Adjustable shock absorber inverse model construction method, system, medium and equipment

Abstract

The invention belongs to the technical field of automobile suspensions, and provides an adjustable shock absorber inverse model construction method and system, a medium and equipment. According to the technical scheme, actual measurement data of a shock absorber are obtained; judging whether the relative speed of the suspension exceeds the test speed point range of the shock absorber or not, and if not, performing interpolation calculation on the actually measured data under each current by using the relative speed of the suspension to obtain interpolation damping force; if yes, on the basis of measured data, obtaining prediction functions of speed and damping force under different currents, and combining the relative speed of the suspension and the prediction functions to obtain corresponding predicted damping force under different currents; mapping the obtained interpolated damping force or predicted damping force with the current to obtain current-damping force corresponding relation data under the relative speed of the suspension; the control current is calculated by combining the optimal control force under the relative speed of the suspension and the current-damping force corresponding relation data under the relative speed of the suspension, the method can be suitable for various types of shock absorbers, the method is simple, the universality is good, and the precision can be guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile suspension, and in particular relates to an inverse model construction method, system, medium and equipment for an adjustable shock absorber. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] A shock absorber is a vibration damper in a vehicle's suspension system. It attenuates vibrations caused by impacts on elastic components within the suspension system, significantly improving the vehicle's ride quality. Because its damping characteristics can be adjusted via an external power supply, it offers advantages such as fast response, high sensitivity, low cost, and stable performance, making it widely used in various vehicles. The suspension control system operates as follows: Onboard sensors collect signals and transmit them to the ECU. The ECU processes these signals using a pre-defined optimization algorithm and makes a decision. This decision signal is then transmitted to the actuator, which responds accordingly. Subsequently, sensors collect vehicle status information again and feed it back to the ECU. The ECU further adjusts the decision signal based on this feedback, continuously optimizing the suspension system's performance. The shock absorber inverse model is crucial for transmitting the decision signal to the actuator and has a direct impact on control effectiveness. However, in automotive suspension control research, the control output is typically the optimal control force, with little consideration given to the actual actuator's application and its ability to achieve the target response. As a controllable force generator, the accuracy of the shock absorber model directly impacts the control effectiveness of the suspension control system.

[0004] Currently, there are several methods for building an inverse model for a shock absorber: parameter modeling, polynomial model fitting, and linear interpolation. The parameter modeling method is not widely used due to its limitations in accuracy and computational speed. The polynomial model fitting method divides the damper's hysteresis loop into two halves, the upper and lower halves, according to the positive and negative acceleration regions. This method is simple and offers high accuracy, but once the shock absorber model changes, the fitting accuracy significantly decreases and requires re-fitting. This method is cumbersome and has poor versatility. The linear interpolation method is simple and easy to implement, but it fails when the relative suspension speed exceeds the actual test speed point of the shock absorber and the damping force exceeds the actual test damping force data. Existing processing methods mostly approximate this situation by directly taking boundary data, which does not conform to the actual characteristics of the shock absorber. Summary of the Invention

[0005] In order to solve at least one technical problem existing in the above-mentioned background technology, the present invention provides a method and system for constructing an inverse model of an adjustable shock absorber, which can be applied to various types of shock absorbers and has good versatility. At the same time, it can effectively solve the problem that the interpolation method fails after the relative speed of the suspension exceeds the actual test speed point, resulting in reduced model accuracy.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A first aspect of the present invention provides a method for constructing an inverse model of an adjustable shock absorber, comprising the following steps: Obtain the measured data of the damping force generated by the shock absorber at different test speed points when currents of different magnitudes are passed through it; Determine whether the relative suspension speed exceeds the shock absorber test speed range. If not, interpolate the measured data at each current using the relative suspension speed to calculate the interpolated damping force. If not, obtain a prediction function for the speed and damping force at different currents based on the measured data. Combine the relative suspension speed and the prediction function to obtain the corresponding predicted damping force at different currents. Mapping the obtained interpolated damping force or predicted damping force to the current to obtain current-damping force correspondence data under the relative speed of the suspension; The control current is calculated by combining the optimal control force under the relative speed of the suspension and the current-damping force correspondence data under the relative speed of the suspension.

