Zero overshoot force control method and system for an electromagnetic active suspension

Abstract

The application discloses a zero overshoot force control method and system of an electromagnetic active suspension, and belongs to the technical field of suspension control. The method comprises the following steps: in response to an active suspension control request data, a target suspension force in the active suspension control request data is acquired; based on the target suspension force, a target control current of a target motor is determined, wherein the target control current comprises a q-axis target current and a d-axis target current; a current three-phase current of the target motor is acquired, based on the current three-phase current, a current control current and a current electric angular velocity are determined, wherein the current control current comprises a q-axis current control current and a d-axis current control current; based on the current control current, the current electric angular velocity and the target control current, a target PWM pulse signal is determined; and in response to the target PWM pulse signal, a control instruction set is generated. The application solves the problem of current and suspension force overshoot caused by the fact that the traditional PI control does not effectively process the d-q axis cross coupling in the existing electromagnetic active suspension force control.

Description

Technical Field

[0001] This invention discloses a zero overshoot force control method and system for an electromagnetic active suspension, belonging to the field of suspension control technology. Background Technology

[0002] Existing electromagnetic active suspension systems mostly use permanent magnet synchronous motors as actuators. Their force control is essentially the precise control of the current loop. However, traditional PI control does not effectively compensate for the cross-coupled electromotive force of the dq axis, resulting in a second-order coupled system. Under step force commands, there is significant current and suspension force overshoot, producing a "jerkiness." Furthermore, the dq axis currents interfere with each other, and the force control accuracy is greatly affected by changes in motor speed and parameters (stator resistance, inductance, permanent magnet flux linkage). Parameter tuning relies on trial and error or empirical formulas. At the same time, internal model control is not directly applied to force control, and feedforward decoupling is separated from PI parameter design, making it impossible to simultaneously meet the requirements of fast response and zero overshoot. It also lacks a unified control architecture compatible with rotary and linear motors, making it difficult to adapt to the harsh working environment and high-performance control requirements of active suspension systems under all operating conditions. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention proposes a zero-overshoot force control method and system for electromagnetic active suspension, which solves the problem of current and suspension force overshoot caused by the failure of traditional PI control to effectively handle the cross-coupling of the dq axes in existing electromagnetic active suspension force control.

[0004] The technical solution of the present invention is as follows:

[0005] According to a first aspect of the present invention, a zero overshoot force control method for an electromagnetic active suspension is provided, comprising: in response to active suspension control request data, acquiring a target suspension force in the active suspension control request data; determining a target control current for a target motor based on the target suspension force, wherein the target control current includes a q-axis target current and a d-axis target current; acquiring the current three-phase current of the target motor, and determining a current control current and a current electrical angular velocity based on the current three-phase current, wherein the current control current includes a q-axis current control current and a d-axis current control current; determining a target PWM pulse signal based on the current control current, the current electrical angular velocity, and the target control current; and generating a control instruction set in response to the target PWM pulse signal, the control instruction set being used to control the target motor to perform a target action corresponding to the target suspension force.

[0006] Furthermore, based on the target suspension force, the target control current of the target motor is determined, including: based on the target suspension force, obtaining the current target motor model coefficient through the motor database; and based on the current target motor model coefficient, obtaining the target control current.

[0007] Further, based on the current control current, the current electrical angular velocity, and the target control current, the target PWM pulse signal is determined, including: determining the cross-coupling electromotive force (EMF) based on the current electrical angular velocity, wherein the cross-coupling EMF includes: d-axis cross-coupling EMF and q-axis cross-coupling EMF; determining the feedforward decoupling compensation voltage based on the cross-coupling EMF, wherein the feedforward decoupling compensation voltage includes: d-axis feedforward decoupling compensation voltage and q-axis feedforward decoupling compensation voltage; determining the internal model PI feedback control voltage based on the current control current and the target control current, wherein the internal model PI feedback control voltage includes: d-axis internal model PI feedback control voltage and q-axis internal model PI feedback control voltage; obtaining the target control voltage based on the feedforward decoupling compensation voltage and the internal model PI feedback control voltage, wherein the target control voltage includes: d-axis target control voltage and q-axis target control voltage; and determining the target PWM pulse signal based on the target control voltage.

