Multi-mode oil gas-inerter energy feedback actuator and system based on ball screw and control method

Abstract

The invention belongs to the technical field of vehicle suspensions, and particularly relates to a multi-mode oil gas-inerter energy feedback actuator and system based on a ball screw and a control method. The device comprises a shell, wherein a rotating motor is mounted on one side of the shell; a driving gear is arranged at one end of the lead screw nut, an upper support and a lower support are installed above and below the driving gear respectively, and a plurality of electromagnetic valves are arranged on the upper support and the lower electromagnetic valve respectively. A piston is installed at the tail end of the lead screw rod, the piston is attached to the inner wall of the shell in the circumferential direction, and a plurality of damping holes are formed in the piston in the axial direction. A reversing transmission wheel set is further arranged in the shell and is in transmission connection with the driving gear and the rotating motor. The lead screw slides downwards, the lead screw nut drives the rotating motor to generate electricity, the hydraulic oil provides inertia force for the suspension, the lead screw slides upwards, the lead screw nut drives the rotating motor to generate electricity, and the nitrogen provides elastic force for the suspension.

Description

Technical Field

[0001] This invention belongs to the field of vehicle suspension technology, and particularly relates to a multi-mode oil-gas-inertial capacitive energy feeding actuator and system based on ball screw, and control method. Background Technology

[0002] The suspension system of an automobile is the collective term for all force transmission devices used to connect the vehicle body and the wheels (or axles). Its main functions include support, multi-directional force / torque transmission, vibration energy dissipation, resonance frequency adjustment, and vehicle attitude control. It is an important component of the automobile chassis, and its dynamic characteristics directly determine the vehicle's handling dynamics, NVH (noise, vibration, and harshness) performance, and active safety parameters.

[0003] In related technologies, passive hydraulic dampers, due to their fixed damping-velocity characteristic curves, cannot achieve adaptive parameter adjustment under dynamic working conditions, and are difficult to effectively suppress multidimensional vibration responses caused by random road surface excitation.

[0004] To address this technological bottleneck, the engineering community has proposed suspension actuator solutions based on novel actuation principles and smart materials, including gas springs, inertial containers, and electromagnetic actuators. The introduction of inertial containers breaks through the theoretical framework of the traditional mass-spring-damping (MCK) system model. By introducing an inertial coefficient that is a function of the system's endpoint acceleration, the vibration transmission characteristics of the suspension system are significantly improved, particularly in the 0.5-5Hz frequency range where vibration isolation efficiency is significantly enhanced. Inertial containers are mainly divided into mechanical and hydraulic types. Hydraulic inertial containers utilize the inertial effect generated by the acceleration of fluid mass through a hydraulic circuit with a specific flow channel structure to produce a reaction force. This principle has a high degree of physical isomorphism with the pressure chamber dynamics of a gas spring system, making the integrated design of hydraulic inertial containers and gas springs highly feasible and practical.

[0005] However, the integrated design technology of hydraulic inertial containers and oil-gas springs often suffers from difficulties in parameter matching, high energy loss, and insufficient reliability.

[0006] Therefore, there is an urgent need to design a multi-mode oil-gas-inertial capacitive energy-feeding actuator and system based on ball screws, as well as a control method, to solve the technical problems of parameter matching difficulties, high energy loss, and insufficient reliability that exist in most of the above-mentioned integrated design technologies of hydraulic inertial containers and oil-gas springs.

[0007] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0008] This disclosure provides at least one multi-mode oil-gas-inertial capacitive energy feed actuator and system based on a ball screw, and a control method thereof.

[0009] In a first aspect, the present disclosure provides a multi-mode hydraulic-inertial capacitive energy-feeding actuator based on a ball screw, comprising: a housing filled with hydraulic oil, and a rotary motor mounted on one side of the housing; The lead screw nut rotates within the housing. The lead screw is hollow inside and filled with nitrogen and hydraulic oil. The tail end of the lead screw is inserted into the housing. The lead screw passes through the lead screw nut along the axis and is threadedly connected to the lead screw nut. The lead screw is suitable for sliding along the axis. The lead screw nut has a drive gear at one end, and an upper support and a lower support are installed above and below the drive gear, respectively. The side of the upper support and the lower support away from the drive gear are connected to the outer shell. Several lower solenoid valves and upper solenoid valves are provided on the upper support and the lower solenoid valve. A piston is installed at the tail end of the lead screw. The piston fits against the inner wall of the housing in the circumferential direction, and the piston has several damping holes in the axial direction. The housing also contains a reversing transmission wheel assembly, which is connected to the drive gear and the rotary motor respectively. Additionally, during the suspension compression stroke, the lead screw slides upward, the lead screw nut rotates counterclockwise, and drives the rotary motor to rotate clockwise to generate electricity through the reversing transmission wheel set. Hydraulic oil enters the inner cavity of the lead screw through the damping hole so that nitrogen can provide elastic force for the suspension. During the suspension extension stroke, the lead screw slides downwards, the lead screw nut rotates clockwise, and drives the rotary motor to rotate clockwise to generate electricity through the reversing transmission wheel set. The hydraulic oil between the piston and the housing enters the space between the lead screw nut and the piston through the damping hole to provide damping force for the suspension. The hydraulic oil between the lead screw nut and the piston enters the space between the upper support and the lower support through the lower solenoid valve to provide inertial force for the suspension.