[0007] Furthermore, when the relative suspension speed does not exceed the shock absorber test speed point range, the measured data at each current is interpolated using the relative suspension speed to obtain the interpolated damping force, including: The local linear relationship between the damping force and the speed is obtained based on the set damping force and speed fitting function; The interpolated damping force is obtained by combining the local linear relationship between the damping force and the velocity and calculating according to a preset recursive calculation structure.

[0008] Furthermore, when obtaining the prediction function of speed and damping force under different currents, function fitting is performed based on the actual measured data of the shock absorber and the fitting function to obtain a prediction expression, and the relative motion speed of the suspension is substituted into the prediction expression to obtain the corresponding predicted damping force under different currents.

[0009] Furthermore, the function fitting based on the actual measured data of the shock absorber and the fitting function to obtain the prediction expression includes: based on the actual test speed point-damping force data of the shock absorber, using a preset function to fit the data, solving the unknown parameters in the function based on the origin and the test speed boundary point, and obtaining the prediction relationship expression between the speed and the damping force under different current conditions.

[0010] Furthermore, when mapping the obtained interpolated damping force or predicted damping force and current, the interpolated damping force or predicted damping force is arranged in a monotonically increasing order to obtain a set of force vectors, and the force vectors are sequentially matched with the monotonically increasing current to obtain the current-damping force correspondence data under the relative speed of the suspension.

[0011] Furthermore, after the control current is obtained, the control current is limited and then output.

[0012] Furthermore, when calculating the relative motion speed of the suspension, the sprung and unsprung velocity information is directly collected or indirectly calculated by the provided sensors, and the relative motion speed of the suspension is calculated based on the sprung and unsprung velocity information.

[0013] A second aspect of the present invention provides an adjustable shock absorber inverse model building device, comprising: The adjustable shock absorber characteristic acquisition module is used to obtain the measured data of the damping force generated by the shock absorber at different test speed points when different currents are passed through the shock absorber; The damping force calculation module is used to determine whether the relative suspension speed exceeds the shock absorber test speed point range. If not, the measured data at each current is used to interpolate the measured data using the relative suspension speed to obtain the interpolated damping force. If it exceeds, a prediction function of the speed and damping force at different currents is obtained based on the measured data. The corresponding predicted damping force at different currents is obtained by combining the relative suspension speed and the prediction function. The control current calculation module is used to map the obtained interpolated damping force or predicted damping force and current to obtain the current-damping force correspondence data under the relative speed of the suspension; and to calculate the control current by combining the optimal control force under the relative speed of the suspension and the current-damping force correspondence data under the relative speed of the suspension.

[0014] A third aspect of the present invention provides a computer-readable storage medium.

[0015] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the above-mentioned method for constructing an inverse model of an adjustable shock absorber.

[0016] A fourth aspect of the present invention provides a computer device.

[0017] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the above-mentioned method for constructing an inverse model of an adjustable shock absorber are implemented.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention combines the measured damping force data generated by currents of different magnitudes passing through the shock absorber at different test speeds, and uses an interpolation method to solve the target current under the combined action of the suspension relative speed and the optimal control force. It is applicable to various types of shock absorbers and has good versatility. At the same time, it can effectively solve the problem of interpolation failure after the suspension relative speed exceeds the actual test speed point, resulting in reduced model accuracy.

[0019] 2. When the interpolation method fails, the present invention first performs function fitting on the measured data of the shock absorber to obtain a velocity-damping force prediction expression, and then substitutes the relative speed of the suspension into the prediction expression to obtain the predicted damping force. This not only ensures the accuracy of the model but also conforms to the actual characteristics of the shock absorber. This method can be easily applied to a variety of different models of shock absorbers. The method is simple, versatile, and accurate.

