A method, system, medium and device for constructing an adjustable damper inverse model

Abstract

The application belongs to the technical field of automobile suspensions, and provides an adjustable shock absorber inverse model construction method, system, medium and equipment, which acquires measured data of a shock absorber, judges whether the suspension relative speed exceeds the shock absorber test speed point range, if not, interpolates and calculates the interpolation damping force of the measured data under each current using the suspension relative speed, if yes, obtains the prediction function of the speed and the damping force under different current sizes based on the measured data, combines the suspension relative speed and the prediction function to obtain the corresponding prediction damping force under different currents, maps the obtained interpolation damping force or prediction damping force and the current to obtain the current-damping force corresponding relationship data under the suspension relative speed, and combines the optimal control force under the suspension relative speed and the current-damping force corresponding relationship data under the suspension relative speed to calculate the control current, which can be applied to various models of shock absorbers, is simple in method, good in universality, and can guarantee the precision.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobile suspensions, and particularly relates to a method, system, medium and equipment for constructing an adjustable shock absorber inverse model. BACKGROUND

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

[0003] A shock absorber is a vibration damper in an automobile suspension, which can attenuate the vibration of the suspension system due to the impact on the elastic element, and has a great influence on the improvement of the ride comfort of the automobile. Since the shock absorber can adjust the damping characteristics through the input of an external power supply, it has the advantages of fast response speed, high sensitivity, low cost, stable performance, etc., and has been widely used in various vehicles. The working process of the suspension control system is as follows: the vehicle-mounted sensor collects signal information and sends it to the ECU, the ECU processes it using a pre-set optimization algorithm and makes a decision, the decision signal is sent to the actuator, the actuator responds according to the signal, and then the sensor collects the vehicle state information again and feeds it back to the ECU, the ECU further adjusts the decision signal according to the feedback information, and continuously optimizes the performance of the suspension system. The shock absorber inverse model is an important link for sending the decision signal to the actuator, and has a direct impact on the control effect. However, in the research of automobile suspension control, the control output obtained is generally the optimal control force, and less consideration is given to the application mode of the actual actuator and whether the actuator can complete the target response. As a controllable force generating device, the model accuracy of the shock absorber will directly affect the control effect of the suspension control system.

[0004] At present, the methods for building a shock absorber inverse model include parameter model method, polynomial model fitting method, linear interpolation method, etc. The parameter model method is not widely used due to the defects in accuracy and calculation speed of the parameter model; the polynomial model fitting method divides the hysteresis loop of the damper into two halves according to the positive and negative acceleration regions and fits them separately, which is simple in steps and high in accuracy, but the fitting accuracy of this method decreases significantly when the type of the shock absorber changes, and it needs to be re-fitted, which is tedious and has poor universality; 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, this method will fail, and the existing processing method is to approximate this situation by directly taking the boundary data, which does not conform to the actual characteristics of the shock absorber. SUMMARY

[0005] To address at least one of the technical problems mentioned above, this invention provides a method and system for constructing an inverse model of an adjustable shock absorber. This method is applicable to various types of shock absorbers, has good versatility, and effectively solves the problem of interpolation failure after the relative speed of the suspension exceeds the actual test speed, leading to a decrease in model accuracy.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides a method for constructing an inverse model of an adjustable vibration damper, comprising the following steps:

[0008] Obtain measured data of the damping force generated by the vibration damper when different currents are applied at different test speeds;

[0009] Determine whether the relative speed of the suspension exceeds the test speed range of the shock absorber. If it does not exceed the range, use the relative speed of the suspension to interpolate the measured data under each current to calculate the interpolated damping force. If it exceeds the range, based on the measured data, obtain the prediction function of speed and damping force under different current values, and combine the relative speed of the suspension and the prediction function to obtain the corresponding predicted damping force under different currents.

[0010] By mapping the interpolated or predicted damping force with the current, the corresponding data of current-damping force under the relative speed of the suspension can be obtained.

[0011] The control current is calculated by combining the optimal control force at the relative speed of the suspension and the current-damping force correspondence data at the relative speed of the suspension.

[0012] Furthermore, when the relative speed of the suspension does not exceed the test speed range of the shock absorber, the interpolated damping force is calculated by interpolating the measured data under each current using the relative speed of the suspension, including:

[0013] The local linear relationship between damping force and velocity is obtained by fitting a set damping force and velocity fitting function.

