Active damper friction calibration method, device and system, damper and vehicle

Abstract

The invention discloses an active damper friction calibration method, device and system, a damper and a vehicle. The method comprises the steps that a motor of an electric hydraulic pump is controlled to enter a rotating speed mode, the motor of the electric hydraulic pump is controlled to enter a torque mode, and the electric hydraulic pump is made to be static and maintained for set first time; controlling the motor to gradually increase the torque until the rotating speed is greater than the first rotating speed; recording the electromagnetic torque of the motor at the moment as the starting torque of the electric hydraulic pump; controlling the electromagnetic torque of the motor to gradually reduce the torque from the starting torque according to a set second unit torque until the rotating speed of the motor is smaller than a set second rotating speed; recording the electromagnetic torque of the motor at the moment as a rotating friction torque; and the compensation torque of the electric hydraulic pump is obtained according to the rotating friction torque. The situation that control is affected by different friction forces of different sample pieces due to manufacturing errors of the electric hydraulic pump is avoided, the control accuracy is guaranteed, and the response speed of the suspension is increased. Mainly used in the technical field of vehicles.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to an active shock absorber friction calibration method, device, system, shock absorber and vehicle. Background Art

[0002] Active shock absorbers are primarily used in suspension systems, adjusting the vehicle's damping force (and even spring rate) to maximize handling, stability, and ride comfort. Active shock absorbers typically consist of an accumulator, an electric hydraulic pump, a pressure sensor, a throttle valve, and an actuator. Due to differences in manufacturing processes, the friction torque of each active shock absorber's electric hydraulic pump and the friction force of its actuator vary. These factors affect the force response and accuracy of the active shock absorber. Therefore, when the active shock absorbers are off the production line, it is necessary to accurately measure the friction torque and actuator friction of each active shock absorber and store this friction torque in the active shock absorber's storage unit for friction compensation. However, existing technologies for calibrating friction and friction torque are not accurate enough. Therefore, improving the accuracy of friction and friction torque calibration for active shock absorbers is a pressing technical issue in the industry. Summary of the Invention

[0003] The present invention provides an active shock absorber friction calibration method, device, system, shock absorber and vehicle to solve one or more technical problems existing in the prior art and at least provide a beneficial option or create conditions.

[0004] The present invention provides a friction calibration method for an active shock absorber, comprising: controlling a motor of an electric hydraulic pump to enter a speed mode so that the soaked oil fully flows through the interior of the electric hydraulic pump; controlling the motor of the electric hydraulic pump to enter a torque mode, and after the motor enters the torque mode, stopping the electric hydraulic pump and maintaining the state for a set first time to ensure that the electric hydraulic pump is in a non-rotating state; The electromagnetic torque of the motor is controlled to start from 0 Nm and gradually increase with a set first unit torque, maintaining each step for a set second time, and gradually increasing until the motor speed exceeds the set first speed; the electromagnetic torque of the motor at this time is recorded as the starting torque of the electric hydraulic pump; Controlling the electromagnetic torque of the motor to gradually reduce the torque by a set second unit torque starting from the starting torque, maintaining each step for a set third time, until the speed of the motor is less than the set second speed; recording the electromagnetic torque of the motor at this time as the rotational friction torque of the electric hydraulic pump; Substituting the rotational friction torque into a set first mathematical model to obtain an electric hydraulic pump compensation torque; Wherein, the first mathematical model is: ; Expressed as the electric hydraulic pump compensation torque, K is the preset coefficient, Expressed as the rotational friction torque of the electric hydraulic pump, The direction of the torque is the same as the direction of the motor speed n.

[0005] Furthermore, the active shock absorber friction calibration method further includes calibrating the friction force of the actuator; the calibration of the friction force of the actuator specifically includes: controlling the actuator of the active shock absorber to vibrate at a set first speed, wherein the amplitude is limited to the set first amplitude; Obtaining the friction force of the actuator at this time, and substituting the friction force into a set second mathematical model to calculate the actuator compensation torque; Wherein, the second mathematical model is: ; It is expressed as the actuator compensation torque, K is a preset coefficient, F is the friction force, D is the pump displacement of the electric hydraulic pump, and A is the piston area of ​​the actuator.

