Degaussing method of electromagnetic suspension, storage medium, controller, vehicle and product

Abstract

The invention relates to a degaussing method of an electromagnetic suspension, a storage medium, a controller, a vehicle and a product. The degaussing method comprises the following steps: acquiring motion data of a shock absorber in the electromagnetic suspension; and when the motion data meets a demagnetization condition, demagnetizing the electromagnetic suspension. By means of the technical scheme, the consistency of demagnetization processing and the movement process of the shock absorber is higher, the probability of shock absorber abnormal sound caused by damping force sudden change generated by demagnetization reversing can be effectively reduced, and the using comfort of a user is higher.

Description

Technical Field

[0001] This application relates to the field of electronic technology, and in particular to a demagnetization method for an electromagnetic suspension, a storage medium, a controller, a vehicle, and a product. Background Technology

[0002] Currently, with the development of the modern automotive industry and the rapid popularization of electric vehicles, people's demand for vehicle driving comfort has further increased. Traditional passive hydraulic shock absorbers, limited by a fixed damping coefficient, have shown inherent defects such as slow response and insufficient bandwidth when dealing with pitching torque caused by instantaneous motor torque and battery pack mass inertia offset. In contrast, magnetorheological shock absorbers, due to their advantages such as a wide adjustable damping force range and rapid response, have been widely used in vehicle suspension and other fields.

[0003] However, magnetorheological dampers generate residual magnetism, which means that when the current returns to 0 during the control process of the magnetorheological damper, the damper still has a certain damping force due to the residual magnetism effect. This has a significant impact on the consistency of the damper's tension and compression, making the demagnetization treatment in the existing technology have a significant impact on the damper. Summary of the Invention

[0004] This application provides a demagnetization method for an electromagnetic suspension, which makes the demagnetization process more consistent with the movement process of the shock absorber, effectively reducing the probability of abnormal noise from the shock absorber caused by sudden changes in damping force during demagnetization and reversal, thus improving user comfort.

[0005] To achieve the above objectives, according to a first aspect of this application, a method for demagnetizing an electromagnetic suspension is provided, comprising: acquiring motion data of a shock absorber in the electromagnetic suspension; and performing demagnetization processing on the electromagnetic suspension when the motion data meets the demagnetization conditions.

[0006] Optionally, obtaining the motion data of the shock absorber in the electromagnetic suspension includes: obtaining suspension data collected by suspension sensors installed on the electromagnetic suspension; and obtaining the motion data of the shock absorber based on the suspension data.

[0007] Optionally, the suspension data includes at least one of sprung speed, pitch rate, roll rate, unsprung acceleration, and the horizontal projection of the wheel in the horizontal direction and the vertical projection in the vertical direction.

[0008] Optionally, if the suspension data includes the sprung speed, pitch rate, roll rate, horizontal projection, and vertical projection, obtaining the shock absorber's motion data based on the suspension data includes: obtaining the shock absorber's tower top speed based on the sprung speed, pitch rate, roll rate, horizontal projection, and vertical projection; and obtaining the shock absorber's motion data based on the tower top speed.

[0009] Optionally, obtaining the tower top movement speed of the shock absorber based on the sprung speed, the pitch rate, the roll rate, the horizontal projection, and the vertical projection includes: obtaining a first product of the pitch rate and the horizontal projection; obtaining a second product of the roll rate and the vertical projection; and obtaining the tower top movement speed based on the sprung speed, the first product, and the second product.

[0010] Optionally, if the suspension data includes the unsprung acceleration, the method further includes: obtaining the unsprung vertical velocity of the electromagnetic suspension based on the unsprung acceleration; obtaining the motion data of the shock absorber based on the tower top movement velocity includes: obtaining the motion data of the shock absorber based on the tower top movement velocity and the unsprung vertical velocity.

[0011] Optionally, the method further includes: obtaining a first commutation confidence level of the shock absorber based on the motion data of the shock absorber; and performing demagnetization processing on the electromagnetic suspension when the motion data meets the demagnetization conditions, including: performing demagnetization processing on the electromagnetic suspension when the first commutation confidence level is not less than a first set threshold.

[0012] Optionally, obtaining the first commutation confidence level of the shock absorber based on the motion data of the shock absorber includes: obtaining the motion difference between the motion data of the shock absorber and the set parameters; and obtaining the first commutation confidence level of the shock absorber based on the motion difference and the first variance.