[0008] Furthermore, based on the current control current and the target control current, the internal model PI feedback control voltage is determined, including: determining the q-axis current error based on the q-axis target current and the current q-axis control current; determining the q-axis internal model PI feedback control voltage based on the q-axis current error and the integral coefficient of the q-axis PI controller; determining the d-axis current error based on the d-axis target current and the current d-axis control current; and determining the d-axis internal model PI feedback control voltage based on the d-axis current error and the integral coefficient of the d-axis PI controller.

[0009] Furthermore, the zero overshoot force control method also includes: in response to the target motor performing the target action corresponding to the target suspension force, acquiring the current three-phase current; based on the current three-phase current, determining the current q-axis control current; based on the current q-axis control current and the q-axis target current, determining the q-axis current error; based on the q-axis current error, judging through a preset threshold to obtain a judgment result; in response to the judgment result that the q-axis current error is greater than the preset threshold, executing a warning action; in response to the judgment result that the q-axis current error is less than or equal to the preset threshold, reacquiring the judgment result.

[0010] According to a second aspect of the present invention, a zero overshoot force control system for an electromagnetic active suspension is provided, comprising: a data acquisition module, configured to acquire a target suspension force in the active suspension control request data in response to active suspension control request data; a target determination module, configured to determine a target control current of a target motor based on the target suspension force, wherein the target control current includes a q-axis target current and a d-axis target current; a current determination module, configured to acquire the current three-phase current of the target motor, and determine a current control current and a current electrical angular velocity based on the current three-phase current, wherein the current control current includes a q-axis current control current and a d-axis current control current; a pulse determination module, configured to determine a target PWM pulse signal based on the current control current, the current electrical angular velocity, and the target control current; and an instruction generation module, configured to generate a control instruction set in response to the target PWM pulse signal, wherein the control instruction set is used to control the target motor to perform a target action corresponding to the target suspension force.

[0011] Furthermore, the target module is used to: determine the current target motor model coefficient based on the target suspension force through the motor database; and obtain the target control current based on the current target motor model coefficient.

[0012] Further, a pulse module is defined for: determining the cross-coupled electromotive force (EMF) based on the current electrical angular velocity, wherein the cross-coupled EMF includes the d-axis cross-coupled EMF and the q-axis cross-coupled EMF; determining the feedforward decoupling compensation voltage based on the cross-coupled EMF, wherein the feedforward decoupling compensation voltage includes the d-axis feedforward decoupling compensation voltage and the q-axis feedforward decoupling compensation voltage; determining the internal model PI feedback control voltage based on the current control current and the target control current, wherein the internal model PI feedback control voltage includes the d-axis internal model PI feedback control voltage and the q-axis internal model PI feedback control voltage; obtaining the target control voltage based on the feedforward decoupling compensation voltage and the internal model PI feedback control voltage, wherein the target control voltage includes the d-axis target control voltage and the q-axis target control voltage; and determining the target PWM pulse signal based on the target control voltage.

[0013] According to a third aspect of the present invention, a vehicle is provided, comprising:

[0014] One or more processors;

[0015] Memory for storing the one or more processor-executable instructions;

[0016] Wherein, the one or more processors are configured as follows:

[0017] Perform the method described in the first aspect of the embodiments of the present invention.

[0018] According to a fourth aspect of the present invention, a non-transitory computer-readable storage medium is provided, wherein when instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to perform the method described in the first aspect of the present invention.

[0019] According to a fifth aspect of the present invention, an application product is provided that, when the application product is running on a terminal, causes the terminal to execute the method described in the first aspect of the present invention.

[0020] The beneficial effects of this invention are as follows:

[0021] This invention provides a zero-overshoot force control method and system for an electromagnetic active suspension. Through feedforward decoupling and internal model control collaborative design, the cross-coupled electromotive force of the dq-axis is precisely canceled, decoupling the system into two independent first-order inertial elements. PI parameters are designed based on the internal model control principle, achieving a zero-overshoot response for the suspension force and completely eliminating the "jerkiness" caused by force overshoot. Independent control of the dq-axis current significantly improves force control accuracy, reduces steady-state error and dynamic tracking deviation, and the structural constraints of the internal model PI parameters ensure synchronous changes in zeros and poles, greatly enhancing robustness to motor parameter perturbations, maintaining stable system performance even when motor parameters change. Clear theoretical design formulas are provided, reducing parameter tuning time from hours to minutes, simplifying the tuning process. Furthermore, by configuring force-current conversion parameters and electric angular velocity calculation methods, a unified control architecture for the rotary and linear motors is achieved, reducing development and maintenance costs and meeting the high-performance control requirements of active suspension under all operating conditions.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating a zero overshoot control method for an electromagnetic active suspension according to an exemplary embodiment.