[0014] The interpolated damping force is obtained by combining the local linear relationship between damping force and velocity and by calculating based on a pre-defined recursive calculation structure.

[0015] Furthermore, when obtaining the prediction functions of velocity and damping force under different current values, the prediction expression is obtained by fitting the function based on the measured data of the shock absorber and the fitting function. The relative motion velocity of the suspension is then substituted into the prediction expression to obtain the predicted damping force corresponding to different current values.

[0016] Furthermore, the step of obtaining the predicted expression by fitting the function based on the measured data of the vibration damper and the fitting function includes: using a preset function to fit the data based on the actual test speed point-damping force data of the vibration damper, solving for the unknown parameters in the function based on the origin and the test speed boundary point, and obtaining the predicted relationship expression between speed and damping force under different current conditions.

[0017] Furthermore, when mapping the obtained interpolated damping force or predicted damping force to the current, the interpolated damping force or predicted damping force is arranged in a monotonically increasing order to obtain a set of force vectors. The force vectors are then sequentially mapped to the monotonically increasing current to obtain the current-damping force correspondence data under the relative speed of the suspension.

[0018] Furthermore, after obtaining the control current, the control current is limited before being output.

[0019] Furthermore, when calculating the relative motion speed of the suspension, the sprung and unsprung speed 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 speed information.

[0020] A second aspect of the present invention provides an adjustable damper inverse model construction apparatus, comprising:

[0021] An adjustable damper characteristic acquisition module is used to acquire measured data of the damping force generated by the damper when different currents are applied at different test speed points.

[0022] The damping force calculation module is used to determine whether the relative speed of the suspension exceeds the test speed range of the shock absorber. If it does not exceed the range, the interpolated damping force is calculated by interpolating the relative speed of the suspension for the measured data under each current. If it exceeds the range, the prediction function of speed and damping force under different currents is obtained based on the measured data. The prediction damping force under different currents is obtained by combining the relative speed of the suspension and the prediction function.

[0023] The control current calculation module is used to map the obtained interpolated damping force or predicted damping force to the 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.

[0024] A third aspect of the present invention provides a computer-readable storage medium.

[0025] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method for constructing an inverse model of an adjustable vibration damper.

[0026] A fourth aspect of the present invention provides a computer device.

[0027] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the above-described method for constructing an inverse model of an adjustable vibration damper.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. This invention combines measured data of damping force generated by applying different currents to the shock absorber at different test speed points, and uses interpolation to solve for the target current under the combined action of suspension relative speed and optimal control force. It is applicable to various types of shock absorbers, has good versatility, and can effectively solve the problem of interpolation failure and reduced model accuracy when the suspension relative speed exceeds the actual test speed point.

[0030] 2. In the event that the interpolation method fails, this invention first performs function fitting on the measured data of the shock absorber to obtain the 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 method ensures the accuracy of the model and conforms to the actual characteristics of the shock absorber. This method can be easily applied to various types of shock absorbers. It is simple, versatile, and accurate.

[0031] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0032] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0033] Figure 1 This is a flowchart of an adjustable vibration damper inverse model construction method provided by an embodiment of the present invention;

[0034] Figure 2 This is a fitting graph of the actual test data of the vibration damper used in the embodiments of the present invention;

[0035] Figure 3 This is an example of how the predicted damping force is obtained by solving v through a predictive expression when the interpolation method fails, as provided in this embodiment of the invention. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0038] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0039] As mentioned in the background section, current methods for constructing inverse models of shock absorbers include parametric modeling, polynomial model fitting, and linear interpolation. Parametric modeling is not widely used due to its limitations in accuracy and computational speed. Polynomial model fitting divides the hysteresis loop of the damper into upper and lower halves based on regions of positive and negative acceleration, fitting them separately. This method is simple and accurate, but its accuracy drops significantly when the shock absorber model changes, requiring refitting, which is cumbersome and lacks versatility. Linear interpolation is simple and easy to implement, but it fails when the relative suspension speed exceeds the actual test speed point of the shock absorber or when the damping force exceeds the actual test damping force data. Existing methods for handling boundary conditions mostly approximate these conditions by directly taking boundary data, which does not reflect the actual characteristics of the shock absorber and leads to reduced model accuracy, requiring a solution. This invention provides a method for constructing an adjustable shock absorber inverse model, using interpolation to solve for the relative suspension speed... v With optimal control force F Target current under combined action I When interpolation fails, the damper can be adjusted first. The measured data were fitted to a function to obtain the speed-damping force prediction expression, and then the relative speed of the suspension was... v The predicted damping force is obtained by substituting it into the prediction expression, which not only ensures the accuracy of the model, but also conforms to the actual characteristics of the vibration damper. This method can be easily applied to a variety of different types of vibration dampers. The method is simple, versatile, and the accuracy can be guaranteed.