[0013] Optionally, the method further includes: obtaining the drive current of the shock absorber; obtaining the first required damping force of the shock absorber based on the drive current and the motion data of the shock absorber; and performing demagnetization treatment on the electromagnetic suspension when the motion data meets the demagnetization condition, which includes: performing demagnetization treatment on the electromagnetic suspension when the first required damping force meets the demagnetization condition.

[0014] Optionally, the method further includes: obtaining a second commutation confidence level of the shock absorber based on the first required damping force; the step of performing demagnetization treatment on the electromagnetic suspension when the first required damping force meets the demagnetization condition includes: performing demagnetization treatment on the electromagnetic suspension when the second commutation confidence level is not less than a second set threshold.

[0015] Optionally, obtaining the second commutation confidence level of the shock absorber based on the first required damping force includes: obtaining a first damping difference between the first required damping force and a first set damping force; and obtaining the second commutation confidence level of the shock absorber based on the first damping difference and a second variance.

[0016] Optionally, the method further includes: acquiring road surface elevation data in front of the vehicle; acquiring a second required damping force of the shock absorber based on the road surface elevation data and the suspension dynamics model; and performing demagnetization treatment on the electromagnetic suspension when the second required damping force meets the demagnetization condition.

[0017] Optionally, obtaining the second required damping force of the shock absorber based on the road surface elevation data and the suspension dynamics model includes: extracting features from the road surface elevation data to obtain road surface elevation features; and obtaining the second required damping force based on the road surface elevation features and the suspension dynamics model.

[0018] Optionally, the road surface elevation characteristics include at least one of road surface roughness and dominant wavelength.

[0019] Optionally, the method further includes: obtaining a third commutation confidence level of the shock absorber based on the second required damping force; the step of performing demagnetization treatment on the electromagnetic suspension when the second required damping force meets the demagnetization condition includes: performing demagnetization treatment on the electromagnetic suspension when the third commutation confidence level is not less than a third set threshold.

[0020] Optionally, obtaining the third commutation confidence level of the shock absorber based on the second required damping force includes: obtaining a second damping difference between the second required damping force and the second set damping force; and obtaining the third commutation confidence level of the shock absorber based on the second damping difference and the third difference.

[0021] Optionally, the step of demagnetizing the electromagnetic suspension when the motion data meets the demagnetization conditions includes: demagnetizing the electromagnetic suspension when the motion data and the second required damping force meet the demagnetization conditions.

[0022] Optionally, the method further includes: obtaining a first commutation confidence level of the shock absorber based on the motion data of the shock absorber; obtaining a third commutation confidence level of the shock absorber based on the second required damping force; and performing demagnetization treatment on the electromagnetic suspension when the motion data and the second required damping force satisfy the demagnetization condition, which includes: performing demagnetization treatment on the electromagnetic suspension when the sum of the first commutation confidence level and the third commutation confidence level is not less than a fourth set value.

[0023] Optionally, the method further includes: acquiring current waveform characteristics within a historical commutation cycle; acquiring a fourth commutation confidence level of the shock absorber based on the current waveform characteristics; and performing demagnetization processing on the electromagnetic suspension when the motion data meets the demagnetization conditions, including: performing demagnetization processing on the electromagnetic suspension when the sum of the first commutation confidence level, the third commutation confidence level, and the fourth commutation confidence level is not less than a fifth set value.

[0024] Optionally, the current waveform characteristics include at least one of the following: the cumulative time of the last commutation, the average current intensity during the commutation cycle, and the current work done during the commutation cycle.

[0025] According to a second aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps of the method as described in any of the first aspects.

[0026] According to a third aspect of this application, a controller is provided having a computer program stored thereon that, when executed by a processor, implements the steps of the method as described in any of the first aspects.

[0027] According to a fourth aspect of this application, a vehicle is provided, including a controller as described in the third aspect.

[0028] According to a fifth aspect of this application, a computer program product is provided, comprising a computer program or instructions that, when executed by a processor, implement the steps of the method as described in any of the first aspects.

[0029] In summary, the embodiments of this application obtain motion data of the shock absorber in the electromagnetic suspension through the above technical solution; when the motion data meets the demagnetization conditions, the electromagnetic suspension is demagnetized; thus, the above technical solution demagnetizes the electromagnetic suspension only when the motion data of the shock absorber meets the demagnetization conditions, making the demagnetization process more consistent with the motion process of the shock absorber, effectively reducing the probability of abnormal noise from the shock absorber caused by the sudden change in damping force during demagnetization and improving user comfort.