[0024] Figure 2 This is a block diagram of the inner mode control current loop in an electromagnetic active suspension zero overshoot force control method according to an exemplary embodiment.

[0025] Figure 3 This is a schematic block diagram illustrating the structure of a zero overshoot control system for an electromagnetic active suspension according to an exemplary embodiment.

[0026] Figure 4 This is a schematic block diagram of a vehicle structure according to an exemplary embodiment. Detailed Implementation

[0027] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] This invention provides a zero overshoot force control method for an electromagnetic active suspension, implemented by a terminal, which includes at least a CPU.

[0031] Example 1: Figure 1 This is an exemplary embodiment illustrating a zero overshoot control method for an electromagnetic active suspension, comprising:

[0032] Step S101: In response to the active suspension control request data, obtain the target suspension force from the active suspension control request data. The specific steps are as follows:

[0033] In step S101, active suspension control request data is received from the upper suspension controller (such as model predictive control active suspension control strategy or LQR active suspension control strategy), and the target suspension force in the active suspension control request data is obtained.

[0034] Step S102: Based on the target suspension force, determine the target control current of the target motor. The specific steps are as follows:

[0035] In step S102, the target control current includes: the q-axis target current and the d-axis target current. First, based on the target suspension force, the current target motor model coefficient is determined through the motor database; based on the current target motor model coefficient, the target control current is obtained. The specific process and example are as follows:

[0036] The motor database is specifically a database of force-current conversion relationships for different motor types. For rotating motors, the q-axis current is calculated using formula (1) through pre-calibrated force-current conversion coefficients:

[0037] (1)

[0038] in, F is the force-to-current conversion coefficient of a rotating electric machine. s The target suspension force for the rotating motor. It is related to parameters such as the number of pole pairs, permanent magnet flux linkage, and mechanical transmission of the motor. For a linear motor, the q-axis current is calculated using formula (2) through a pre-calibrated force-to-current conversion coefficient:

[0039] (2)

[0040] in, F is the force-to-current conversion coefficient for linear motors. s The target suspension force for the rotating motor. This is related to parameters such as the number of pole pairs, permanent magnet flux linkage, and pole pitch of the motor. The control method achieves unified control of different actuators by configuring different force-to-current conversion coefficients.

[0041] Step S103: Obtain the current three-phase current of the target motor. Based on the current three-phase current, determine the current control current and the current electric angular velocity. The specific steps are as follows:

[0042] In step S103, the current control current includes the q-axis current control current and the d-axis current control current. The current three-phase current of the target motor is obtained, and the current three-phase current is transformed into αβ current through Clarke. The αβ current is then converted into the current control current through Park transformation. At the same time, the rotor position angle of the motor is obtained. And calculate the electric angular velocity according to the type of motor. electric angular velocity The calculation method varies depending on the type of motor, which reflects the characteristics of the unified control architecture of this invention.

[0043] For the electric angular velocity of a rotating motor:

[0044] (3)

[0045] in, This represents the number of pole pairs of the motor. The mechanical angular velocity is the rotor position angle that can be measured by an encoder or resolver. Differentiation is obtained.

[0046] For the linear motor, the electric angular velocity is:

[0047] (4)

[0048] in: The linear velocity of the moving part. The pole pitch of the motor. The linear velocity is obtained by differentiating the mover position from the position sensor. The control method, by configuring different electric angular velocity calculation methods, ensures that the current loop controller algorithm is identical, thus achieving a unified control architecture for both rotary and linear motors.

[0049] Step S104: Based on the current current, the target control current, and the current electrical angular velocity, determine the target PWM pulse signal. The specific steps are as follows:

[0050] In step S104, the current feedforward decoupling compensator decouples the cross-coupled electromotive force of the dq axis using the current electrical angle, current current, and inductance coefficient obtained from the motor database. The specific steps are as follows:

[0051] The cross-coupled electromotive force includes the d-axis cross-coupled electromotive force and the q-axis cross-coupled electromotive force.

