Active suspension control system and control method for active suspension control system

Abstract

The application provides an active suspension control system and a control method of the active suspension control system. The active suspension control system comprises a controller, a first motor, a second motor, a first pump body and a second pump body. The controller is configured to sample the first motor and / or the second motor to obtain a first initial sampling current and / or a second initial sampling current; determine a first target sampling current and / or a second target sampling current according to the first initial sampling current and / or the second initial sampling current and a first current curve and / or a second current curve calibrated in advance; and generate a first driving signal and / or a second driving signal according to the first target sampling current and / or the second target sampling current. The current curve represents a corresponding relationship between an actual sampling current and a standard sampling current. Through the application, the active suspension control system can realize inductionless magnetic field oriented control, improve the accuracy of motor control, and further improve the response speed of the suspension system.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to an active suspension control system and a control method for the active suspension control system. Background Technology

[0002] Currently, the motor control of active suspension systems in vehicles primarily employs sensor-based Field Oriented Control (FOC) schemes. Sensor-based FOC schemes suffer from problems such as a large number of motor pole pairs, uneven magnet distribution, or asymmetrical Hall effect sensor installation, which can easily lead to inaccurate Hall effect sensor position detection, excessive motor vibration, and high noise levels. Meanwhile, commonly used sensorless FOC schemes suffer from inaccurate position estimation at low motor speeds, affecting motor control accuracy and dynamic response capabilities. This makes it difficult for the motor to quickly generate sufficient torque to drive the suspension system, and consequently, it is difficult to quickly establish the necessary pressure, resulting in a slow suspension system response. Therefore, these approaches are unsuitable for use in the motor control of active suspension systems. Summary of the Invention

[0003] This application provides an active suspension control system and a control method for the active suspension control system, which can realize sensorless magnetic field orientation control in the active suspension control system and improve the accuracy of motor control.

[0004] The technical solution of this application is implemented as follows:

[0005] This application provides an active suspension control system, comprising: a controller, a first motor, a second motor, a first pump body, and a second pump body; wherein,

[0006] The controller is configured to sample the current of the first motor and / or the second motor to obtain a first initial sampled current and / or a second initial sampled current; determine a first target sampled current and / or a second target sampled current based on the first initial sampled current and / or the second initial sampled current, and a pre-calibrated first current curve and / or second current curve; estimate the motor speed and motor torque based on the first target sampled current and / or the second target sampled current, and generate a first drive signal and / or a second drive signal; the current curve represents the correspondence between the actual sampled current and the standard sampled current.

[0007] The first motor is used to drive the first pump body to adjust the state of the first active suspension according to the first drive signal;

[0008] The second motor is used to drive the second pump body to adjust the state of the second active suspension according to the second drive signal.

[0009] Optionally, the controller includes: a control module, an inverter circuit, and a current sampling circuit; wherein,

[0010] The current sampling circuit is used to sample the current of the first stator in the first motor to obtain the first initial sampling current; and / or to sample the current of the second stator in the second motor to obtain the second initial sampling current.

[0011] The control module is configured to: determine a first target gain corresponding to the first initial sampling current based on the first initial sampling current and the first current curve; determine a first target sampling current based on the first initial sampling current and the first target gain; estimate the motor speed and motor torque based on the first target sampling current to obtain a first pre-stage drive signal; and / or determine a second target gain corresponding to the second initial sampling current based on the second initial sampling current and the second current curve; determine a second target sampling current based on the second initial sampling current and the second target gain; estimate the motor speed and motor torque based on the second target sampling current to obtain a second pre-stage drive signal.

[0012] The inverter circuit is used to perform signal conversion on the first pre-stage drive signal to determine the first drive signal; and / or to perform signal conversion on the second pre-stage drive signal to determine the second drive signal.

[0013] Optionally, the controller further includes: a pre-stage drive circuit;

[0014] The front-end drive circuit is used to convert the voltage output by the control module into the DC bus voltage of the inverter circuit.

[0015] The inverter circuit is further configured to convert the first pre-stage drive signal into six first pulse width modulation signals with amplitude equal to the DC bus voltage, and synthesize a first space vector pulse width modulation signal based on the six first pulse width modulation waves as the first drive signal; and / or, convert the second pre-stage drive signal into six second pulse width modulation signals with amplitude equal to the DC bus voltage, and synthesize a second space vector pulse width modulation signal based on the six second pulse width modulation waves as the second drive signal.

[0016] Optionally, the controller includes: a load torque observer and a feedforward compensation loop; the feedforward compensation loop includes a filtering module;

[0017] The controller is configured to estimate the motor speed based on the first target sampling current, and determine the first motor speed and the first motor torque; and / or, estimate the motor speed based on the second target sampling current, and determine the second motor speed and the second motor torque.

[0018] The load torque observer is used to determine the first load torque of the first motor based on the first motor speed and the first motor torque; and / or, to determine the second load torque of the second motor based on the second motor speed and the second motor torque.

[0019] The feedforward compensation circuit is used to output a first initial feedforward compensation current based on the first load torque; and / or, to output a second initial feedforward compensation current based on the second load torque.