[0030] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0033] Figure 1 This is a flowchart illustrating the steps of a demagnetization method for an electromagnetic suspension provided in an exemplary embodiment of this disclosure;

[0034] Figure 2 This is a schematic diagram of the velocity damping force reversal characteristics of a shock absorber provided in an exemplary embodiment of this disclosure;

[0035] Figure 3 This is a schematic diagram of the road surface excitation reversal enabling process provided in an exemplary embodiment of this disclosure;

[0036] Figure 4 This is a schematic diagram of the demagnetization process performed on the control electromagnetic suspension of the vehicle control system provided in an exemplary embodiment of this disclosure;

[0037] Figure 5 This is a schematic diagram of the dynamic response of the damping application UI provided in an exemplary embodiment of this disclosure;

[0038] Figure 6 This is a schematic diagram of the vehicle architecture provided in an exemplary embodiment of this disclosure. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0040] Based on the problems mentioned in the background section, in related technologies, ...

[0041] This application provides a method for demagnetizing an electromagnetic suspension. Please refer to [link / reference]. Figure 1The demagnetization method for electromagnetic suspension provided in this application includes steps S100-S200, which will be described in detail below.

[0042] Step S100: Obtain motion data of the shock absorbers in the electromagnetic suspension;

[0043] Step S200: When the motion data meets the demagnetization conditions, the electromagnetic suspension is demagnetized.

[0044] In step S101, suspension data collected by suspension sensors installed on the electromagnetic suspension can be obtained first; then, based on the suspension data, the motion data of the shock absorber can be obtained.

[0045] In the embodiments described in this specification, electromagnetic suspension refers to a vehicle suspension that includes a magnetorheological damper, and the damper is a magnetorheological damper.

[0046] Furthermore, the suspension sensors include sensors such as height sensors, acceleration sensors, and inertial measurement units (IMUs); suspension data is collected in real time through the suspension sensors, wherein the suspension data includes at least one of the following parameters: sprung speed, pitch rate, roll rate, unsprung acceleration, horizontal projection of the wheel in the horizontal direction, and vertical projection of the wheel in the vertical direction. Preferably, the suspension data includes sprung speed, pitch rate, roll rate, unsprung acceleration, horizontal projection of the wheel in the horizontal direction, and vertical projection of the wheel in the vertical direction.

[0047] In the embodiments of this specification, when collecting suspension data in real time through suspension sensors, the collected suspension data can be filtered to remove noise and extract valid data; then, based on the extracted valid data, the motion data of the shock absorber can be obtained.

[0048] In some embodiments, if the suspension data includes sprung speed, pitch rate, roll rate, horizontal projection, and vertical projection, the top-of-the-column speed of the shock absorber can be obtained based on the sprung speed, pitch rate, roll rate, horizontal projection, and vertical projection; and the shock absorber's motion data can be obtained based on the top-of-the-column speed. Here, the horizontal projection refers to the projection of the corresponding wheel on the x-axis, and the vertical projection refers to the projection of the corresponding wheel on the y-axis.

[0049] In the specific implementation process, when obtaining the tower top movement speed, the pitch angular velocity and the first product of the horizontal projection can be obtained; the tilt angular velocity and the second product of the vertical projection can be obtained; and then, based on the sprung speed, the first product, and the second product, the tower top movement speed can be obtained. At this point, the sum of these three data points—spontaneous speed, the first product, and the second product—can be used as the tower top movement speed; alternatively, the sum of these three data points can be multiplied by a weight; or a fixed value can be subtracted from or added to the sum of these three data points to obtain the tower top movement speed. This application specification does not impose specific limitations. The following example uses the sum of three data points.

[0050] Specifically, after filtering the suspension data, the extracted valid data may include the sprung speed denoted as Z. s The pitch angular velocity is denoted as ω. pitch The roll rate is denoted as ω. roll The horizontal projection is denoted as Z. x The vertical projection is denoted as Z. y And the speed of movement at the top of the tower is denoted as Z. b At this point, the speed of the shock absorber tower top can be calculated through the whole vehicle attitude calculation process, see Formula 1 for details.

[0051] Z b =Z s +ω pitch *Z x +ω roll *Z y Formula 1

[0052] Thus, the velocity Z of the shock absorber's tower top is calculated according to Formula 1. b Then, based on Z b To obtain the motion data of the shock absorber.

[0053] In some embodiments, if the suspension data includes unsprung acceleration, the unsprung vertical velocity of the electromagnetic suspension can be obtained based on the unsprung acceleration; and the motion data of the shock absorber can be obtained based on the tower top movement velocity and the unsprung vertical velocity.