[0020] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 This is a flow chart of a method for constructing an inverse model of an adjustable shock absorber provided by an embodiment of the present invention; Figure 2 is a fitting diagram of actual test data of the shock absorber used in the embodiment of the present invention; Figure 3 This is an effect diagram of obtaining the predicted damping force by solving v through the prediction expression when the interpolation method fails, provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] As mentioned in the background technology, the methods for building the inverse model of the shock absorber currently include: parameter model method, polynomial model fitting method, linear interpolation method and other methods. Based on the parameter model method, due to the defects in the accuracy and calculation speed of the parameter model, this modeling method has not been widely used; the polynomial model fitting method divides the hysteresis loop of the damper into two halves according to the areas of positive acceleration and negative acceleration, and fits them separately. The steps are simple and the accuracy is high, but once the shock absorber model is changed, the fitting accuracy of this method is significantly reduced, and it needs to be re-fitted. The steps are cumbersome and the versatility is poor; the linear interpolation method is simple and easy to implement, but when the relative speed of the suspension exceeds the actual test speed point of the shock absorber and the damping force exceeds the actual test damping force data, the method will fail. Most of the existing methods for dealing with out-of-boundary situations are to approximate by directly taking the boundary data, which does not conform to the actual characteristics of the shock absorber and will result in reduced model accuracy, which is in urgent need of solution. The present invention provides a method for building an inverse model of an adjustable shock absorber, which uses the interpolation method to solve the relative speed of the suspension. v With optimal control F Target current under combined action I ; In the case of failure of interpolation method, first The measured data is fitted with a function to obtain the speed-damping force prediction expression, and then the relative speed of the suspension is v After substituting the prediction expression, the predicted damping force is obtained, which not only ensures the accuracy of the model but also conforms to the actual characteristics of the shock absorber. This method can be easily applied to a variety of different types of shock absorbers. The method is simple, versatile, and the accuracy can also be guaranteed.

[0027] Example 1 like Figure 1 As shown, this embodiment provides a method for constructing an inverse model of an adjustable shock absorber, comprising the following steps: Step 1: Obtain measured data of the shock absorber; Among them, the measured data of the shock absorber When obtaining the actual test speed point of the shock absorber, the current of different magnitudes is passed at each speed point, and the actual damping force generated by the shock absorber is recorded at the same time to obtain the actual test data of the damping force generated at different speed points. ; Step 2: Based on the relative speed of the suspension v The relationship between the speed range of the shock absorber test point and the corresponding damping force data are obtained using the corresponding method; The specific steps include: Step 201: Calculate the relative speed of the suspension v , calculate the relative speed of the suspension v The corresponding optimal control force F; In this embodiment, the relative movement speed of the suspension v During calculation, the sprung and unsprung velocity information can be directly collected by the set sensors or indirectly calculated; In this embodiment, the relative speed of the suspension is calculated v The corresponding optimal control force F can be calculated using existing suspension control strategies, such as the existing Sky Hook control algorithm, the Linear Quadratic Regulator (LQR) control algorithm, and other suspension control strategies; Step 202: Determine the relative speed of the suspension v Whether it exceeds the shock absorber test speed point range, if not, the measured data under each current , use the suspension relative speed to interpolate and calculate the interpolated damping force; if it exceeds, based on the measured data , obtain the prediction function of speed and damping force under different currents, and combine the relative speed of the suspension and the prediction function to obtain the corresponding predicted damping force under different currents; Specifically, if the relative speed of the suspension v In the actual test speed range of the shock absorber, the measured data at each current The interpolated damping force is obtained by interpolating the relative velocity of the suspension, including: First, the local linear relationship between the damping force and the speed is obtained based on the set damping force and speed fitting function; In this embodiment, the set damping force and speed fitting function can be implemented using an existing fitting function. In this embodiment, the local linear relationship between the damping force and the speed is preferably obtained by using the first-order difference quotient of adjacent data points. Specifically, the calculation formula of the first-order difference quotient of adjacent data points is: , in is the kth velocity point, is the k+1th velocity point, which is The next adjacent speed value, For speed The damping force value obtained by actual measurement is For speed The damping force value obtained by actual measurement is: Then, the interpolated damping force is obtained by combining the local linear relationship between the damping force and the velocity and the calculation based on the preset recursive calculation structure; The interpolation methods used in this embodiment include but are not limited to Newton linear interpolation, polynomial interpolation, cubic spline interpolation and the like. Those skilled in the art can select the method according to the actual situation, as long as the corresponding interpolation is achieved to obtain the interpolated damping force. For example, the recursive calculation structure of Newton interpolation method is adopted. In this embodiment, first-order difference quotient is preferentially used to realize interpolation, wherein the higher-order difference quotient (such as second order and above) is set to zero. Its polynomial form is: .