[0040] Example 1

[0041] like Figure 1 As shown, this embodiment provides a method for constructing an inverse model of an adjustable vibration damper, including the following steps:

[0042] Step 1: Obtain the measured data of the shock absorber;

[0043] Among them, the measured data of the shock absorber To obtain the data, you can set the actual test speed points of the vibration damper, apply different currents at each speed point, and record the actual damping force generated by the vibration damper at each speed point. This will give you the actual test data of the damping force generated at different speed points. ;

[0044] Step 2: Based on the relative speed of the suspension v The relationship between the test speed range of the vibration damper and the corresponding damping force data is determined by using the appropriate method.

[0045] Specifically, the steps include the following:

[0046] Step 201: Calculate the relative speed of the suspension. v Calculate the relative speed of the suspension. v The corresponding optimal control force F;

[0047] In this embodiment, the relative motion speed of the suspension v During calculation, the on-spring and unsprung speed information can be obtained by directly acquiring or indirectly calculating the information through the set sensors;

[0048] 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 existing sky hook control algorithms, linear quadratic regulator (LQR) control algorithms, etc.

[0049] Step 202: Determine the relative speed of the suspension. v Does it exceed the test speed range of the vibration damper? If not, take the measured data under each current. The interpolated damping force is calculated using the relative speed of the suspension; if it exceeds this range, it is calculated based on measured data. We obtain the prediction functions of velocity and damping force under different current values, and combine the relative speed of the suspension with the prediction functions to obtain the corresponding predicted damping force under different currents.

[0050] Specifically, if the relative speed of the suspension v Within the actual test speed range of the vibration damper, the measured data under each current are... The interpolated damping force is obtained by interpolating the relative speed of the suspension, including:

[0051] First, a local linear relationship between damping force and velocity is obtained by fitting a predefined damping force and velocity fitting function.

[0052] In this embodiment, the damping force and velocity fitting function can be implemented using existing fitting functions. This embodiment preferentially selects the local linear relationship between damping force and velocity obtained through the first-order difference quotient of adjacent data points. Specifically, the formula for calculating the first-order difference quotient of adjacent data points is as follows:

[0053] ,

[0054] in For the k-th velocity point, For the (k+1)th velocity point, it is related to... The next adjacent velocity value, In order to speed The measured damping force value is as follows. In order to speed The damping force value obtained from the actual measurement;

[0055] The interpolated damping force is obtained by combining the local linear relationship between damping force and velocity with the calculation based on the preset recursive calculation structure.

[0056] The interpolation methods used in this embodiment include, but are not limited to, Newton's linear interpolation, polynomial interpolation, cubic spline interpolation, etc.; those skilled in the art can select the appropriate method based on the actual situation, as long as the corresponding interpolation can achieve the interpolation damping force.

[0057] For example, in the recursive calculation structure using Newton's interpolation method, this embodiment preferentially uses the first-order difference quotient term for interpolation, while higher-order difference quotient terms (such as second-order and above) are set to zero. Its polynomial form is: .

[0058] In this embodiment, if the relative motion speed of the suspension v If the speed exceeds the actual test speed range of the vibration damper, then the speed should be based on the actual test data of the vibration damper. The predicted expression is obtained by performing function fitting, and then the relative motion speed of the suspension is... v Substitute the fitted prediction expression to obtain the predicted damping force under different currents;

[0059] Specifically, based on the actual test speed-damping force data of the shock absorber, a preset function is used for data fitting. The unknown parameters in the function are solved based on the origin and the test speed boundary points to obtain a predicted relationship expression between speed and damping force under different current conditions. This allows the relative motion speed of the suspension to be calculated. v Substituting the predicted relationship between velocity and damping force under different current conditions, we obtain the predicted damping force under different current conditions.

[0060] Furthermore, in this embodiment, the relative motion speed of the suspension... vThe function fitting method used when the actual test speed of the vibration damper is outside its range includes, but is not limited to, power function, logarithmic, and polynomial function methods; those skilled in the art can select the appropriate method based on the actual situation.

