil circuit and the fourth main oil circuit, the third valve body and the fourth valve body in the first interconnected oil circuit, and the third valve body in the second interconnected oil circuit to be opened, so as to switch the suspension subsystem to the different-side independent rising mode; Or, In the case of the failure and shutdown of the second motor pump, control the first valve body in the third main oil circuit and the fourth main oil circuit, the third valve body and the fourth valve body in the second interconnected oil circuit, and the third valve body in the first interconnected oil circuit to be opened, so as to switch the suspension subsystem to the different-side independent descending mode.

8. The suspension system according to claim 4, wherein, The working modes include the double-speed rising mode; the controller is further configured to: In the case of a collision occurring at the second suspension, control the first valve body in the third main oil circuit, the fourth main oil circuit, and the first main oil circuit, and the third valve body in the second interconnected oil circuit to be opened, so as to switch the suspension subsystem to the double-speed rising mode.

9. The suspension system according to any one of claims 1 to 8, characterized in that, The first suspension and the second suspension are hydraulic shock absorbers.

10. A control method for a suspension system, characterized in that, For the suspension system according to any one of claims 1 to 9, the suspension system includes at least one suspension subsystem; the method includes: Control the on-off of each main oil circuit and / or each interconnected oil circuit in the suspension subsystem to form different hydraulic regulation circuits, so as to switch the suspension subsystem between multiple different working modes.

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