[0052] The cross-coupled electromotive force along the d-axis (the voltage disturbed by the q-axis) is:

[0053] E couple−d =ω e ×L q ×i q (5)

[0054] Among them: E couple−d ω is the cross-coupled electromotive force along the q-axis. e L is the electric angular velocity. q Let i be the current inductance along the q-axis. q The current control current on the q-axis and the cross-coupling electromotive force on the d-axis are positive values ​​that will be used for subsequent feedforward compensation to counteract negative interference.

[0055] The cross-coupling electromotive force along the q-axis (voltage disturbed by the d-axis + voltage disturbed by the permanent magnet flux linkage) is:

[0056] E couple−q =ω e ×L d ×i d +ω e ×φ f (6)

[0057] Among them: E couple−q The cross-coupled electromotive force along the q-axis, ω eL is the electric angular velocity. d Let i be the current inductance along the d-axis. d The current control current along the d-axis, φ f For permanent magnet flux linkage, the cross-coupling electromotive force of the q-axis is a positive value that will be used for subsequent feedforward compensation to counteract negative interference.

[0058] Based on the cross-coupled electromotive force, the feedforward decoupling compensation voltage is determined, which includes the d-axis feedforward decoupling compensation voltage and the q-axis feedforward decoupling compensation voltage.

[0059] In step S104, the internal model PI feedback controller designs PI parameters based on the internal model control principle. The specific design steps are as follows:

[0060] (7)

[0061] in , , , These are the parameters of the PI controller for the dq axis internal mold. For the desired closed-loop bandwidth parameters, and For d-axis and q-axis inductance, The stator resistance is used. The internal model PI feedback controller determines the internal model PI feedback control voltage based on the current control current and the target control current. The internal model PI feedback control voltage includes: the d-axis internal model PI feedback control voltage and the q-axis internal model PI feedback control voltage, such as... Figure 2 As shown,

[0062] Determine the q-axis current error based on the q-axis target current and the current q-axis control current:

[0063] (8)

[0064] Among them, e q For q-axis current error, i q* Let i be the target current along the q-axis. q This is the current control current for the q-axis.

[0065] Based on the q-axis current error and the integral coefficient of the q-axis PI controller, the q-axis internal model PI feedback control voltage is determined:

[0066] (9)

[0067] Determine the d-axis current error based on the d-axis target current and the current d-axis control current:

[0068] (10)

[0069] Among them, e d For the d-axis current error, i d* Let i be the target current along the d-axis. d This is the current control current along the d-axis.

[0070] Based on the d-axis current error and the integral coefficient of the d-axis PI controller, the d-axis internal model PI feedback control voltage is determined:

[0071] (11)

[0072] Based on the feedforward decoupling compensation voltage and the internal model PI feedback control voltage, the target control voltage is obtained, which includes the d-axis target control voltage and the q-axis target control voltage.

[0073] The target control voltage for the q-axis is:

[0074] u q = u q0 + E couple−q (12)

[0075] Where: u q The target control voltage for the q-axis;

[0076] d-axis target control voltage:

[0077] u d = u d0 - E couple−d (13)

[0078] Where: u d The target control voltage for the d-axis;

[0079] Based on the target control voltage, the target PWM pulse signal is determined. The specific steps are as follows:

[0080] The target PWM pulse signal is determined based on the target control voltage through inverse Park transform and SVPWM modulation.

[0081] Step S105: In response to the target PWM pulse signal, a control instruction set is generated. The control instruction set is used to control the target motor to perform the target action corresponding to the target suspension force. The specific steps are as follows:

[0082] In response to the target PWM pulse signal, a control command set is generated. This control command set is used to control the target motor to perform the target action corresponding to the target suspension force, thereby outputting the target suspension force and completing the buffering task. The target action is the rotation of the target motor's main shaft to generate the target suspension force.

[0083] The zero overshoot force control method further includes: in response to the target motor performing the target action corresponding to the target suspension force, acquiring the current three-phase current; determining the current q-axis control current based on the current three-phase current; determining the q-axis current error based on the current q-axis control current and the q-axis target current; judging based on the q-axis current error through a preset threshold to obtain a judgment result; in response to the judgment result that the q-axis current error is greater than the preset threshold, executing a warning action; in response to the judgment result that the q-axis current error is less than or equal to the preset threshold, reacquiring the judgment result.