[0054] Specifically, if the downward vertical velocity of the spring is denoted as Z u The unsprung acceleration is denoted as a. z Let the time be denoted as t. Then, the vertical velocity under the spring can be obtained according to Formula 2, as follows:

[0055] Z u =∫a z Formula 2 for dt

[0056] Thus, the unsprung vertical velocity Z is calculated using Formula 2. u The velocity Z at the top of the tower is calculated using Formula 1. bThen, the speed Z of movement at the top of the tower can be obtained. b Downward velocity Z of the spring u The first difference between the values ​​is used to obtain the motion data of the shock absorber. At this point, the first difference can be used directly as the motion data of the shock absorber, or the product of the first difference and the weight can be used as the motion data of the shock absorber, or the sum or difference between the first difference and the set value can be used as the motion data of the shock absorber. This manual does not impose specific limitations. The following example uses the first difference as the motion data of the shock absorber.

[0057] In the embodiments of this specification, the motion data of the shock absorber can be the motion speed of the shock absorber.

[0058] Specifically, if the speed of the movement at the top of the tower is denoted as Z... b The vertical velocity of the spring is denoted as Z. u And the speed of the shock absorber is denoted as Z. d Then Z can be obtained according to formula 3. d The details are as follows:

[0059] Z d =Z b -Z u Formula 3

[0060] Thus, the shock absorber's velocity Z is calculated using Formula 3. d Next, it is determined whether the movement speed of the shock absorber meets the demagnetization conditions. If it does, step S200 is executed to demagnetize the electromagnetic suspension.

[0061] In some embodiments, after obtaining the motion data of the shock absorber, a first commutation confidence level of the shock absorber can be obtained based on the motion data of the shock absorber; when the first commutation confidence level is not less than a first set threshold, the electromagnetic suspension is demagnetized.

[0062] Specifically, the motion difference between the motion data of the shock absorber and the set parameters can be obtained; based on the motion difference and the first variance, the first commutation confidence of the shock absorber can be obtained; then it is determined whether the first commutation confidence is not less than the first set threshold. If it is not less than the threshold, the electromagnetic suspension is demagnetized.

[0063] Specifically, the first probability density distribution of the shock absorber's motion data can be obtained based on the motion difference and the first variance. This first probability density distribution can be directly used as the first commutation confidence level, or the product of the first probability density distribution and the first weight can be used as the first commutation confidence level. The following example uses the first commutation confidence level as the product of the first probability density distribution and the first weight.

[0064] If we denote the parameter as u1, the first variance as σ1, and the first weight as w1, then the first commutation confidence level can be obtained through formula 4, as follows:

[0065]

[0066] In Formula 4, T1 represents the first commutation confidence level, and exp represents the natural exponential function.

[0067] Thus, after obtaining the first commutation confidence level T1 through Formula 4, it is determined whether T1 is not less than the first set threshold. If it is not less than the threshold, the electromagnetic suspension is demagnetized.

[0068] In some instances, the drive current of the shock absorber can also be obtained; based on the drive current and the motion data of the shock absorber, the first required damping force of the shock absorber can be obtained; when the first required damping force meets the demagnetization condition, the electromagnetic suspension is demagnetized.

[0069] In some embodiments, a second commutation confidence level of the shock absorber can be obtained based on a first required damping force; when the second commutation confidence level is not less than a second set threshold, the electromagnetic suspension is demagnetized.

[0070] Specifically, after acquiring the motion data of the shock absorber, the actual output damping force of the shock absorber can be deduced from the external hardware characteristics of the shock absorber by simultaneously using the real-time drive current of the shock absorber, thereby obtaining the first required damping force. When the shock absorber speed is low, the required damping force is also low, and the damping coefficient of the shock absorber is relatively small, the commutation condition is met, and the corresponding second commutation confidence value is high.

[0071] Specifically, when obtaining the second commutation confidence level, the first damping difference between the first required damping force and the first set damping force can be obtained; based on the first damping difference and the second variance, the second commutation confidence level of the shock absorber can be obtained.

[0072] Specifically, the first damping probability density distribution can be obtained based on the first damping difference and the second variance. This first damping probability density distribution can be directly used as the second commutation confidence level, or the product of the first damping probability density distribution and the second weight can be used as the second commutation confidence level. The following example uses the second commutation confidence level as the product of the first damping probability density distribution and the second weight.

[0073] If the first damping difference is denoted as x1, the first set damping force as u3, the second variance as σ2, and the second weight as w2, then the second commutation confidence level can be obtained through formula 5, as follows:

[0074]

[0075] In Formula 5, T2 represents the second reversal confidence level, and exp represents the natural exponential function.