[0028] In this embodiment, if the relative motion speed of the suspension v If the actual test speed of the shock absorber exceeds the range of the actual test speed, the shock absorber is first tested based on the actual test data. Perform function fitting to obtain the prediction expression, and then convert the relative motion speed of the suspension into v Substitute the fitted prediction expression to obtain the corresponding predicted damping force under different currents; Specifically, based on the actual test speed point-damping force data of the shock absorber, a preset function is used to fit the data, and the unknown parameters in the function are solved based on the origin and the test speed boundary point to obtain the predicted relationship expression between the speed and the damping force under different current conditions. v Substitute the predicted relationship between velocity and damping force under different current conditions to obtain the corresponding predicted damping force under different currents; Furthermore, in this embodiment, the relative movement speed of the suspension v The function fitting method used when the actual test speed range of the shock absorber is exceeded includes, but is not limited to, power function, logarithm, polynomial function and the like; those skilled in the art can select one based on the actual situation.

[0029] For example, using As the fitting function, use the function Perform data fitting, solve the unknown parameter c in the function based on the origin and the test speed boundary point, obtain the predicted relationship expression between speed and damping force under different current conditions, and convert the relative motion speed of the suspension into v Substituting the predicted relationship expression between velocity and damping force under different current conditions, the corresponding predicted damping force under different currents is obtained.

[0030] Step 203: Map the obtained interpolated damping force or predicted damping force and the current to obtain current-damping force correspondence data under the relative speed of the suspension; Specifically, the interpolated damping force or the predicted damping force obtained in step 202 is arranged in a monotonically increasing order to obtain a set of force vectorsf , and then with a monotonically increasing current i Corresponding in sequence, the relative speed of the suspension is obtained v Current-damping force correspondence data ; Step 3: Calculate the control current by combining the optimal control force at the relative speed of the suspension and the current-damping force corresponding relationship data at the relative speed of the suspension; Specifically, the relative speed of the suspension v Current-damping force correspondence data Use the optimal control force F to interpolate and get the control current i ; Furthermore, when the control current is obtained i After that, the control current i After the amplitude limiting process, the output current I is obtained. At this point, the function of the shock absorber inverse model is completed. It should be noted that, in this embodiment, the current limiting process uses saturation operation to limit the current output range, ensuring that the output current is within the operating current range of the adjustable shock absorber.

[0031] After obtaining the control current value according to the above method, the corresponding current is input to the shock absorber, and the shock absorber generates the corresponding damping force, thereby improving the smoothness of the vehicle.

[0032] Obtaining the operating current of the shock absorber through the inverse model is one of the key steps to generate the optimal control force, which has a direct impact on the control effect of the suspension control system. v The target current I under the action of the optimal control force F; in the case of failure of the interpolation method, by first i (v) Function fitting is performed on the measured data to obtain a velocity-damping force prediction expression, and then the suspension relative velocity v is substituted into the prediction expression to obtain the predicted damping force. This not only ensures the accuracy of the model but also conforms to the actual characteristics of the shock absorber. The method of the present invention can be easily applied to a variety of different types of shock absorbers. The method is simple, has good versatility, and can ensure accuracy.