[0010] In one optional embodiment, the reversing drive gear set includes an output shaft, an intermediate shaft, and a first shaft arranged in parallel in sequence. The output shaft is connected to the motor shaft of the rotary motor via a coupling. A first gear and a second gear are mounted on the first shaft, a third gear and a fourth gear are mounted on the output shaft, and an intermediate gear is mounted on the intermediate shaft. The first gear and the third gear are located on both sides of the intermediate gear and mesh with the intermediate gear respectively; The second gear meshes with the drive gear, and the second gear also meshes with the fourth gear; Furthermore, a reversing element is installed between the second gear and the first shaft, and a reversing element is installed between the fourth gear and the output shaft.

[0011] In one alternative implementation, the commutator is a one-way bearing.

[0012] In one alternative embodiment, a flow valve, a spring plate, and a limit seat are sequentially installed on the side of the piston facing the lead screw nut; The flow valve, spring plate, and limit seat are all provided with flow holes.

[0013] In one alternative embodiment, an extension valve, a support ring seat, and a clamping nut are sequentially installed on the side of the piston away from the lead screw nut. A tension spring is installed between the support ring seat and the clamping nut.

[0014] In one alternative embodiment, the housing includes a shell and end caps; One side of the upper support is rotatably connected to the drive gear, and the other side is connected to the end cover; One side of the lower support is rotatably connected to the drive gear, and the other side is connected to the housing.

[0015] Secondly, this disclosure also provides a multi-mode oil-gas-inertial capacitive energy feeding system based on a ball screw, including the multi-mode oil-gas-inertial capacitive energy feeding actuator as described above. The multi-mode oil-gas-inertial capacitive energy feeding system based on a ball screw further includes a control module, which is electrically connected to a rotary motor, a lower solenoid valve and an upper solenoid valve. The control module is configured to receive or send signals to the rotary motor, the lower solenoid valve, and the upper solenoid valve.

[0016] Thirdly, this disclosure also provides a control method for a multi-mode oil-gas-inertial-capacitance energy feeding system based on a ball screw. The control method is executed using the multi-mode oil-gas-inertial-capacitance energy feeding system based on a ball screw as described above. The control method includes: switching the suspension to three working modes—passive, semi-active, and active—by giving signals to the downward solenoid valve and the upward solenoid valve of the control module and the rotary motor. In passive and semi-active modes, the rotary motor can utilize suspension vibrations for energy feeding.

[0017] In one optional implementation, the control module sends signals to the lower and upper solenoid valves to adjust the opening degree and number of switches of the lower and upper solenoid valves, thereby changing the hydraulic oil flow rate in the actuator and adjusting the hydraulic damping coefficient of the actuator. The control module sends a signal to the rotating motor to adjust the torque of the rotating motor, thereby enabling the actuator to output the optimal equivalent damping force in real time.

[0018] In one optional implementation, the control method for a multi-mode oil-gas-inertial capacitive energy feed system based on a ball screw includes the following steps: Step S1, Status Monitoring: During vehicle operation, sensors collect the vehicle's vertical acceleration in real time. yaw angle and roll angle acceleration and transmit the signal to the control module; Step S2, threshold determination: The control module has a primary comfort threshold and a secondary safety threshold preset. Based on the comparison results between the collected signals and the thresholds, the operating condition of the vehicle is determined. Step S3, multi-mode execution: if the signal value is less than the first-level comfort threshold, it is determined to be a stable working condition, and the passive energy feeding mode is activated. The control module commands the solenoid valve and the upper solenoid valve to be fully open, and the rotary motor is set to generator mode to recover energy. If the signal value is between the first-level comfort threshold and the second-level safety threshold, it is determined to be a normal vibration condition. The semi-active mode is activated, and the control module adjusts the opening degree or number of switches of each solenoid valve according to the relative speed of the suspension to adjust the hydraulic damping. At the same time, it controls the rotary motor to generate electromagnetic damping torque. If the signal value is greater than the secondary safety threshold, it is determined to be an extreme working condition. The active mode is activated, and the control module commands the solenoid valve and the upper solenoid valve to be closed or at minimum opening. The rotary motor is also controlled to switch to motor mode, outputting active anti-roll or anti-pitch torque.