[0061] For example, using As the fitting function, use the function Data fitting is performed, and the unknown parameter c in the function is solved based on the origin and the test speed boundary points to obtain the predicted relationship expression between speed and damping force under different current conditions. The relative motion speed of the suspension is then calculated. v By substituting the predicted relationship between velocity and damping force under different current conditions, the predicted damping force under different current conditions is obtained.

[0062] Step 203: Map the obtained interpolated damping force or predicted damping force with the current to obtain the current-damping force correspondence data under the relative speed of the suspension;

[0063] Specifically, after step 202, the interpolated damping forces or predicted damping forces are arranged in a monotonically increasing order to obtain a set of force vectors. f Then, with a monotonically increasing current. i By sequentially corresponding values, the relative speed of the suspension can be obtained. v Current-damping force correspondence data ;

[0064] Step 3: Calculate the control current by combining the optimal control force at the relative speed of the suspension and the current-damping force correspondence data at the relative speed of the suspension;

[0065] Specifically, regarding the relative speed of the suspension v Current-damping force correspondence data The control current is obtained by interpolation using the optimal control force F. i ;

[0066] Furthermore, after obtaining the control current i Then, control the current. i After the amplitude is limited, the output current I is completed. At this point, the function of the inverse model of the vibration damper is realized.

[0067] It should be noted that in this embodiment, the current limiting process uses saturation calculation to limit the current output range, ensuring that the output current is within the operating current range of the adjustable damper.

[0068] After obtaining the control current value using the above method, a current of the corresponding magnitude is input to the shock absorber, which generates a corresponding damping force, thereby improving the ride comfort of the vehicle.

[0069] Obtaining the operating current of the shock absorber through inverse modeling is one of the key steps in generating optimal control force, directly impacting the control effect of the suspension control system. The relative speed of the suspension is then calculated using interpolation methods. v The target current I under the combined action of the optimal control force F; in the case of interpolation failure, by first adjusting the damper F i (v) The measured data are fitted with a function to obtain the velocity-damping force prediction expression. The relative speed v of the suspension is then substituted into the prediction expression to obtain the predicted damping force. This method ensures the accuracy of the model and conforms to the actual characteristics of the shock absorber. The method of this invention can be easily applied to various types of shock absorbers. It is simple, versatile, and accurate.

[0070] The following example, using a certain type of shock absorber used in the front suspension of a vehicle, illustrates the inverse model construction process of the adjustable shock absorber of this invention:

[0071] The first scenario: when the relative speed of the suspension v and the optimal control force F do not exceed the boundaries of the actual test data.

[0072] The actual test speeds of the vibration damper were (-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 was applied, and the actual damping force generated by the vibration damper was recorded. This yielded the vibration damper's performance. Measured data, and the fitted graph of the measured data are shown below. Figure 2 As shown.

[0073] At a certain moment, the relative speed of the suspension is v = 0.3 m / s, and the target optimal control force output by the control strategy is F = 6000 N. The steps for constructing the inverse model of the shock absorber are as follows:

[0074] Step 1, Basic Configuration: Configure the shock absorbers Based on actual measurements, with the initial input, the relative speed of the suspension is v=0.3m / s, and the optimal control force is F=6000N;

[0075] Step 2, obtain the damping force-current correspondence data: First, determine the relative speed of the suspension. v Whether it exceeds the boundary, and the relative speed of the suspension at this time. v =0.3m / s, within the actual test speed range of the vibration damper; for each current, the vibration damper Actual measurement data, respectively using v Interpolation was performed at 0.3 m / s², and all interpolated forces were arranged 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 Given [0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0]A, the two correspond sequentially to obtain... data;

[0076] Step 3: Obtain the output current I, and... The data was interpolated using the optimal control force F=6000N to obtain the control current. i =1.1705A, the control current is saturated within the range of 0-2A and two significant digits are retained, and the output control current I=1.17A, thus realizing the function of the inverse model of the vibration damper.