[0033] The following uses a certain type of shock absorber used in the front suspension of a vehicle as an example to illustrate the process of building the inverse model of the adjustable shock absorber of the present invention: The first case: when the relative speed v of the suspension and the optimal control force F do not exceed the boundaries of the actual test data; The actual test speed points of the shock absorber are (-0.52, -0.393, -0.262, -0.131, -0.05, 0, 0.05, 0.131, 0.262, 0.393, 0.52) m / s. At each speed point, a current of (0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0) A is passed through, and the actual damping force generated by the shock absorber is recorded. The shock absorber's Measured data, measured data fitting diagram as shown Figure 2 shown.

[0034] At a certain moment, the relative suspension velocity v = 0.3 m / s, and the target optimal control force F = 6000 N output by the control strategy. The steps for constructing the shock absorber inverse model are as follows: Step 1, basic configuration: configure the shock absorber Measured data, add initial input suspension relative velocity v = 0.3m / s, optimal control force F = 6000N; Step 2: Obtain the damping force-current corresponding data: First determine the relative speed of the suspension v Whether it exceeds the boundary, the relative speed of the suspension at this time v =0.3m / s, within the actual test speed range of the shock absorber; for each current Measured data, respectively using v =0.3m / s for interpolation, and arrange all interpolation forces into a set of force vectors in a monotonically increasing order f , that is, [1538, 2050, 2563, 3075, 4100, 5126, 6151, 7688, 9226, 9739, 10251]N, a monotonically increasing current i is [0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0]A, and the two correspond to each other in turn, and we get data; Step 3: Get the output current I, The data is interpolated using the optimal control force F=6000N to obtain the control current i =1.1705A, perform saturation operation on the control current in the range of 0-2A and retain two significant digits, the output control current I=1.17A, and the function of the shock absorber inverse model is completed.

[0035] Second case: Suspension relative speed only v Situations beyond the boundaries of actual test data; shock absorber The measured data are the same as in the first case; At a certain moment, the relative suspension velocity v = 0.7 m / s, and the target optimal control force F = 6000 N output by the control strategy. The steps for constructing the shock absorber inverse model are as follows: Step 1, basic configuration: configure the shock absorber Measured data, adding the initial input suspension relative speed is v =0.7m / s, optimal control force F=6000N; Step 2: Obtain the damping force-current corresponding data: First determine the relative speed of the suspension v Whether it exceeds the boundary, at this time the relative speed of the suspension v = 0.7m / s, which exceeds the actual test speed point range of the shock absorber, first use the function y = c based on the actual test speed point of the shock absorber - damping force data The form of fitting passes through the origin (0, 0) and the maximum test speed boundary point , solve c (if v < 0, use the origin (0, 0) and the minimum test speed boundary point Solve c) to obtain the predicted relationship between speed and damping force under different current conditions: = 、 = = = 、 = 、 = 、 =9923.6 、 = 、 = 、 = 、 = , and then v =0.7m / s is substituted into the prediction relationship to obtain the corresponding predicted damping force under different currents, and all the predicted damping forces are arranged in a monotonically increasing order as a set of force vectors f , that is, [2202.8, 2937.1, 3671.3, 4405.6, 5874.1, 7342.7, 8811.2, 11014, 13216.8, 13951, 14685.3]N, a monotonically increasing current i is [0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0]A, and the two correspond to each other in turn, and we get data; Step 3: Get the output current I, The data is interpolated using the optimal control force F = 6000N to obtain the control current i = 0.8171A. The control current is saturated in the range of 0-2A and two significant digits are retained. The output control current is I = 0.82A, and the function of the shock absorber inverse model is fully realized.