[0019] The beneficial effects of this invention are as follows: By forming a composite medium of high-pressure nitrogen and hydraulic oil within the ball screw cavity, a hydropneumatic spring unit with nonlinear stiffness characteristics is constructed; the solenoid valve can dynamically set the base damping parameter, effectively reducing the power consumption of the motor; the gear set's speed-changing and reversing structure ensures that the rotary motor rotates in a single direction while also increasing the motor speed and improving energy regeneration efficiency. By setting up pistons and reversing transmission wheel sets, the characteristics of the hydropneumatic spring and inertial container are integrated, comprehensively leveraging the synergistic advantages of various suspension structures to optimize energy regeneration capabilities while ensuring ride comfort. The circulating hydraulic medium within the system has a dual function: serving as a self-lubricating medium for the gear transmission pair and achieving active heat dissipation through directional flow, forming a thermodynamic equilibrium system, ultimately achieving a comprehensive improvement in system reliability.

[0020] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 A schematic diagram of a multi-mode oil-gas-inertial capacitive energy feeding suspension system based on a ball screw is provided for an embodiment of this disclosure; Figure 2 A schematic diagram of a piston structure provided in an embodiment of this disclosure; Figure 3 A perspective view of an upper support provided in an embodiment of this disclosure; Figure 4 A perspective view of a lead screw nut provided in an embodiment of this disclosure; Figure 5 A flowchart of a multi-mode oil-gas-inertial capacitive energy feeding system control method based on a ball screw provided in this disclosure embodiment; Figure 6 Simulation results of power supply voltage in semi-active and passive modes provided for embodiments of this disclosure; Figure 7 This is a simulation comparison diagram of the vertical acceleration of the vehicle body in semi-active and active modes compared to that of a passive suspension, provided as an embodiment of this disclosure.

[0024] In the picture: 1. Upper lifting lug; 2. Lead screw; 3. End cap; 4. Housing; 5. Lower support; 6. Lower solenoid valve; 7. Lead screw nut; 8. Limit seat; 9. Spring plate; 10. Flow valve; 11. Piston; 12. Extension valve; 13. Support ring seat; 14. Extension spring; 15. Compression nut; 16. Lower lifting lug; 17. Rotary motor; 18. Coupling; 19. Second gear; 20. Fourth gear; 21. One-way bearing; 22. Third gear; 23. Intermediate gear; 24. First gear; 25. Output shaft; 26. Intermediate shaft; 27. First shaft; 28. Assembly bearing; 29. ​​Upper solenoid valve; 30. Upper support. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0026] Research has revealed that the integrated design technology of hydraulic inertial containers and oil-gas springs often suffers from difficulties in parameter matching, high energy loss, and insufficient reliability.

[0027] Therefore, there is an urgent need to design a multi-mode oil-gas-inertial capacitive energy-feeding actuator and system based on ball screws, as well as a control method, to solve the technical problems of parameter matching difficulties, high energy loss, and insufficient reliability that exist in most of the above-mentioned integrated design technologies of hydraulic inertial containers and oil-gas springs.

[0028] The shortcomings of the above solutions are the result of the inventor's practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure below should be considered as the inventor's contribution to this disclosure.

[0029] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the embodiments and features described below can be combined with each other. Furthermore, in the accompanying drawings, the thickness of components may be exaggerated or reduced for the purpose of effectively describing the technical content.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] Based on the above research, and referring to Figure 1 This disclosure provides a multi-mode hydraulic-inertial capacitive energy-feeding actuator based on a ball screw, comprising: a housing, a ball screw nut 7, and a ball screw 2. The housing has an L-shaped longitudinal section and is hollow inside. Both the ball screw nut 7 and the ball screw 2 are placed inside the housing, with the first end of the ball screw 2 penetrating through the housing, thus exhibiting a state where one end of the ball screw 2 protrudes from the top of the housing. The housing is filled with hydraulic oil, which plays a role in lubrication, friction reduction, and damping during suspension system operation, providing damping force and inertial force to the suspension. The tail end of the ball screw 2 is inserted into the housing, and the ball screw 2 is hollow and filled with nitrogen and hydraulic oil to provide elastic force to the suspension.

[0032] Reference Figure 1In at least one embodiment, the lead screw nut 7 has a threaded hole along the axial direction, the lead screw 2 is inserted into the threaded hole, and the lead screw 2 has a thread that matches the threaded hole of the lead screw nut 7. Meanwhile, the lead screw nut 7 is rotatably disposed inside the housing. With the above arrangement, when the lead screw 2... Figure 1 When the screw slides up and down in the direction shown, it can drive the lead screw nut 7 to rotate clockwise or counterclockwise along the axial direction. The rotation direction of the lead screw nut 7 is related to the opening direction of the thread. In some embodiments, when the lead screw 2 moves upward, the lead screw nut 7 rotates counterclockwise; conversely, when the lead screw 2 moves downward, the lead screw nut 7 rotates clockwise.