[0006] Furthermore, the active shock absorber friction calibration method further includes: storing the obtained electric hydraulic pump compensation torque in a control memory of the active shock absorber so as to be called later to perform torque compensation of the active shock absorber.

[0007] Furthermore, the active shock absorber friction calibration method further includes: storing the obtained actuator compensation torque in a control memory of the active shock absorber so as to be called later to perform torque compensation of the active shock absorber.

[0008] Furthermore, the value range of the first time is [9s, 11s]; the value range of the first unit torque is [0.009Nm, 0.011Nm]; the value range of the second time is [9s, 11s]; the value range of the first speed is [9rpm, 11rpm]; the value range of the second unit torque is [0.009Nm, 0.011Nm]; the value range of the third time is [9s, 11s]; and the value range of the second speed is [9rpm, 11rpm].

[0009] Furthermore, the first speed is pre-set, the value range of the first speed is [0.0009 m / s, 0.0011 m / s], and the value range of the first amplitude is [9 mm, 11 mm].

[0010] On the other hand, an active shock absorber friction calibration device is provided, comprising: a processor and a memory, wherein the memory is used to store a computer-readable program; when the computer-readable program is executed by the processor, the processor implements the active shock absorber friction calibration method as described in any one of the above technical solutions.

[0011] On the other hand, an active shock absorber friction calibration system is provided, comprising: a first control module, a second control module, a third control module, a fourth control module, and a calculation module; The first control module is used to control the motor of the electric hydraulic pump to enter a speed mode so that the soaked oil fully flows through the interior of the electric hydraulic pump; The second control module is configured to: control the motor of the electric hydraulic pump to enter a torque mode, and after the motor enters the torque mode, stop the electric hydraulic pump and maintain it for a set first time to ensure that the electric hydraulic pump is in a non-rotating state; The third control module is configured to control the electromagnetic torque of the motor to start from 0 Nm and gradually increase the torque with a set first unit torque, maintaining each step for a set second time, and gradually increasing until the speed of the motor exceeds the set first speed; the electromagnetic torque of the motor at this time is recorded as the starting torque of the electric hydraulic pump; The fourth control module is configured to control the electromagnetic torque of the motor to gradually reduce the torque by a set second unit torque starting from the starting torque, maintaining each step for a set third time, until the speed of the motor is less than the set second speed; and record the electromagnetic torque of the motor at this time as the rotational friction torque of the electric hydraulic pump; The calculation module is used to: substitute the rotational friction torque into a set first mathematical model to obtain the electric hydraulic pump compensation torque; Wherein, the first mathematical model is: ; Expressed as the electric hydraulic pump compensation torque, K is the preset coefficient, Expressed as the rotational friction torque of the electric hydraulic pump, The direction of the torque is the same as the direction of the motor speed n.

[0012] On the other hand, a shock absorber is provided, which is manufactured by the active shock absorber friction calibration method described in any one of the above technical solutions.

[0013] On the other hand, a vehicle is provided, which is integrated with the shock absorber described in the above technical solution.

[0014] The present invention has at least the following beneficial effects: The method of the present invention achieves friction calibration of the active shock absorber through a cleverly designed calibration method, thereby obtaining a compensation torque of the electric hydraulic pump that helps compensate the active shock absorber. This avoids the influence of different friction forces of different samples of the electric hydraulic pump due to manufacturing errors affecting the control, ensuring the accuracy of control and improving the response speed of the suspension. At the same time, the present invention also provides corresponding devices, systems and vehicles. The beneficial effects of the devices, systems, shock absorbers and vehicles are similar to those of the method and will not be repeated here. The present invention is mainly used in the field of vehicle technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation to the technical solution of the present invention.

[0016] Figure 1 It is a flow chart of the steps of the friction calibration method of the active shock absorber; Figure 2 It is a structural diagram of the friction calibration device of the active shock absorber; Figure 3 It is a schematic diagram of the system structure of the active shock absorber friction calibration system; Figure 4 This is a flow chart of the actuator friction calibration steps. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] It should be noted that although the system diagrams illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the system or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0019] Please refer to Figure 1 , Figure 1 The present invention is a flowchart of a friction calibration method for an active vibration damper. The purpose of the present invention is to calibrate the friction-related torque of an active vibration damper to improve the quality of the active vibration damper.