[0036] The third case: only the optimal control force F exceeds the boundary of the actual test data; shock absorber The measured data are the same as in the first case; At a certain moment, the relative suspension velocity v = 0.3 m / s, and the target optimal control force F = 12000 N output by the control strategy. The steps for constructing the shock absorber inverse model are as follows: Step 1, basic configuration: configure the shock absorber Measured data, add initial input suspension relative velocity v = 0.3m / s, optimal control force F = 12000N; Step 2: Obtain the damping force-current corresponding data: First determine the relative speed of the suspension v Whether it exceeds the boundary, at this time the relative speed of the suspension v=0.3m / s, which is within the actual test speed range of the shock absorber; for each current, the shock absorber The measured data are interpolated using v = 0.3m / s, and all interpolated forces are arranged in a monotonically increasing order as a set of force vectors f , that is, [1538, 2050, 2563, 3075, 4100, 5126, 6151, 7688, 9226, 9739, 10251]N, a monotonically increasing current i is [0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0]A, and the two correspond to each other in turn, and we get data; Step 3: Get the output current I, The data is interpolated using the optimal control force F = 12000N to obtain a control current i = 2.6832A. The control current is saturated between 0 and 2A and retained to two significant digits. The output control current is I = 2.00A, and the function of the shock absorber inverse model is fully implemented. The fourth case: when the relative speed of the suspension v With optimal control F The situation that both exceed the actual test data boundary is similar to the third case. When the optimal control force F When the actual test data boundary is exceeded, the control current iThe amplitude will exceed the preset value, so the control current is saturated in the range of 0-2A and two significant digits are retained to finally output the control current I=0.00A or 2.00A. The measured data of the shock absorber is obtained by passing different currents at different test speed points and recording the damping force generated. Due to the limited number of test speed points, the shock absorber characteristics can only be reflected within the test speed point range. When the speed exceeds the test speed point range, a method is needed to predict the damping force at this time. Figure 3 As shown in the figure, during the shock absorber tensile test, the actual maximum test speed point is 0.52m / s. If the relative speed of the suspension is less than this speed point, the interpolation method can be used to solve the damping force under different currents. However, once the relative speed of the suspension exceeds the maximum test speed point, the interpolation method will fail. At this time, the fitting function method is used to solve it. Figure 3 It can be seen that the damping force predicted by the fitting function has a similar changing trend to the actual tested damping force, and the consistency is high.

[0037] Example 2 This embodiment provides an adjustable shock absorber inverse model construction device, comprising: The adjustable shock absorber characteristic acquisition module is used to obtain the measured data of the damping force generated by the shock absorber at different test speed points when different currents are passed through the shock absorber; The damping force calculation module is used to determine whether the relative suspension speed exceeds the shock absorber test speed point range. If not, the measured data at each current is used to interpolate the measured data using the relative suspension speed to obtain the interpolated damping force. If it exceeds, a prediction function of the speed and damping force at different currents is obtained based on the measured data. The corresponding predicted damping force at different currents is obtained by combining the relative suspension speed and the prediction function. The control current calculation module is used to map the obtained interpolated damping force or predicted damping force and current to obtain the current-damping force correspondence data under the relative speed of the suspension; and to calculate the control current by combining the optimal control force under the relative speed of the suspension and the current-damping force correspondence data under the relative speed of the suspension.

[0038] It should be noted that the specific implementation method of an adjustable shock absorber inverse model construction system in an embodiment of the present invention is similar to the specific implementation method of an adjustable shock absorber inverse model construction method in an embodiment of the present invention. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

[0039] Example 3 This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps in the method for constructing an inverse model of an adjustable vibration damper as described above are implemented.

[0040] Example 4 This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the method for constructing an inverse model of an adjustable vibration damper as described above are implemented.

[0041] Example 5 This embodiment provides a program product, which is a computer program product and includes a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method for constructing an inverse model of an adjustable vibration absorber are implemented.