[0033] Reference Figure 1 , Figure 3 and Figure 4 In at least one embodiment, one end of the lead screw nut 7 has a drive gear. An upper support 30 and a lower support 5 are respectively installed above and below the drive gear. The sides of the upper support 30 and lower support 5 away from the drive gear are connected to the outer casing. The upper support 30 and lower support 5 support the drive gear and the lead screw nut 7 from the upper and lower sides respectively, so that the lead screw nut 7 can maintain its position and rotate around its axis. Simultaneously, the outer casing also contains a reversing transmission wheel assembly, and a rotary motor 17 is installed on one side of the outer casing. The rotary motor 17 is connected to the reversing transmission wheel assembly via a coupling 18, and the other side of the reversing transmission wheel assembly is connected to the drive gear. With the above configuration, when the lead screw nut 7 rotates counterclockwise or clockwise, power can be transmitted through the reversing transmission wheel assembly and, after reversing direction, the motor shaft can be driven to rotate through the coupling 18, thereby achieving the effect of energy feeding and power generation.

[0034] Reference Figure 1 and 3 In at least one embodiment, both the upper support 30 and the lower solenoid valve 6 are equipped with a plurality of lower solenoid valves 6 and upper solenoid valves 29. The lower support 5 divides the inner cavity of the housing into an upper cavity and a middle cavity. The upper support 30 is used to position the lead screw nut 7 from above and to mount the upper solenoid valves 29, which are used to control the flow of hydraulic oil from the top of the housing into the upper cavity. The lower support 5 is used to position the lead screw nut 7 from below and to mount the lower solenoid valves 6, which are used to control the flow of hydraulic oil from the upper cavity of the housing into the middle cavity.

[0035] Reference Figure 1 In at least one embodiment, the reversing drive wheel assembly includes an output shaft 25, an intermediate shaft 26, and a first shaft 27 arranged parallel to each other and moving sequentially from the edge of the housing towards the lead screw nut 7. Mounting bearings 28 are installed at the assembly positions of the output shaft 25, intermediate shaft 26, and first shaft 27 with the housing.

[0036] The output shaft 25 is connected to the motor shaft of the rotary motor 17 via a coupling 18, so that when the output shaft 25 rotates, it can drive the coupling 18 to rotate and thus drive the rotary motor 17 to rotate, thereby achieving the effect of energy feeding and power generation.

[0037] Reference Figure 1 In at least one embodiment, a first gear 24 and a second gear 19 are mounted on a first shaft 27, a third gear 22 and a fourth gear 20 are mounted on an output shaft 25, and an intermediate gear 23 is mounted on an intermediate shaft 26. The first gear 24 and the third gear 22 are located on both sides of the intermediate gear 23 and mesh with it respectively. The second gear 19 meshes with a drive gear and with the fourth gear 20. Furthermore, a reversing element is installed between the second gear 19 and the first shaft 27, and a reversing element is installed between the fourth gear 20 and the output shaft 25. In some embodiments, the reversing element is a one-way bearing 21.

[0038] Reference Figure 1 In at least one embodiment, with the above configuration, during the suspension compression stroke, the lead screw 2 slides upward, and the lead screw nut 7 rotates counterclockwise. It meshes with the second gear 19 through the drive gear, causing the second gear 19 to rotate clockwise. At this time, the one-way bearing 21 on the first shaft 27 is locked, so that the first shaft 27 rotates clockwise synchronously with the second gear 19, further causing the first gear 24 to rotate clockwise synchronously. The first gear 24 meshes with the intermediate gear 23, causing the intermediate gear 23 to rotate counterclockwise. The intermediate gear 23 meshes with the third gear 22, causing the third gear 22 to rotate clockwise. The rotation of the third gear 22 then drives the output shaft 25 to rotate clockwise. Finally, the output shaft 25 drives the rotary motor 17 to rotate clockwise through the coupling 18. At this time, although the fourth gear 20 is engaged with the second gear 19, the one-way bearing 21 corresponding to the fourth gear 20 is not locked. The fourth gear 20 and the output shaft 25 are in a free rotation state. That is, the second gear 19 drives the fourth gear 20 to rotate counterclockwise, but the fourth gear 20 is idling and does not affect the rotation direction of the output shaft 25.