[0076] Thus, after obtaining the second commutation confidence level T2 using Formula 5, it is determined whether T2 is not less than the second set threshold. If it is not less, the electromagnetic suspension is demagnetized. See also Figure 2 The damper speed is 20 and the damping force is 21. In the commutation stage 22, the damper speed is small and the damping force is also small. Specifically, when the damper speed is small and the damping force requirement is also small, and the damper damping coefficient is relatively small, the commutation condition is met, and the confidence level of the second commutation is high.

[0077] In some embodiments, the method can also acquire road surface elevation data in front of the vehicle; then, based on the road surface elevation data and the suspension dynamics model, acquire the second required damping force of the shock absorber; and when the second required damping force meets the demagnetization condition, perform demagnetization treatment on the electromagnetic suspension.

[0078] Specifically, when obtaining the second required damping force, feature extraction can be performed on the road elevation data to obtain the road elevation features; then, based on the road elevation features and the suspension dynamics model, the second required damping force can be obtained.

[0079] In the embodiments of this specification, the road surface elevation characteristics include at least one of road surface roughness and dominant wavelength. Preferably, the road surface elevation characteristics include road surface roughness and dominant wavelength.

[0080] In some embodiments, after obtaining the second required damping force, the third commutation confidence of the shock absorber can be obtained based on the second required damping force; when the third commutation confidence is not less than a third set threshold, the electromagnetic suspension is demagnetized.

[0081] Specifically, when obtaining the third commutation confidence level, the second damping difference between the second required damping force and the second set damping force can be obtained first; then, based on the second damping difference and the third difference, the third commutation confidence level of the shock absorber can be obtained.

[0082] Specifically, the elevation information sequence Z of the road surface ahead can be obtained through a pre-aiming camera. road (t+Δt), signal processing techniques (such as wavelet analysis) are used to extract characteristic parameters such as road surface roughness and dominant wavelength, and combined with a simplified 1 / 4 vehicle suspension dynamics model, to predict the suspension dynamic response in the near future. The suspension model can be expressed as:

[0083]

[0084] In Formula 6, m s Let m be the sprung mass. uLet z1 be the unsprung mass, z2 be the sprung displacement, and k be the unsprung displacement. s For the spring stiffness, c d k is the damping coefficient of the shock absorber. t For tire stiffness, z road For road surface excitation, Z u Z is the vertical velocity under the spring. s z3 is the sprung velocity, z4 is the unsprung acceleration of the vehicle body, and z5 is the unsprung acceleration of the vehicle body.

[0085] Thus, based on model predictive control theory, the optimal damping force requirement can be derived to calculate the second required damping force, and then the second damping difference between the second required damping force and the second set damping force can be obtained; then, based on the second damping difference and the third difference, the third commutation confidence of the shock absorber can be obtained.

[0086] If the second damping difference is denoted as x2, the second set damping force as u3, the third difference as σ3, and the third weight as w3, then the third commutation confidence can be obtained through formula 7, as follows:

[0087]

[0088] In Formula 7, T3 represents the third commutation confidence level, and exp represents the natural exponential function.

[0089] Thus, after obtaining the second commutation confidence level T3 using Formula 7, it is determined whether T3 is not less than the third preset threshold. If it is not less, the electromagnetic suspension is demagnetized. For the pre-aiming signal, a Gaussian process confidence interval is used, reflecting the dynamic matching relationship between the degree of abrupt change in road excitation and the tracking capability of the suspension system. Specific effects are as follows... Figure 3 As shown, the road excitation signal 30 is relatively smooth during the intermediate reversing and enabling process, and the road section during the intermediate enabling process is a gentle road section 31. Therefore, the demand for damping force changes little, which can effectively avoid abnormal noise of the shock absorber caused by the sudden change in damping force due to demagnetization and reversing.

[0090] In some instances, after acquiring motion data and the second required damping force, it can be determined whether the motion data and the second required damping force meet the demagnetization conditions. If the motion data and the second required damping force meet the demagnetization conditions, the electromagnetic suspension is demagnetized.

[0091] Specifically, the first commutation confidence level of the shock absorber can be obtained based on its motion data; the third commutation confidence level can be obtained based on the second required damping force; and the electromagnetic suspension is demagnetized when the sum of the first and third commutation confidence levels is not less than a fourth set value.

[0092] Specifically, the first commutation confidence level can be obtained according to Formula 4 and the third commutation confidence level can be obtained according to Formula 7. Then, it is determined whether the sum of Formula 4 and Formula 7 is not less than the fourth set value. If it is not less than the set value, the electromagnetic suspension is demagnetized.