[0020] To achieve this technical goal, the present invention discloses a friction calibration method for an active vibration damper. The friction calibration method can be executed by a software program to calibrate the friction-related torque of the active vibration damper using a set instrument.

[0021] When the software program is executed, the steps implemented include: Step 1: controlling the motor of the electric hydraulic pump to enter a speed mode so that the soaked oil fully flows through the interior of the electric hydraulic pump.

[0022] When performing this step, the electric hydraulic pump needs to be fixed to the dynamometer. At this time, the motor of the electric hydraulic pump is controlled to enter the speed mode. Due to the rotation of the motor of the electric hydraulic pump, the electric hydraulic pump will drive the soaking oil to fully enter the pump interior of the electric hydraulic pump. As a result, the moving parts such as the bearings and end faces of the electric hydraulic pump are fully immersed in the oil, thus simulating the real working environment. The more common parameter is that the motor of the electric hydraulic pump is generally operated at a speed of 50rpm for 10s. After this time, it can be ensured that the soaking oil fully flows through the pump interior of the electric hydraulic pump, meeting the conditions required for calibration.

[0023] Step 2: Control the motor of the electric hydraulic pump to enter a torque mode. After the motor enters the torque mode, the electric hydraulic pump is stopped and maintained for a set first time to ensure that the electric hydraulic pump is in a non-rotating state.

[0024] After the software program determines that sufficient fluid is flowing through the electric hydraulic pump, it adjusts the operating mode of the electric hydraulic pump's motor. By controlling the motor, the electric hydraulic pump's motor switches from speed mode to torque mode. This control ensures that after entering torque mode, the motor waits for the electric hydraulic pump to come to a standstill and maintains this standstill for a certain period of time, ensuring that the electric hydraulic pump is not rotating.

[0025] This is done to ensure that the electric hydraulic pump is free from the influence of the motor in the speed mode. By maintaining the set first time, the internal oil of the electric hydraulic pump can be completely stopped, creating stable environmental conditions for subsequent calibration. In some further specific embodiments, the value range of the first time is [9s, 11s]. Regarding the setting of the first time, in some further specific embodiments, the first time is set to 10s by default.

[0026] Step 3: Control the electromagnetic torque of the motor starting from 0 Nm, and gradually increase the torque with the set first unit torque, maintaining the set second time at each step, and gradually increase until the motor speed is greater than the set first speed; the electromagnetic torque of the motor at this time is recorded as the starting torque of the electric hydraulic pump.

[0027] The software program controls the motor so that its electromagnetic torque starts at 0 Nm and gradually increases. Each step increases the first unit torque and then maintains it for a set second time. In some further embodiments, the first unit torque ranges from [0.009 Nm to 0.011 Nm]. In this embodiment, the first unit torque is set to 0.01 Nm. The second time ranges from [9 seconds to 11 seconds]. In this embodiment, the second time is set to 10 seconds. Thus, in this embodiment, the software program controls the motor so that its electromagnetic torque starts at 0 Nm. Then, in the first step, the torque is increased to 0.01 Nm and maintained for 10 seconds; in the second step, the torque is increased to 0.02 Nm and maintained for 10 seconds. This process continues in this order. During the gradual increase, the motor speed must be determined. If the motor speed is greater than the set first speed, the electromagnetic torque does not need to be increased. The electromagnetic torque of the motor at this time can be considered as the starting torque of the electric hydraulic pump. The first speed is pre-set. In this specific embodiment, the first speed is set to 10 rpm by default. In some further specific embodiments, the value range of the first speed can be [9 rpm, 11 rpm].

[0028] Step 4: Control the electromagnetic torque of the motor starting from the starting torque, gradually reducing the torque with the set second unit torque, maintaining the set third time at each step until the motor speed is less than the set second speed; the electromagnetic torque of the motor at this time is recorded as the rotational friction torque of the electric hydraulic pump.

[0029] After determining the starting torque of the electric hydraulic pump, the software program can control the electromagnetic torque of the motor to gradually decrease from the starting torque, reducing the electromagnetic torque of the motor by a second unit torque in each step. The torque is then maintained for a predetermined third time. In some further specific embodiments, the second unit torque has a value range of [0.009 Nm, 0.011 Nm].