[0039] Simultaneously, during the suspension extension stroke, the lead screw 2 slides downwards, and the lead screw nut 7 rotates clockwise. This meshes with the second gear 19 via the drive gear, causing the second gear 19 to rotate counterclockwise. At this time, the one-way bearing 21 corresponding to the second gear 19 is in a free-rotating state. While the second gear 19 rotates, the first shaft 27 does not rotate. The second gear 19 then meshes with the fourth gear 20, driving the fourth gear 20 to rotate clockwise. At this point, the one-way bearing 21 corresponding to the fourth gear 20 locks, and the fourth gear 20 drives the output shaft 25 to rotate clockwise. The output shaft 25, through the coupling 18, drives the rotary motor 17 to rotate clockwise. Thus, regardless of whether the lead screw 2 is in the compression or extension stroke, the rotary motor 17 can be driven to generate electricity.

[0040] Reference Figure 1 and Figure 2 In at least one embodiment, a piston 11 is mounted on the tail end of the lead screw 2. The piston 11 is circumferentially fitted against the inner wall of the outer casing, and the piston 11 separates the outer casing from the inner wall at the piston 11. Figure 1 Taking the direction as an example, the area above piston 11 and below lower support 5 is divided into the middle cavity, and the area below piston 11 is divided into the lower cavity. Piston 11 has several damping holes along its axial direction. When the suspension is in the compression stroke, hydraulic oil flows from the middle cavity into the lower cavity through the damping holes to provide damping force to the suspension. Simultaneously, the hydraulic oil in the lower cavity enters the cavity inside the lead screw 2, so that the high-pressure nitrogen filling the cavity provides elastic force to the suspension. When the suspension is in the extension stroke, the hydraulic oil in the lower cavity flows from the lower cavity into the middle cavity through the damping holes of piston 11 to provide damping force to the suspension, while the hydraulic oil in the middle cavity flows into the upper cavity through the lower solenoid valve 6 to provide inertial force to the suspension.

[0041] Reference Figure 1 In at least one embodiment, a flow valve 10, a spring plate 9, and a limiting seat 8 are sequentially installed on the side of the piston 11 facing the lead screw nut 7. Each of the flow valve 10, spring plate 9, and limiting seat 8 has a flow hole. The spring plate 9 presses the flow valve 10 against the upper end of the piston 11.

[0042] Reference Figure 2 In at least one embodiment, an extension valve 12, a support ring seat 13, and a clamping nut 15 are sequentially installed on the side of the piston 11 away from the lead screw nut 7, and an extension spring 14 is installed between the support ring seat 13 and the clamping nut 15. The spring of the extension valve 12 presses the extension valve 12 against the lower end of the piston 11 through the support ring seat 13 and the clamping nut 15.

[0043] Reference Figure 1 In at least one embodiment, the lead screw 2 is provided with an upper lug 1 at its head and a lower lug 16 at the bottom of the housing.

[0044] Reference Figure 1 In at least one embodiment, the outer casing includes a housing 4 and an end cap 3. The upper support 30 is rotatably connected to a drive gear on one side and to the end cap 3 on the other side. The lower support 5 is rotatably connected to the drive gear on one side and to the housing 4 on the other side. The housing 4 and end cap 3 are separate components to facilitate the placement of parts inside the housing 4. Furthermore, corresponding positions on both the housing 4 and end cap 3 are provided with mounting grooves for installing the upper support 30 and the lower support 5.

[0045] In addition, refer to Figure 5 The present disclosure also provides a multi-mode oil-gas-inertial capacitive power supply system based on a ball screw, including the multi-mode oil-gas-inertial capacitive power supply actuator as described above. The multi-mode oil-gas-inertial capacitive power supply system based on a ball screw further includes a control module, which is electrically connected to the rotary motor 17, the lower solenoid valve 6 and the upper solenoid valve 29. The control module is configured to receive or send signals to the rotary motor 17, the lower solenoid valve 6, and the upper solenoid valve 29.

[0046] Furthermore, this disclosure also provides a control method for a multi-mode oil-gas-inertial capacitive power supply system based on a ball screw. This control method is executed using the multi-mode oil-gas-inertial capacitive power supply system based on a ball screw as described above. The control method includes: The suspension switches between three working modes: passive, semi-active, and active, by giving signals to the downward solenoid valve 6 and the upward solenoid valve 29 and the rotary motor 17 through the control module. In passive and semi-active modes, the rotary motor 17 can utilize suspension vibrations to feed energy.

[0047] In at least one embodiment, the control module gives signals to the lower solenoid valve 6 and the upper solenoid valve 29 to adjust the opening degree and the number of switches of the lower solenoid valve 6 and the upper solenoid valve 29, so as to change the hydraulic oil flow rate in the actuator and thereby adjust the hydraulic damping coefficient of the actuator. The control module sends a signal to the rotary motor 17 to adjust the torque of the rotary motor 17, thereby enabling the actuator to output the optimal equivalent damping force in real time.