[0093] In some embodiments, after acquiring motion data and the second required damping force, current waveform characteristics within historical commutation cycles can also be acquired; based on the current waveform characteristics, the fourth commutation confidence level of the shock absorber is acquired; when the sum of the first commutation confidence level, the third commutation confidence level, and the fourth commutation confidence level is not less than a fifth set value, the electromagnetic suspension is demagnetized.

[0094] In the embodiments of this specification, the current waveform characteristics include at least one of the following: the cumulative time of the last commutation, the average current intensity during the commutation cycle, and the current work done during the commutation cycle. Preferably, the current waveform characteristics include the cumulative time of the last commutation, the average current intensity during the commutation cycle, and the current work done during the commutation cycle.

[0095] Specifically, for the current commutation demagnetization process, key features of the current waveform within historical commutation cycles are extracted, including the cumulative time of the last commutation, the average current intensity within the commutation cycle, and the work done by the current within the commutation cycle. Using a fuzzy logic system, these features are mapped to a fourth commutation confidence level. The rules are calibrated based on experimental data of residual magnetism in magnetorheological dampers, which can effectively diagnose performance degradation caused by residual magnetism.

[0096] The fourth method for calculating the confidence level is shown in Formula 8, which uses a step function and an ideal threshold for calculation.

[0097]

[0098] In Formula 8, T4 is the fourth commutation confidence level, w4 is the fourth weight, θ is the ideal threshold, and x3 is the duration of non-commutation and / or the accumulated work within the non-commutation period. For example, if the historical non-commutation time is to be judged, it can be set to 5 seconds. In this case, θ is 5 seconds. If x3 is greater than 5 after 5 seconds, It equals 1.

[0099] Thus, after obtaining Formula 8, we can use Formulas 4, 7, and 8 to determine whether the sum of the first reversal confidence level, the third reversal confidence level, and the fourth reversal confidence level is not less than the fifth set value, as shown in Formula 9:

[0100]

[0101] Where T is the fifth set value. If the sum of the three commutation confidence levels in Formula 9 is not less than T, then the electromagnetic suspension is demagnetized; otherwise, no demagnetization is performed.

[0102] In another embodiment, the electromagnetic suspension can be demagnetized when the sum of the second, third, and fourth commutation confidence levels is not less than a sixth preset value; the electromagnetic suspension can also be demagnetized when the sum of the third and fourth commutation confidence levels is not less than a seventh preset value; or the motion data of the shock absorber can be determined based on the first or second commutation confidence level, combined with the third or fourth commutation confidence level, to determine whether the demagnetization condition is met, and the electromagnetic suspension can be demagnetized when the demagnetization condition is met.

[0103] In this embodiment, each of the first to seventh settings can be set according to actual needs or actual conditions, and this specification does not impose any specific restrictions.

[0104] This application employs an improved entropy weighting method to dynamically allocate weights for forward-looking, real-time, and historical confidence levels. Weight allocation is based on the uncertainty of each dimension of data; lower uncertainty is assigned a higher weight, thus highlighting the decision-making contribution of highly reliable data. The overall confidence level is calculated through weighted fusion, as shown in Formula 9. If it exceeds a set value of five, a commutation and demagnetization command is triggered. This command is transmitted to the underlying driver through the runtime environment (RTE) of the AUTOSAR architecture, where the PWM module of the microcontroller abstraction layer (MCAL) performs high-precision current control to ensure the real-time performance and robustness of the magnetic field switching.

[0105] like Figure 4 As shown, the demagnetization method for electromagnetic suspension provided in this application embodiment relies on the vehicle control system. The implementation process is as follows: First, step 40, power-on, is executed to power on and start the controller; after the controller is powered on and started, step 421, MCAL, is executed to perform drive configuration, that is, the underlying drive configuration is completed through the microcontroller abstraction layer MCAL. The system first completes hardware initialization and then completes the underlying drive configuration through the microcontroller abstraction layer MCAL; then step 41, sensor data acquisition, sensors such as current sensors, temperature sensors, or position sensors begin to acquire physical signals in real time. The raw data is transmitted through the MCAL's ADC, SPI / I 2Standardized driver transmission, including the C-type communication interface, is transmitted to the basic software BSW layer. After receiving the raw sensor data, the BSW layer executes step 44, BSW layer data processing. The BSW layer calibrates, converts, and verifies the validity of the raw sensor data through a complex driver module, resulting in a standardized signal. Then, step 43, RTE data communication, is executed. The standardized signal is received through the RTE and transmitted to the application layer. Then, step 44, application layer signal analysis, is executed. At this point, the application layer analyzes the signal based on a preset control strategy and determines whether to execute step S45, or whether to perform commutation, based on the current system state. After determining whether to perform commutation or demagnetization, the decision result is returned to the BSW layer through the RTE. The ECU abstraction layer of the BSW layer calls the MCAL's PWM module, GPIO control, and other underlying drivers, ultimately driving the actuator to execute step 422, actuator control. The actuator performs commutation control or demagnetization reverse current injection. The entire process achieves hardware and software decoupling through the AUTOSAR layered architecture, ensuring real-time performance, reliability, and functional safety.