[0030] In this specific embodiment, the second unit torque is set to 0.01 Nm. The third time has a value range of [9s, 11s]. In this specific embodiment, the third time is set to 10s. Thus, in this specific embodiment, the software program controls the motor so that its electromagnetic torque starts at the starting torque. The first step is (starting torque - 0.01 Nm), maintained for 10 seconds; the second step is (starting torque - 0.02 Nm), maintained for 10 seconds. Similarly, during the gradual reduction process, the current motor speed must be determined. If the motor speed is less than the set second speed, the electromagnetic torque does not need to be reduced. The electromagnetic torque of the motor at this point can be considered the rotational friction torque of the electric hydraulic pump. The second speed is pre-set. In this specific embodiment, the second speed is set to 10 rpm by default. In some further specific embodiments, the second speed may have a value range of [9 rpm, 11 rpm].

[0031] Step 5: Substitute the rotational friction torque into a set first mathematical model to obtain the electric hydraulic pump compensation torque.

[0032] After obtaining the rotational friction torque, the software program can substitute it into the first mathematical model to obtain the electric hydraulic pump compensation torque. The first mathematical model is: ; Expressed as the electric hydraulic pump compensation torque, K is the preset coefficient, Expressed as the rotational friction torque of the electric hydraulic pump, The direction of the torque is the same as the direction of the motor speed n.

[0033] In order to make the calibrated electric hydraulic pump compensation torque conveniently usable by the active shock absorber, in some further specific embodiments, the software program will also store the obtained electric hydraulic pump compensation torque in the control memory (NVM) of the active shock absorber so that it can be called later to perform torque compensation for the active shock absorber.

[0034] This invention utilizes a clever calibration method to calibrate the friction of the active shock absorber, generating a compensation torque for the electric hydraulic pump that helps compensate for the active shock absorber. This prevents the influence of varying friction between samples due to manufacturing errors in the electric hydraulic pump, ensuring control accuracy and improving the suspension's responsiveness.

[0035] refer to Figure 4 , Figure 4This is a flow chart of the actuator friction calibration steps. On the other hand, in order to further calibrate the active shock absorber, the active shock absorber friction calibration method also includes calibrating the actuator friction. The calibration of the actuator friction specifically includes: the software program vibrates the actuator that controls the active shock absorber at a set first speed, wherein the amplitude is limited to the set first amplitude. In this specific embodiment, the value of the first speed is 0.001m / s, and the value of the first amplitude is 10mm. As for the value range of the first speed, in some further specific embodiments, the value range of the first speed is [0.0009m / s, 0.0011m / s], and the value range of the first amplitude is [9mm, 11mm].

[0036] The software program controls the actuator and simultaneously obtains the friction force of the actuator at that time, and substitutes the friction force into a set second mathematical model to calculate the compensation torque of the actuator.

[0037] Wherein, the second mathematical model is: ; It is expressed as the actuator compensation torque, K is a preset coefficient, F is the friction force, D is the pump displacement of the electric hydraulic pump, and A is the piston area of ​​the actuator.

[0038] In order to facilitate the utilization of the calibrated actuator compensation torque by the active shock absorber, in some further embodiments, the software program stores the obtained actuator compensation torque in the control memory (NVM) of the active shock absorber so that it can be later used to perform torque compensation for the active shock absorber.

[0039] refer to Figure 2 , Figure 2 It is a structural diagram of the friction calibration device of the active shock absorber; In another aspect, an active vibration damper friction calibration device is provided, comprising: a processor and a memory, the memory being configured to store a computer-readable program. When the computer-readable program is executed by the processor, the processor implements the active vibration damper friction calibration method described in any one of the above-described specific embodiments.

[0040] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. As is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0041] refer to Figure 3 , Figure 3 It is a schematic diagram of the system structure of the active shock absorber friction calibration system.

[0042] Provided is an active shock absorber friction calibration system, comprising: a first control module, a second control module, a third control module, a fourth control module and a calculation module.

[0043] The first control module is used to control the motor of the electric hydraulic pump to enter a speed mode, so that the soaked oil fully flows through the interior of the electric hydraulic pump.