[0048] In at least one embodiment, the above-described control method for a multi-mode oil-gas-inertial capacitive energy feed system based on a ball screw may specifically include the following steps: Step S1, Status Monitoring: During vehicle operation, sensors collect the vehicle's vertical acceleration in real time. yaw angle and roll angle acceleration and transmit the signal to the control module; Step S2, threshold determination: The control module has a primary comfort threshold and a secondary safety threshold preset. Based on the comparison results between the collected signals and the thresholds, the operating condition of the vehicle is determined. Step S3, multi-mode execution: if the signal value is less than the first-level comfort threshold, it is determined to be a stable working condition, and the passive energy feeding mode is activated. Under the command of the control module, the solenoid valve 6 and the upper solenoid valve 29 are in the fully open state, and the rotary motor 17 is set to generator mode to recover energy. If the signal value is between the first-level comfort threshold and the second-level safety threshold, it is determined to be a general vibration condition. The semi-active mode is activated, and the control module adjusts the opening degree or number of switches of each solenoid valve according to the relative speed of the suspension to adjust the hydraulic damping. At the same time, the rotary motor 17 is controlled to generate electromagnetic damping torque. If the signal value is greater than the secondary safety threshold, it is determined to be an extreme working condition. The active mode is activated, and the control module commands the solenoid valve 6 and the upper solenoid valve 29 to be closed or at minimum opening. The rotary motor 17 is also controlled to switch to motor mode, outputting active anti-roll or anti-pitch torque.

[0049] To more clearly illustrate the control logic of the present invention, the following detailed explanation of the passive, semi-active, and active mode switching process of the system, in conjunction with specific parameters, is provided. In some embodiments, the control module presets a comfort threshold (first threshold) and a safety threshold (second threshold).

[0050] Taking a certain type of passenger vehicle as an example, the parameters are set as follows: Comfort threshold: Vehicle vertical acceleration threshold Vehicle body roll angle threshold Safety threshold: Vehicle vertical acceleration threshold Vehicle body roll angle threshold The detailed control process is as follows: Step 1: Data Acquisition and Preprocessing During vehicle operation, onboard sensors collect the current vertical acceleration of the vehicle body in real time. yaw angle and roll angle acceleration The control module filters the signal to eliminate high-frequency noise interference.

[0051] Step 2: Operating Condition Judgment and Mode Decision Passive energy recharge mode (smooth driving conditions): Decision logic: When detected and At that time, the system determined that the vehicle was in a stable driving state on a good road.

[0052] Control Execution: The control module sends a fully open signal (100% duty cycle) to all lower solenoid valves 6 and upper solenoid valves 29. At this time, the flow resistance of hydraulic oil through the solenoid valves is minimal, and the actuator exhibits low-damping characteristics to isolate high-frequency, low-amplitude vibrations of the road surface, improving ride smoothness. The rotary motor 17 is set to generator mode. The rotation of the lead screw nut 7 caused by road surface excitation drives the motor, and the generated electrical energy is rectified and stored in the battery. In this mode, energy saving is mainly achieved through energy recovery.

[0053] Semi-active control mode (for normal bumpy or slightly steering conditions): Decision logic: When detected or At that time, the system determined that the vehicle was in a normal vibration condition.

[0054] Control Execution: The hydraulic system employs a variant of the Skyhook control strategy. The control module adjusts the number or degree of opening of the lower solenoid valve 6 and the upper solenoid valve 29 based on the relative speed direction of the suspension. For example, when a larger damping force is required, the control module closes some of the lower solenoid valves 6 (e.g., reducing the number of openings from 3 to 1), or adjusts the solenoid valve opening to 30%-50%, increasing hydraulic oil throttling losses and thus increasing the hydraulic damping force. The rotary motor 17 maintains its power generation state, but the control module alters the motor's back electromotive force by adjusting the external load or PWM duty cycle, causing it to generate an additional electromagnetic damping torque. This torque is superimposed on the hydraulic damping force, bringing the total equivalent damping force closer to the optimal control target value.

[0055] Active control mode (for severe impacts or sharp turns): Decision logic: When detected or When the system determines that the vehicle is in an extreme or dangerous condition (such as high-speed cornering or emergency obstacle avoidance), safety takes priority over comfort and fuel efficiency.

[0056] Control Execution: Under the command of the control module, solenoid valve 6 and upper solenoid valve 29 are fully closed (0% opening) or only maintained at the minimum opening. At this time, the hydraulic oil flow is obstructed, the hydraulic cylinder is close to a rigid lock-up state, or generates extremely large basic damping, providing rigid support for the transmission of the motor's active force. Rotary motor 17 switches to electric motor mode. If the vehicle tilts to the left (the left suspension is compressed), the sensor detects that the roll angle is too large, the control module calculates the required reverse torque, and commands the motor to output reverse torque. This torque is converted into axial thrust through the ball screw, forcibly lifting the left side of the vehicle body to resist the roll torque and maintain the vehicle's stable posture. If a huge vertical impact acceleration is detected, the motor outputs the active force in the opposite direction of the impact, and combined with the inertial mass effect of the inertial container, absorbs the impact energy through the dual action of "force-inertia".