[0106] The application layer generates a commutation enable signal (including direction, timestamp, status, etc.) and sends it to the RTE layer, which then forwards it to the Pad. The Pad performs signal parsing, and the animation rendering engine and damping application UI dynamically respond as follows: Figure 5 As shown, the Pad uses a multimodal display of the reversing icon (color gradient, vector animation, etc.) to prompt the user that the damping has reversed direction, and uses an algorithm to compensate for communication delays to ensure that the animation and physical reversing action are synchronized.

[0107] The technical solutions in the embodiments of this specification do not require special activation of alternating current. The demagnetization function is integrated into the operation control and demagnetizes in real time. They also do not require built-in sensors; instead, they utilize suspension sensors (height and acceleration sensors, and an IMU) for motion identification. Simultaneously, based on the real-time shock absorber speed, the FV curve of the shock absorber is adapted, and demagnetization is performed during movement. Furthermore, they can be combined with pre-aiming camera signals to predict future road conditions and pre-process the demagnetization actions for a period of time in the future. This results in higher consistency between the demagnetization process and the shock absorber's movement, effectively reducing the probability of abnormal noise from the shock absorber caused by sudden changes in damping force during demagnetization and commutation, thus improving user comfort.

[0108] This application also provides a computer-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the above-described demagnetization method for an electromagnetic suspension.

[0109] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application 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, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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, create a machine 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.

[0111] 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.

[0112] 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.

[0113] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0114] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0115] Computer-readable media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated communication signals and carrier waves.

[0116] like Figure 6 The diagram shown is a schematic representation of a vehicle architecture provided in an embodiment of this application. In this embodiment, the vehicle includes a controller as described above. In this embodiment, the vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this disclosure does not specifically limit it in this way.

[0117] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0118] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0119] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0120] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A method for demagnetizing an electromagnetic suspension, characterized in that, include: Obtain motion data of the shock absorbers in the electromagnetic suspension; When the motion data meets the demagnetization conditions, the electromagnetic suspension is demagnetized.

2. The method as described in claim 1, characterized in that, The acquisition of motion data of the shock absorbers in the electromagnetic suspension includes: Acquire suspension data collected by suspension sensors mounted on the electromagnetic suspension; Based on the suspension data, the motion data of the shock absorber is obtained.

3. The method as described in claim 2, characterized in that, The suspension data includes at least one of sprung speed, pitch rate, roll rate, unsprung acceleration, and the horizontal projection of the wheel in the horizontal direction and the vertical projection in the vertical direction.

4. The method as described in claim 3, characterized in that, If the suspension data includes the sprung motion speed, the pitch angular velocity, the roll angular velocity, the horizontal projection, and the vertical projection, then obtaining the motion data of the shock absorber based on the suspension data includes: The top movement speed of the shock absorber is obtained based on the sprung motion speed, the pitch angular velocity, the roll angular velocity, the horizontal projection, and the vertical projection. The motion data of the shock absorber is obtained based on the speed of movement at the top of the tower.

5. The method as described in claim 4, characterized in that, The step of obtaining the tower top movement speed of the shock absorber based on the sprung motion speed, the pitch angular velocity, the roll angular velocity, the horizontal projection, and the vertical projection includes: Obtain the first product of the pitch angular velocity and the horizontal projection; Obtain the second product of the roll angular velocity and the vertical projection; The speed of movement at the top of the tower is obtained based on the speed of movement on the spring, the first product, and the second product.

6. The method as described in claim 5, characterized in that, If the suspension data includes the unsprung acceleration, the method further includes: The unsprung vertical velocity of the electromagnetic suspension is obtained based on the unsprung acceleration. The step of obtaining the motion data of the shock absorber based on the tower top movement speed includes: The motion data of the shock absorber is obtained based on the speed of movement at the top of the tower and the vertical speed under the spring.