[0084] Example 2: Figure 3 This is an exemplary embodiment illustrating a zero overshoot control system for an electromagnetic active suspension, comprising:

[0085] The data acquisition module 210 is used to acquire the target suspension force in the active suspension control request data in response to the active suspension control request data;

[0086] The target determination module 220 is used to determine the target control current of the target motor based on the target suspension force, wherein the target control current includes: the q-axis target current and the d-axis target current;

[0087] The current module 230 is determined to obtain the current three-phase current of the target motor. Based on the current three-phase current, the current control current and the current electric angular velocity are determined. The current control current includes the current control current of the q-axis and the current control current of the d-axis.

[0088] The pulse module 240 is used to determine the target PWM pulse signal based on the current control current, the current electrical angular velocity, and the target control current.

[0089] The instruction generation module 250 is used to generate a control instruction set in response to the target PWM pulse signal. The control instruction set is used to control the target motor to perform the target action corresponding to the target suspension force.

[0090] Furthermore, the target module 220 is used to: determine the current target motor model coefficient based on the target suspension force through the motor database; and obtain the target control current based on the current target motor model coefficient.

[0091] Further, the pulse module 240 is configured to: determine the cross-coupled electromotive force (EMF) based on the current electrical angular velocity, wherein the cross-coupled EMF includes the d-axis cross-coupled EMF and the q-axis cross-coupled EMF; determine the feedforward decoupling compensation voltage based on the cross-coupled EMF, wherein the feedforward decoupling compensation voltage includes the d-axis feedforward decoupling compensation voltage and the q-axis feedforward decoupling compensation voltage; determine the internal model PI feedback control voltage based on the current control current and the target control current, wherein the internal model PI feedback control voltage includes the d-axis internal model PI feedback control voltage and the q-axis internal model PI feedback control voltage; obtain the target control voltage based on the feedforward decoupling compensation voltage and the internal model PI feedback control voltage, wherein the target control voltage includes the d-axis target control voltage and the q-axis target control voltage; and determine the target PWM pulse signal based on the target control voltage.

[0092] Example 3: Figure 4 This is a block diagram of a vehicle 300 provided in an embodiment of this application. For example, vehicle 300 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 300 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle. Vehicle 300 can also be equipped with a brake-by-wire system.

[0093] Reference Figure 4 The vehicle 600 may include various subsystems, such as an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. The vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 300 can be interconnected via wired or wireless means.

[0094] In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, and a navigation system, etc.

[0095] The perception system 320 may include several sensors for sensing information about the environment surrounding the vehicle 300. For example, the perception system 320 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera system.

[0096] The decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0097] The drive system 340 may include components that provide powered motion to the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0098] Some or all of the functions of the vehicle 300 are controlled by a computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352, the processor 351 being able to execute instructions 353 stored in the memory 352.

[0099] Processor 351 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0100] The memory 352 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0101] In addition to instruction 353, memory 352 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 352 can be used by computing platform 350.

[0102] In this embodiment of the disclosure, the processor 351 may execute instruction 353 to complete all or part of the steps of the above-described method for zero overshoot force control of an electromagnetic active suspension.

[0103] Example 4: In an exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements a zero overshoot control method for an electromagnetic active suspension as provided in all embodiments of the present application.

[0104] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, system, or device.

[0105] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, system, or device.

[0106] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0107] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0108] Example 5: In an exemplary embodiment, an application product is also provided, including one or more instructions, which can be executed by the processor 351 of the above system to complete the above-described electromagnetic active suspension zero overshoot force control method.

[0109] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Other modifications can be readily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.

Claims

1. A zero-beat force control method for an electromagnetic active suspension, characterized by, include: In response to active suspension control request data, the target suspension force in the active suspension control request data is obtained; Based on the target suspension force, the target control current of the target motor is determined, wherein the target control current includes: the q-axis target current and the d-axis target current; Obtain the current three-phase current of the target motor, and determine the current control current and current electric angular velocity based on the current three-phase current, wherein the current control current includes: the current control current of the q-axis and the current control current of the d-axis; The target PWM pulse signal is determined based on the current control current, the current electrical angular velocity, and the target control current; In response to the target PWM pulse signal, a control instruction set is generated, which is used to control the target motor to perform the target action corresponding to the target suspension force; The determination of the target PWM pulse signal based on the current control current, the current electrical angular velocity, and the target control current includes: Based on the current electric angular velocity, the cross-coupled electromotive force is determined, wherein the cross-coupled electromotive force includes: d-axis cross-coupled electromotive force and q-axis cross-coupled electromotive force; Based on the cross-coupled electromotive force, the feedforward decoupling compensation voltage is determined, wherein the feedforward decoupling compensation voltage includes: d-axis feedforward decoupling compensation voltage and q-axis feedforward decoupling compensation voltage; Based on the current control current and the target control current, the internal model PI feedback control voltage is determined, wherein the internal model PI feedback control voltage includes: the d-axis internal model PI feedback control voltage and the q-axis internal model PI feedback control voltage; Based on the feedforward decoupling compensation voltage and the internal model PI feedback control voltage, a target control voltage is obtained, which includes: a d-axis target control voltage and a q-axis target control voltage. The target PWM pulse signal is determined based on the target control voltage.