[0044] The first control module controls the electric hydraulic pump's motor to enter speed mode. As the motor rotates, it draws the soaking oil fully into the pump's interior. This ensures that the pump's bearings, end faces, and other moving parts are fully immersed in the oil, simulating a real-world operating environment. A common parameter is to operate the electric hydraulic pump's motor at 50 rpm for 10 seconds. After this time, the soaking oil is fully flowing through the pump, meeting the calibration requirements.

[0045] The second control module is used to control the motor of the electric hydraulic pump to enter a torque mode. After the motor enters the torque mode, the electric hydraulic pump is stopped and maintained for a set first time to ensure that the electric hydraulic pump is in a non-rotating state.

[0046] After determining that sufficient oil is flowing through the electric hydraulic pump, the second control module adjusts the operating mode of the electric hydraulic pump's motor. By controlling the motor, the electric hydraulic pump's motor switches from speed mode to torque mode. This control ensures that after entering torque mode, the motor waits for the electric hydraulic pump to come to a standstill and maintains this standstill for a certain period of time, ensuring that the electric hydraulic pump is not rotating.

[0047] This is done to ensure that the electric hydraulic pump is free from the influence of the motor in the speed mode. By maintaining the set first time, the internal oil of the electric hydraulic pump can be completely stopped, creating stable environmental conditions for subsequent calibration. In some further specific embodiments, the value range of the first time is [9s, 11s]. Regarding the setting of the first time, in some further specific embodiments, the first time is set to 10s by default.

[0048] The third control module is used to: control the electromagnetic torque of the motor starting from 0 Nm, gradually increasing the torque with a set first unit torque, maintaining a set second time at each step, and gradually increasing until the speed of the motor is greater than the set first speed; the electromagnetic torque of the motor at this time is recorded as the starting torque of the electric hydraulic pump.

[0049] The third control module controls the motor so that its electromagnetic torque starts at 0 Nm and gradually increases. Each step increases the first unit torque and then maintains it for a set second time. In some further embodiments, the first unit torque ranges from [0.009 Nm to 0.011 Nm]. In this embodiment, the first unit torque is set to 0.01 Nm. The second time ranges from [9 seconds to 11 seconds]. In this embodiment, the second time is set to 10 seconds. Thus, in this embodiment, the software program controls the motor so that its electromagnetic torque starts at 0 Nm. Then, in the first step, the torque is increased to 0.01 Nm and maintained for 10 seconds; in the second step, the torque is increased to 0.02 Nm and maintained for 10 seconds. This process continues in this order. During the gradual increase, the motor speed must be determined. If the motor speed is greater than the set first speed, no further electromagnetic torque increase is required. The electromagnetic torque of the motor at this time can be considered as the starting torque of the electric hydraulic pump. The first speed is pre-set. In this specific embodiment, the first speed is set to 10 rpm by default. In some further specific embodiments, the value range of the first speed can be [9 rpm, 11 rpm].

[0050] The fourth control module is used to: control the electromagnetic torque of the motor starting from the starting torque, gradually reducing the torque with a set second unit torque, maintaining a set third time at each step until the speed of the motor is less than the set second speed; and record the electromagnetic torque of the motor at this time as the rotational friction torque of the electric hydraulic pump.

[0051] After obtaining the starting torque of the electric hydraulic pump, the fourth control module may control the electromagnetic torque of the motor to gradually decrease from the starting torque, reducing the electromagnetic torque of the motor by a second unit torque in each step. The torque is then maintained for a predetermined third time. In some further specific embodiments, the second unit torque has a value range of [0.009 Nm, 0.011 Nm].

[0052] In this specific embodiment, the second unit torque is set to 0.01 Nm. The third time has a value range of [9s, 11s]. In this specific embodiment, the third time is set to 10s. Thus, in this specific embodiment, the fourth control module controls the motor so that its electromagnetic torque starts at the starting torque. The first step is (starting torque - 0.01 Nm), maintained for 10 seconds; the second step is (starting torque - 0.02 Nm), maintained for 10 seconds. Similarly, during the gradual reduction process, the current motor speed needs to be determined. If the motor speed is less than the set second speed, the electromagnetic torque does not need to be reduced. The electromagnetic torque of the motor at this point can be considered the rotational friction torque of the electric hydraulic pump. The second speed is pre-set. In this specific embodiment, the second speed is set to 10 rpm by default. In some further specific embodiments, the second speed may have a value range of [9 rpm, 11 rpm].