7. The method as described in claim 1, characterized in that, The method further includes: Based on the motion data of the shock absorber, the first commutation confidence level of the shock absorber is obtained; The step of demagnetizing the electromagnetic suspension when the motion data meets the demagnetization conditions includes: When the first commutation confidence level is not less than the first set threshold, the electromagnetic suspension is demagnetized.

8. The method as described in claim 7, characterized in that, The step of obtaining the first commutation confidence level of the shock absorber based on the motion data of the shock absorber includes: Obtain the motion difference between the motion data of the shock absorber and the set parameters; The first commutation confidence level of the shock absorber is obtained based on the motion difference and the first variance.

9. The method as described in claim 1, characterized in that, The method further includes: Obtain the drive current of the shock absorber; Based on the driving current and the motion data of the shock absorber, the first required damping force of the shock absorber is obtained; The step of demagnetizing the electromagnetic suspension when the motion data meets the demagnetization conditions includes: When the first required damping force meets the demagnetization condition, the electromagnetic suspension is demagnetized.

10. The method as described in claim 9, characterized in that, The method further includes: Based on the first required damping force, obtain the second commutation confidence level of the shock absorber; The step of demagnetizing the electromagnetic suspension when the first required damping force meets the demagnetization condition includes: When the second commutation confidence level is not less than the second set threshold, the electromagnetic suspension is demagnetized.

11. The method as described in claim 10, characterized in that, The step of obtaining the second commutation confidence level of the shock absorber based on the first required damping force includes: Obtain the first damping difference between the first required damping force and the first set damping force; The second commutation confidence level of the shock absorber is obtained based on the first damping difference and the second variance.

12. The method as described in claim 8, characterized in that, The method further includes: Obtain road elevation data in front of the vehicle; Based on the road surface elevation data and suspension dynamics model, the second required damping force of the shock absorber is obtained; When the second required damping force meets the demagnetization condition, the electromagnetic suspension is demagnetized.

13. The method as described in claim 12, characterized in that, The step of obtaining the second required damping force of the shock absorber based on the road surface elevation data and the suspension dynamics model includes: Feature extraction is performed on the road surface elevation data to obtain road surface elevation features; The second required damping force is obtained based on the road surface elevation characteristics and the suspension dynamics model.

14. The method as described in claim 13, characterized in that, The road surface elevation characteristics include at least one of road surface roughness and dominant wavelength.

15. The method as described in claim 14, characterized in that, The method further includes: Based on the second required damping force, obtain the third commutation confidence level of the shock absorber; When the second required damping force meets the demagnetization condition, the electromagnetic suspension is demagnetized, including: When the third commutation confidence level is not less than the third set threshold, the electromagnetic suspension is demagnetized.

16. The method as described in claim 15, characterized in that, The step of obtaining the third commutation confidence level of the shock absorber based on the second required damping force includes: Obtain the second damping difference between the second required damping force and the second set damping force; The third commutation confidence level of the shock absorber is obtained based on the second damping difference and the third difference.

17. The method as described in claim 15, characterized in that, The step of demagnetizing the electromagnetic suspension when the motion data meets the demagnetization conditions includes: When the motion data and the second required damping force meet the demagnetization conditions, the electromagnetic suspension is demagnetized.

18. The method as described in claim 17, characterized in that, The method further includes: Based on the motion data of the shock absorber, the first commutation confidence level of the shock absorber is obtained; Based on the second required damping force, obtain the third commutation confidence level of the shock absorber; When the motion data and the second required damping force satisfy the demagnetization condition, the electromagnetic suspension is demagnetized, including: When the sum of the first commutation confidence level and the third commutation confidence level is not less than a fourth set value, the electromagnetic suspension is demagnetized.

19. The method as described in claim 17, characterized in that, The method further includes: Obtain the current waveform characteristics within historical commutation cycles; Based on the current waveform characteristics, the fourth commutation confidence level of the shock absorber is obtained; The step of demagnetizing the electromagnetic suspension when the motion data meets the demagnetization conditions includes: When the sum of the first commutation confidence level, the third commutation confidence level, and the fourth commutation confidence level is not less than a fifth preset value, the electromagnetic suspension is demagnetized.

20. The method as described in claim 19, characterized in that, The current waveform characteristics include at least one of the following: the cumulative time of the last commutation, the average current intensity during the commutation cycle, and the current work done during the commutation cycle.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 20.

22. A controller having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 20.

23. A vehicle, characterized in that, Includes the controller as described in claim 22.

24. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a processor, implement the steps of the method according to any one of claims 1 to 20.

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