[0077] Second scenario: Only relative speed of the suspension v Situations exceeding the boundaries of actual test data;

[0078] shock absorbers The measured data is the same as in the first case;

[0079] At a certain moment, the relative speed of the suspension is v = 0.7 m / s, and the target optimal control force output by the control strategy is F = 6000 N. The steps for constructing the inverse model of the shock absorber are as follows:

[0080] Step 1, Basic Configuration: Configure the shock absorbers Actual test data shows that, with the initial input, the relative speed of the suspension is... v =0.7m / s, optimal control force F=6000N;

[0081] Step 2, obtain the damping force-current correspondence data: First, determine the relative speed of the suspension. v Whether it exceeds the boundary, at this point the relative speed of the suspension v=0.7m / s, exceeding the range of the actual test speed point of the shock absorber, then first based on the actual test speed point of the shock absorber - damping force data, use the function y=c The fitted form is obtained by passing through the origin (0, 0) and the boundary point of the maximum test speed. Solve for c (if v < 0, then use the origin (0, 0) and the boundary point of the minimum test velocity). Solving for c), we obtain the predicted relationship between velocity and damping force under different current values: = , = = = , = , = , =9923.6 , = , = , = , = Then v Substituting 0.7 m / s into the prediction formula, we obtain the predicted damping force under different currents, and arrange all the predicted damping forces into a set of force vectors in a monotonically increasing order. 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 Given [0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0]A, the two correspond sequentially to obtain... data;

[0082] Step 3: Obtain the output current I, and... The data was interpolated using the optimal control force F=6000N to obtain the control current i=0.8171A. The control current was then subjected to saturation operation in the range of 0-2A and two significant digits were retained to output the control current I=0.82A. The function of the inverse model of the vibration damper was thus realized.

[0083] The third scenario: only when the optimal control force F exceeds the boundary of the actual test data;

[0084] shock absorbers The measured data is the same as in the first case;

[0085] At a certain moment, the relative speed of the suspension is v = 0.3 m / s, and the target optimal control force output by the control strategy is F = 12000 N. The steps for constructing the inverse model of the shock absorber are as follows:

[0086] Step 1, Basic Configuration: Configure the shock absorbers Based on actual measurements, with the initial input, the relative speed of the suspension is v=0.3m / s, and the optimal control force is F=12000N;

[0087] Step 2, obtain the damping force-current correspondence data: First, determine the relative speed of the suspension. v Whether it exceeds the boundary, at which point the relative speed of the suspension v=0.3m / s, is within the actual test speed range of the shock absorber; for each current, the shock absorber The measured data were interpolated using v = 0.3 m / s², and all interpolated forces were arranged 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 Given [0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0]A, the two correspond sequentially to obtain... data;

[0088] Step 3: Obtain the output current I, and... The data was interpolated using the optimal control force F=12000N to obtain the control current i=2.6832A. The control current was then subjected to saturation operation in the range of 0-2A and two significant digits were retained to output the control current I=2.00A. The function of the inverse model of the vibration damper was thus realized.

[0089] The fourth scenario: when the relative speed of the suspension... v With optimal control force F In cases where all exceed the boundaries of actual test data, analogous to the third scenario, when the optimal control force... F When the control current exceeds the actual test data boundary, i This will exceed the preset amplitude. Therefore, by processing the control current within the 0-2A range and retaining two significant figures, the final output control current I = 0.00A or 2.00A is obtained. The measured data of the vibration damper is obtained by recording the damping force generated after applying different currents at different test speed points. Because the number of test speed points is limited, it can only reflect the vibration damper characteristics within the test speed range. When the speed exceeds the test speed range, a method is needed to predict the damping force at that time. For example... Figure 3 As shown, during the shock absorber tensile test, the actual maximum test speed is 0.52 m / s. If the relative speed of the suspension is less than this speed, interpolation can be used to solve for the damping force under different currents. However, once the relative speed of the suspension exceeds the maximum test speed, the interpolation method will fail. In this case, the fitting function method is used to solve the problem. Figure 3 It can be seen that the damping force predicted by the fitting function has a similar trend to the actual measured damping force, showing a high degree of consistency.

[0090] Example 2

[0091] This embodiment provides an adjustable vibration damper inverse model construction device, including:

[0092] An adjustable damper characteristic acquisition module is used to acquire measured data of the damping force generated by the damper when different currents are applied at different test speed points.

[0093] The damping force calculation module is used to determine whether the relative speed of the suspension exceeds the test speed range of the shock absorber. If it does not exceed the range, the interpolated damping force is calculated by interpolating the relative speed of the suspension for the measured data under each current. If it exceeds the range, the prediction function of speed and damping force under different currents is obtained based on the measured data. The prediction damping force under different currents is obtained by combining the relative speed of the suspension and the prediction function.

[0094] The control current calculation module is used to map the obtained interpolated damping force or predicted damping force to the 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.