[0042] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0043] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0044] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0045] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0046] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0047] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for constructing an inverse model of an adjustable shock absorber, characterized in that: The steps include: Obtain the measured data of the damping force generated by the shock absorber at different test speed points when currents of different magnitudes are passed through it; Determine whether the relative suspension speed exceeds the shock absorber test speed point range. If not, interpolate the measured data at each current using the relative suspension speed to obtain the interpolated damping force. If it exceeds, based on the measured data, the prediction function of speed and damping force under different currents is obtained, and the corresponding predicted damping force under different currents is obtained by combining the relative speed of the suspension and the prediction function; Mapping the obtained interpolated damping force or predicted damping force to the current to obtain current-damping force correspondence data under the relative speed of the suspension; The control current is calculated by combining the optimal control force under the relative speed of the suspension and the current-damping force correspondence data under the relative speed of the suspension.

2. The method for constructing an inverse model of an adjustable shock absorber according to claim 1, wherein: When the relative suspension speed does not exceed the shock absorber test speed range, the measured data at each current is interpolated using the relative suspension speed to obtain the interpolated damping force, including: The local linear relationship between the damping force and the speed is obtained based on the set damping force and speed fitting function; The interpolated damping force is obtained by combining the local linear relationship between the damping force and the velocity and calculating according to a preset recursive calculation structure.

3. The method for constructing an inverse model of an adjustable shock absorber according to claim 1, wherein: When obtaining the prediction function of speed and damping force under different currents, the prediction expression is obtained by function fitting based on the measured data of the shock absorber and the fitting function. The relative motion speed of the suspension is substituted into the prediction expression to obtain the corresponding predicted damping force under different currents.

4. The method for constructing an inverse model of an adjustable shock absorber according to claim 3, wherein: The method of obtaining a prediction expression by performing function fitting based on the actual measured data of the shock absorber and the fitting function includes: performing data fitting using a preset function based on the actual test speed point-damping force data of the shock absorber, solving the unknown parameters in the function based on the origin and the test speed boundary points, and obtaining a prediction relationship expression between the speed and the damping force under different current conditions.

5. The method for constructing an inverse model of an adjustable shock absorber according to claim 1, wherein: When mapping the obtained interpolated damping force or predicted damping force and current, the interpolated damping force or predicted damping force is arranged in a monotonically increasing order to obtain a set of force vectors, and the force vectors are sequentially matched with the monotonically increasing current to obtain the current-damping force correspondence data under the relative speed of the suspension.

6. The method for constructing an inverse model of an adjustable shock absorber according to claim 1, wherein: After the control current is obtained, the control current is limited and then output.

7. The method for constructing an inverse model of an adjustable shock absorber according to claim 1, wherein: When calculating the relative motion speed of the suspension, the sprung and unsprung velocity information is directly collected or indirectly calculated by the set sensors, and the relative motion speed of the suspension is calculated based on the sprung and unsprung velocity information.

8. An adjustable shock absorber inverse model construction device, characterized in that: include: The adjustable shock absorber characteristic acquisition module is used to obtain the measured data of the damping force generated by the shock absorber at different test speed points when different currents are passed through the shock absorber; The damping force calculation module is used to determine whether the relative suspension speed exceeds the shock absorber test speed point range. If not, the measured data under each current is interpolated using the relative suspension speed to obtain the interpolated damping force; If it exceeds, based on the measured data, the prediction function of speed and damping force under different currents is obtained, and the corresponding predicted damping force under different currents is obtained by combining the relative speed of the suspension and the prediction function; A control current calculation module is used to map the obtained interpolated damping force or predicted damping force and current to obtain current-damping force correspondence data under the relative speed of the suspension; The control current is calculated by combining the optimal control force under the relative speed of the suspension and the current-damping force correspondence data under the relative speed of the suspension.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for constructing an inverse model of an adjustable shock absorber according to any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method for constructing an inverse model of an adjustable shock absorber according to any one of claims 1 to 7 are implemented.

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