[0057] Step 3: Closed-loop feedback. During the execution of any of the above modes, the control module continuously monitors the vehicle status signal. When the vehicle status parameters fall back to a lower threshold range and remain there for a certain period of time (e.g., 200ms), the system automatically switches back to the previous mode (e.g., switching from active mode back to semi-active mode) to achieve a dynamic balance between energy consumption and performance.

[0058] To further verify the feasibility of this invention, a dynamic model of the suspension was established, and MATLAB / Simulink software was used to simulate and analyze its energy dissipation characteristics and stability, in order to preliminarily verify its performance. Assuming the left and right sides of the vehicle are identical, only one-quarter of the vehicle's mass needs to be analyzed, ignoring the minor influence of tire damping. This model is a simplified model, eliminating some minor factors, and can effectively represent the ride comfort and handling stability performance of the semi-active suspension system under uneven road conditions.

[0059] A simulation model was built in MATLAB / Simulink software. The simulation parameters were: a Class C road surface, a vehicle speed of 20 km / h, and assumed sprung mass m2 of 300 kg, unsprung mass m1 of 35 kg, suspension stiffness ks of 14000 N / m, and tire stiffness kt of 115000 N / m. Based on the simulation results, when the vehicle is in energy-recharge mode, such as... Figure 6 As shown, the peak power supply voltage reaches -4.8V, which basically meets the required power supply voltage. In both semi-active and active modes, as... Figure 7 As shown, the maximum vertical acceleration of the vehicle body is 0.26 compared to the passive suspension. m / s 2 It dropped to 0.17 m / s 2 The ride comfort of the vehicle has been significantly improved.

[0060] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Based on the above-described ideal embodiments of the present invention, and through the above description, those skilled in the art can make various changes and modifications without departing from the technical spirit of the disclosed embodiments. The technical scope of the embodiments of this disclosure is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A multi-mode oil-gas-inertial capacitive energy-feeding actuator based on a ball screw, characterized in that, include: The outer casing is filled with hydraulic oil, and a rotary motor (17) is installed on one side of the outer casing. The lead screw nut (7) rotates inside the housing; The lead screw (2) is hollow inside and filled with nitrogen and hydraulic oil. The tail end of the lead screw (2) is inserted into the housing. The lead screw (2) passes through the lead screw nut (7) along the axis and is threadedly connected to the lead screw nut (7). The lead screw (2) is suitable for sliding along the axis. Among them, one end of the lead screw nut (7) has a drive gear, and an upper support (30) and a lower support (5) are installed above and below the drive gear, respectively. The side of the upper support (30) and the lower support (5) away from the drive gear are connected to the outer shell. Several lower solenoid valves (6) and upper solenoid valves (29) are provided on the upper support (30) and the lower solenoid valve (6). The tail end of the lead screw (2) is equipped with a piston (11), which is circumferentially attached to the inner wall of the outer shell, and the piston (11) is provided with several damping holes along the axial direction. The outer casing also contains a reversing drive wheel assembly, which is connected to the drive gear and the rotary motor (17) respectively. In addition, during the suspension compression stroke, the lead screw (2) slides upward, the lead screw nut (7) rotates counterclockwise, and drives the rotary motor (17) to rotate clockwise to generate electricity through the reversing transmission wheel set. Hydraulic oil enters the inner cavity of the lead screw (2) through the damping hole so that nitrogen can provide elastic force for the suspension. When the suspension extends, the lead screw (2) slides downward, the lead screw nut (7) rotates clockwise, and drives the rotary motor (17) to rotate clockwise to generate electricity through the reversing transmission wheel set. The hydraulic oil between the piston (11) and the housing enters between the lead screw nut (7) and the piston (11) through the damping hole to provide damping force for the suspension. The hydraulic oil between the lead screw nut (7) and the piston (11) enters between the upper support (30) and the lower support (5) through the lower solenoid valve (6) to provide inertial force for the suspension.