[0095] It should be noted that the specific implementation of the adjustable damper inverse model construction system in this embodiment of the invention is similar to the specific implementation of the adjustable damper inverse model construction method in this embodiment of the invention. Please refer to the description in the method section for details. In order to reduce redundancy, it will not be repeated here.

[0096] Example 3

[0097] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the above-described method for constructing an inverse model of an adjustable vibration damper.

[0098] Example 4

[0099] 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, it implements the steps in the adjustable vibration damper inverse model construction method described above.

[0100] Example 5

[0101] This embodiment provides a program product, which is a computer program product, including a computer program. When the computer program is executed by a processor, it implements the steps in the adjustable vibration damper inverse model construction method described above.

[0102] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0103] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0106] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0107] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for constructing an inverse model of an adjustable vibration damper, characterized in that, Includes the following steps: Obtain measured data of the damping force generated by the vibration damper when different currents are applied at different test speeds; Determine whether the relative speed of the suspension exceeds the range of the test speed points of the shock absorber. If it does not exceed the range, use the relative speed of the suspension to interpolate the measured data under each current to calculate the interpolated damping force. If the current exceeds the limit, based on the measured data, a prediction function for velocity and damping force under different current values ​​is obtained. The acquisition of the prediction function includes: using a preset function based on the actual test velocity-damping force data of the vibration damper. Data fitting is performed, and the unknown parameter c in the function is solved based on the origin and the test velocity boundary points to obtain the velocity under different current conditions. v With damping force f The predictive relationship expression between them; substituting the relative motion velocity of the suspension into the predictive expression to obtain the predicted damping force corresponding to different currents; The interpolated or predicted damping force is mapped to the current to obtain the current-damping force correspondence data under the relative speed of the suspension; when mapping the interpolated or predicted damping force to the current, the interpolated or predicted damping force is arranged in a monotonically increasing order to obtain a set of force vectors, and the force vectors are sequentially mapped to the monotonically increasing current to obtain the current-damping force correspondence data under the relative speed of the suspension. The control current is calculated by combining the optimal control force at the relative speed of the suspension and the current-damping force correspondence data at the relative speed of the suspension.

2. The method for constructing an inverse model of an adjustable vibration damper as described in claim 1, characterized in that, When the relative speed of the suspension does not exceed the test speed range of the shock absorber, the interpolated damping force is calculated by interpolating the measured data under each current using the relative speed of the suspension, including: The local linear relationship between damping force and velocity is obtained by fitting a set damping force and velocity fitting function. The interpolated damping force is obtained by combining the local linear relationship between damping force and velocity and by calculating based on a pre-defined recursive calculation structure.

3. The method for constructing an inverse model of an adjustable vibration damper as described in claim 1, characterized in that, After obtaining the control current, the control current is limited and then output.

4. The method for constructing an inverse model of an adjustable vibration damper as described in claim 1, characterized in that, When calculating the relative motion speed of the suspension, the sprung and unsprung speed 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 speed information.

5. An adjustable vibration damper inverse model construction device, characterized in that, include: An adjustable damper characteristic acquisition module is used to acquire measured data of the damping force generated by the damper when different currents are applied at different test speed points. The damping force calculation module is used to determine whether the relative speed of the suspension exceeds the range of the test speed point of the shock absorber. If it does not exceed the range, the interpolated damping force is calculated by interpolating the relative speed of the suspension for the measured data under each current. If the current exceeds the limit, based on the measured data, a prediction function for velocity and damping force under different current values ​​is obtained. The acquisition of the prediction function includes: using a preset function based on the actual test velocity-damping force data of the vibration damper. Data fitting is performed, and the unknown parameter c in the function is solved based on the origin and the test velocity boundary points to obtain the velocity under different current conditions. v With damping force f The predictive relationship expression between them; substituting the relative motion velocity of the suspension into the predictive expression to obtain the predicted damping force corresponding to different currents; The control current calculation module maps the obtained interpolated or predicted damping force to the current to obtain the current-damping force correspondence data under the relative speed of the suspension. When mapping the obtained interpolated or predicted damping force to the current, the interpolated or predicted damping force is arranged in a monotonically increasing order to obtain a set of force vectors. The force vectors are then mapped to the monotonically increasing currents to obtain the 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.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the method for constructing an adjustable vibration damper inverse model as described in any one of claims 1-4.

7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the method for constructing an adjustable vibration damper inverse model as described in any one of claims 1-4.

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