2. The method of zero-beat force control of an electromagnetically active suspension according to claim 1, characterized in that Determining the target control current of the target motor based on the target suspension force includes: Based on the target suspension force, the coefficient of the current target motor model is obtained through the motor database; The target control current is obtained based on the current target motor model coefficient.

3. The zero overshoot force control method for electromagnetic active suspension according to claim 1, characterized in that, Determining the internal model PI feedback control voltage based on the current control current and the target control current includes: The q-axis current error is determined based on the target q-axis current and the current q-axis control current. Based on the q-axis current error and the integral coefficient of the q-axis PI controller, the q-axis internal model PI feedback control voltage is determined; The d-axis current error is determined based on the target d-axis current and the current d-axis control current. Based on the d-axis current error and the integral coefficient of the d-axis PI controller, the d-axis internal model PI feedback control voltage is determined.

4. The zero overshoot force control method for electromagnetic active suspension according to claim 1, characterized in that, The zero overshoot control method further includes: In response to the target motor performing the target action corresponding to the target suspension force, the current three-phase current is acquired; Based on the current three-phase current, determine the current control current of the q-axis; Based on the current q-axis control current and the target q-axis current, determine the q-axis current error; Based on the q-axis current error, a judgment result is obtained by using a preset threshold. If the judgment result indicates that the q-axis current error is greater than a preset threshold, then an early warning action is executed; If the judgment result indicates that the q-axis current error is less than or equal to a preset threshold, then the judgment result is reacquired.

5. A zero overshoot force control system for an electromagnetic active suspension, characterized in that, include: The data acquisition module is used to acquire the target suspension force in the active suspension control request data in response to the active suspension control request data; A target determination module is used to determine the target control current of the target motor based on the target suspension force, wherein the target control current includes: q-axis target current and d-axis target current; The current module is determined to obtain the current three-phase current of the target motor. Based on the current three-phase current, the current control current and the current electric angular velocity are determined. The current control current includes the current control current of the q-axis and the current control current of the d-axis. The pulse determination module is used to determine the target PWM pulse signal based on the current control current, the current electrical angular velocity, and the target control current; A command generation module is used to generate a control command set in response to the target PWM pulse signal. The control command set is used to control the target motor to perform the target action corresponding to the target suspension force. The pulse determination module is used for: Based on the current electric angular velocity, the cross-coupled electromotive force is determined, wherein the cross-coupled electromotive force includes: d-axis cross-coupled electromotive force and q-axis cross-coupled electromotive force; Based on the cross-coupled electromotive force, the feedforward decoupling compensation voltage is determined, wherein the feedforward decoupling compensation voltage includes: d-axis feedforward decoupling compensation voltage and q-axis feedforward decoupling compensation voltage; Based on the current control current and the target control current, the internal model PI feedback control voltage is determined, wherein the internal model PI feedback control voltage includes: the d-axis internal model PI feedback control voltage and the q-axis internal model PI feedback control voltage; Based on the feedforward decoupling compensation voltage and the internal model PI feedback control voltage, a target control voltage is obtained, which includes: a d-axis target control voltage and a q-axis target control voltage. The target PWM pulse signal is determined based on the target control voltage.

6. The zero overshoot force control system for electromagnetic active suspension according to claim 5, characterized in that, The target determination module is used for: Based on the target suspension force, the coefficient of the current target motor model is obtained through the motor database; Based on the current target motor model coefficient, the target control current is obtained through the motor database.

7. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the zero overshoot force control method for the electromagnetic active suspension according to any one of claims 1 to 4.

8. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When executed by the processor, the program instructions implement the steps of the zero overshoot force control method for the electromagnetic active suspension as described in any one of claims 1 to 4.

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