[0053] The calculation module is used to substitute the rotational friction torque into a set first mathematical model to obtain the electric hydraulic pump compensation torque.

[0054] Wherein, the first mathematical model is: ; Expressed as the electric hydraulic pump compensation torque, K is the preset coefficient, Expressed as the rotational friction torque of the electric hydraulic pump, The direction of the torque is the same as the direction of the motor speed n.

[0055] After obtaining the rotational friction torque, the calculation module can substitute it into the first mathematical model to obtain the electric hydraulic pump compensation torque. The first mathematical model is: ; Expressed as the electric hydraulic pump compensation torque, K is the preset coefficient, Expressed as the rotational friction torque of the electric hydraulic pump, The direction of the torque is the same as the direction of the motor speed n.

[0056] In order to make the calibrated electric hydraulic pump compensation torque conveniently usable by the active shock absorber, in some further specific embodiments, the calculation module also stores the obtained electric hydraulic pump compensation torque in the control memory (NVM) of the active shock absorber so that it can be called later to perform torque compensation for the active shock absorber.

[0057] Furthermore, to further calibrate the active vibration damper, the present active vibration damper friction calibration system also includes a second calibration module. This second calibration module vibrates the actuator controlling the active vibration damper at a set first velocity, with the amplitude limited to the set first amplitude. In this specific embodiment, the first velocity is 0.001 m / s, and the first amplitude is 10 mm. Regarding the range of the first velocity, in some further specific embodiments, the first velocity ranges from [0.0009 m / s to 0.0011 m / s], and the first amplitude ranges from [9 mm to 11 mm].

[0058] The second calibration module controls the actuator and obtains the friction force of the actuator at this time, and substitutes the friction force into a set second mathematical model to calculate the actuator compensation torque.

[0059] Wherein, the second mathematical model is: ; It is expressed as the actuator compensation torque, K is a preset coefficient, F is the friction force, D is the pump displacement of the electric hydraulic pump, and A is the piston area of ​​the actuator.

[0060] In order to ensure that the calibrated actuator compensation torque can be easily utilized by the active shock absorber, in some further specific embodiments, the second calibration module stores the obtained actuator compensation torque in the control memory (NVM) of the active shock absorber so that it can be later called to perform torque compensation for the active shock absorber.

[0061] Another aspect of the present invention further provides a shock absorber, which is manufactured by the active shock absorber friction calibration method described in any one of the above specific embodiments.

[0062] Another aspect of the present invention provides a vehicle, wherein the vehicle is integrated with any one of the shock absorbers described in the above specific embodiments.

[0063] On the other hand, a computer-readable storage medium is provided, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to implement the active vibration absorber friction calibration method as described in any one of the above specific embodiments.

[0064] An embodiment of the present application also discloses a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device performs the active vibration damper friction calibration method described in any of the previous embodiments.

[0065] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0066] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0067] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0068] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0069] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0070] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0071] Although the description of the present application has been quite detailed and specifically describes several embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be considered to provide a broad possible interpretation of these claims by reference to the appended claims, taking into account the prior art, so as to effectively cover the intended scope of the present application. In addition, the above description of the present application is based on the embodiments foreseen by the inventors, which is intended to provide a useful description, and those non-substantial changes to the present application that have not yet been foreseen may still represent equivalent changes to the present application.

Claims

1. A friction calibration method for an active vibration damper, characterized in that: include: Controlling the motor of the electric hydraulic pump to enter a speed mode so that the soaked oil fully flows through the interior of the electric hydraulic pump; controlling the motor of the electric hydraulic pump to enter a torque mode, and after the motor enters the torque mode, stopping the electric hydraulic pump and maintaining the state for a set first time to ensure that the electric hydraulic pump is in a non-rotating state; Controlling the electromagnetic torque of the motor to start from 0 Nm, gradually increasing the torque with a set first unit torque, maintaining a set second time for each step, and gradually increasing until the speed of the motor is greater than the set first speed; The electromagnetic torque of the motor at this time is recorded as the starting torque of the electric hydraulic pump; Controlling the electromagnetic torque of the motor to gradually reduce the torque by a set second unit torque starting from the starting torque, maintaining each step for a set third time, until the speed of the motor is less than the set second speed; The electromagnetic torque of the motor at this time is recorded as the rotational friction torque of the electric hydraulic pump; Substituting the rotational friction torque into a set first mathematical model to obtain an electric hydraulic pump compensation torque; Wherein, the first mathematical model is: ; Expressed as the electric hydraulic pump compensation torque, K is the preset coefficient, Expressed as the rotational friction torque of the electric hydraulic pump, The direction of the torque is the same as the direction of the motor speed n.