2. The multi-mode oil-gas-inertial capacitive energy feed actuator based on a ball screw as described in claim 1, characterized in that, The reversing transmission gear set includes an output shaft (25), an intermediate shaft (26) and a first shaft (27) arranged in parallel in sequence. The output shaft (25) is connected to the motor shaft of the rotary motor (17) through a coupling (18). A first gear (24) and a second gear (19) are installed on the first shaft (27), a third gear (22) and a fourth gear (20) are installed on the output shaft (25), and an intermediate gear (23) is installed on the intermediate shaft (26). The first gear (24) and the third gear (22) are located on both sides of the intermediate gear (23) and mesh with the intermediate gear (23) respectively; The second gear (19) meshes with the drive gear, and the second gear (19) meshes with the fourth gear (20); Furthermore, a reversing element is installed between the second gear (19) and the first shaft (27), and a reversing element is installed between the fourth gear (20) and the output shaft (25).

3. The multi-mode oil-gas-inertial capacitive energy feed actuator based on a ball screw as described in claim 2, characterized in that, The reversing component is a one-way bearing (21).

4. The multi-mode oil-gas-inertial capacitive energy feed actuator based on a ball screw as described in claim 1, characterized in that, The piston (11) is sequentially equipped with a flow valve (10), a spring plate (9) and a limit seat (8) on the side facing the lead screw nut (7). The flow valve (10), spring plate (9) and limit seat (8) are all provided with flow holes.

5. The multi-mode oil-gas-inertial capacitive energy feed actuator based on a ball screw as described in claim 1, characterized in that, The piston (11) is equipped with an extension valve (12), a support ring seat (13) and a clamping nut (15) on the side away from the lead screw nut (7). A tension spring (14) is installed between the support ring seat (13) and the clamping nut (15).

6. The multi-mode oil-gas-inertial capacitive energy feed actuator based on a ball screw as described in claim 1, characterized in that, The outer casing includes a housing (4) and an end cap (3); The upper support (30) is rotatably connected to the drive gear on one side and connected to the end cover (3) on the other side; The lower support (5) is rotatably connected to the drive gear on one side and connected to the housing (4) on the other side.

7. A multi-mode oil-gas-inertial capacitive energy feeding system based on a ball screw, characterized in that, Including the multi-mode oil-gas-inertial capacitive power feed actuator as described in any one of claims 1-6, the multi-mode oil-gas-inertial capacitive power feed system based on a ball screw further includes: The control module is electrically connected to the rotary motor (17), the lower solenoid valve (6), and the upper solenoid valve (29); The control module is configured to receive or send signals to the rotary motor (17), the lower solenoid valve (6), and the upper solenoid valve (29).

8. A control method for a multi-mode oil-gas-inertial capacitive energy feed system based on a ball screw, characterized in that, This control method is executed using the multi-mode oil-gas-inertial capacitive energy feed system based on a ball screw as described in claim 7. The control method includes: By giving signals to the down solenoid valve (6) and up solenoid valve (29) and the rotary motor (17) of the control module, the suspension switches between three working modes: passive, semi-active and active. In passive and semi-active modes, the rotating motor (17) can utilize suspension vibration to feed energy.

9. The control method for a multi-mode oil-gas-inertial capacitive energy feed system based on a ball screw as described in claim 8, characterized in that, The control module gives signals to the lower solenoid valve (6) and the upper solenoid valve (29) to adjust the opening degree and number of switches of the lower solenoid valve (6) and the upper solenoid valve (29), thereby changing the hydraulic oil flow rate in the actuator and adjusting the hydraulic damping coefficient of the actuator. The control module sends a signal to the rotary motor (17) to adjust the torque of the rotary motor (17), thereby enabling the actuator to output the optimal equivalent damping force in real time.

10. The control method for a multi-mode oil-gas-inertial capacitive energy feed system based on a ball screw as described in claim 8, characterized in that, The control method specifically includes the following steps: Step S1, Status Monitoring: During vehicle operation, sensors collect the vehicle's vertical acceleration in real time. yaw angle and roll angle acceleration and transmit the signal to the control module; Step S2, threshold determination: The control module has a primary comfort threshold and a secondary safety threshold preset. Based on the comparison results between the collected signals and the thresholds, the operating condition of the vehicle is determined. Step S3, multi-mode execution. If the signal value is less than the first-level comfort threshold, it is determined to be a stable working condition. The passive energy feeding mode is activated. The control module commands the solenoid valve (6) and the upper solenoid valve (29) to be fully open, and the rotary motor (17) is set to generator mode to recover energy. If the signal value is between the first-level comfort threshold and the second-level safety threshold, it is determined to be a general vibration condition. The semi-active mode is activated, and the control module adjusts the opening degree or number of switches of each solenoid valve according to the relative speed of the suspension, adjusts the hydraulic damping, and controls the rotary motor (17) to generate electromagnetic damping torque. If the signal value is greater than the secondary safety threshold, it is determined to be an extreme working condition. The active mode is activated, and the control module commands the solenoid valve (6) and the upper solenoid valve (29) to be closed or at the minimum opening. The rotary motor (17) is controlled to switch to motor mode and output active anti-tilt or anti-pitch torque.

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