2. The friction calibration method for an active vibration damper according to claim 1, characterized in that: The method further includes calibrating the friction force of the actuator; the calibration of the friction force of the actuator specifically includes: controlling the actuator of the active shock absorber to vibrate at a set first speed, wherein the amplitude is limited to the set first amplitude; Obtaining the friction force of the actuator at this time, and substituting the friction force into a set second mathematical model to calculate the actuator compensation torque; Wherein, the second mathematical model is: ; It is expressed as the actuator compensation torque, K is a preset coefficient, F is the friction force, D is the pump displacement of the electric hydraulic pump, and A is the piston area of ​​the actuator.

3. The friction calibration method for an active vibration damper according to claim 1, characterized in that: Also includes: The obtained electric hydraulic pump compensation torque is stored in a control memory of the active shock absorber so as to be called later to perform torque compensation of the active shock absorber.

4. The friction calibration method for an active vibration damper according to claim 1, characterized in that: Also includes: The obtained actuator compensation torque is stored in a control memory of the active shock absorber so as to be called later to perform torque compensation of the active shock absorber.

5. The friction calibration method for an active vibration damper according to claim 1, characterized in that: The value range of the first time is [9s, 11s]; the value range of the first unit torque is [0.009Nm, 0.011Nm]; the value range of the second time is [9s, 11s]; the value range of the first speed is [9rpm, 11rpm]; the value range of the second unit torque is [0.009Nm, 0.011Nm]; the value range of the third time is [9s, 11s]; the value range of the second speed is [9rpm, 11rpm].

6. The friction calibration method for an active vibration damper according to claim 2, characterized in that: The first speed is preset, the value range of the first speed is [0.0009 m / s, 0.0011 m / s], and the value range of the first amplitude is [9 mm, 11 mm].

7. An active shock absorber friction calibration device, characterized in that: include: processor; a memory for storing a computer-readable program; When the computer-readable program is executed by the processor, the processor is enabled to implement the active vibration absorber friction calibration method according to any one of claims 1 to 6.

8. An active shock absorber friction calibration system, characterized in that: include: a first control module, a second control module, a third control module, a fourth control module and a calculation module; The first control module is used to control the motor of the electric hydraulic pump to enter a speed mode so that the soaked oil fully flows through the interior of the electric hydraulic pump; The second control module is configured to: control the motor of the electric hydraulic pump to enter a torque mode, and after the motor enters the torque mode, stop the electric hydraulic pump and maintain it for a set first time to ensure that the electric hydraulic pump is in a non-rotating state; The third control module is configured to control the electromagnetic torque of the motor to start from 0 Nm and gradually increase the torque with a set first unit torque, maintaining each step for a set second time, and gradually increasing until the speed of the motor exceeds the set first speed; the electromagnetic torque of the motor at this time is recorded as the starting torque of the electric hydraulic pump; The fourth control module is configured to control the electromagnetic torque of the motor to gradually reduce the torque by a set second unit torque starting from the starting torque, maintaining each step for a set third time, until the speed of the motor is less than the set second speed; and record the electromagnetic torque of the motor at this time as the rotational friction torque of the electric hydraulic pump; The calculation module is used to: substitute the rotational friction torque into a set first mathematical model to obtain the electric hydraulic pump compensation torque; Wherein, the first mathematical model is: ; Expressed as the electric hydraulic pump compensation torque, K is the preset coefficient, Expressed as the rotational friction torque of the electric hydraulic pump, The direction of the torque is the same as the direction of the motor speed n.

9. A shock absorber, characterized in that: The shock absorber is manufactured by the active shock absorber friction calibration method according to any one of claims 1 to 6.

10. A vehicle, characterized in that: The vibration absorber according to claim 9 is integrated.

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