[0020] The filtering module is used to filter the first initial feedforward compensation current and output a first feedforward compensation current; the first feedforward compensation current is used to control the first motor in conjunction with the first drive signal; and / or, to filter the second initial feedforward compensation current and output a second feedforward compensation current; the second feedforward compensation current is used to control the second motor in conjunction with the second drive signal.

[0021] Optionally, the first pump body includes a first hydraulic pump; the second pump body includes a second hydraulic pump; the active suspension control system further includes at least one sensor; the at least one sensor includes a hydraulic pressure magnetic coded sensor corresponding to the first hydraulic pump and / or the second hydraulic pump;

[0022] The hydraulic pressure magnetic coded sensor is used to acquire the first hydraulic oil pressure and / or the first flow rate in the pipeline of the first hydraulic pump; and / or, to acquire the second hydraulic oil pressure and / or the second flow rate in the pipeline of the second hydraulic pump.

[0023] The controller is further configured to estimate the motor speed based on the first target sampling current to generate a first speed; determine a second speed based on the first hydraulic oil pressure and / or the first flow rate using a pre-established dynamic model between hydraulic oil pressure and / or flow rate and motor speed; and / or, estimate the motor speed based on the second target sampling current to generate a third speed; and determine a fourth speed based on the second hydraulic oil pressure and / or the second flow rate using a pre-established dynamic model between hydraulic oil pressure and / or flow rate and motor speed.

[0024] The controller is further configured to fuse and filter the first speed and the second speed to obtain the first motor speed; and / or to fuse and filter the third speed and the fourth speed to obtain the second motor speed.

[0025] This application provides a control method for an active suspension control system, applied to a controller in any of the above-mentioned active suspension control systems provided in this application. The method includes:

[0026] Current sampling is performed on the first motor and / or the second motor to obtain a first initial sampling current and / or a second initial sampling current;

[0027] Based on the first initial sampling current and / or the second initial sampling current, and the pre-calibrated first current curve and / or second current curve, determine the first target sampling current and / or the second target sampling current;

[0028] Based on the first target sampling current and / or the second target sampling current, the motor speed and motor torque are estimated, and a first drive signal and / or a second drive signal are generated.

[0029] The current curve represents the correspondence between the actual sampled current and the standard sampled current; the first drive signal is used to drive the first motor to control the first pump in the active suspension control system to adjust the state of the first active suspension; the second drive signal is used to drive the second motor to control the second pump in the active suspension control system to adjust the state of the second active suspension.

[0030] Optionally, before sampling the current of the first motor and / or the second motor to obtain the first initial sampling current and / or the second initial sampling current, the method further includes:

[0031] Multiple standard sampling currents are used to inject current into the motor at multiple points, and the actual sampling current generated by the motor under each standard sampling current injection is collected as the actual sampling current corresponding to that standard sampling current; the motor includes the first motor and / or the second motor;

[0032] The current curve is determined based on the correspondence between multiple standard sampling currents and multiple actual sampling currents corresponding to the same motor; the current curve includes the first current curve corresponding to the first motor and / or the second current curve corresponding to the second motor.

[0033] Optionally, determining the first target sampling current and / or the second target sampling current based on the first initial sampling current and / or the second initial sampling current, and the pre-calibrated first current curve and / or second current curve, includes:

[0034] Based on the first initial sampling current and the first current curve, determine the first target gain corresponding to the first initial sampling current;

[0035] The first target sampling current is determined based on the first initial sampling current and the first target gain;

[0036] And / or,

[0037] Based on the second initial sampling current and the second current curve, determine the second target gain corresponding to the second initial sampling current;

[0038] The second target sampling current is determined based on the second initial sampling current and the second target gain.

[0039] Optionally, the step of estimating the motor speed and motor torque based on the first target sampling current and / or the second target sampling current, and generating the first drive signal and / or the second drive signal, includes:

[0040] Based on the first target sampling current, the motor speed and motor torque are estimated to obtain the first front-end drive signal;

[0041] The first pre-stage drive signal is converted to determine the first drive signal;

[0042] And / or,

[0043] The motor speed and motor torque are estimated based on the second target sampling current to obtain the second front-stage drive signal;

[0044] The second pre-stage drive signal is converted to determine the second drive signal.

[0045] Optionally, the step of performing signal conversion on the first pre-stage drive signal to determine the first drive signal includes:

[0046] The first pre-stage drive signal is converted into six first pulse width modulation signals with amplitude equal to the DC bus voltage, and a first space vector pulse width modulation signal is synthesized based on the six first pulse width modulation waves as the first drive signal.

[0047] The step of performing signal conversion on the second pre-stage drive signal to determine the second drive signal includes:

[0048] The second pre-stage drive signal is converted into six second pulse width modulation signals with amplitude equal to the DC bus voltage, and a second space vector pulse width modulation signal is synthesized based on the six second pulse width modulation waves as the second drive signal.

[0049] Optionally, after estimating the motor speed and motor torque based on the first target sampling current and / or the second target sampling current, and generating the first drive signal and / or the second drive signal, the method further includes:

[0050] The first load torque of the motor is determined by the load torque observer based on the first motor speed and the first motor torque, and / or the second load torque of the motor is determined based on the second motor speed and the second motor torque;

[0051] A first initial feedforward compensation current is determined based on the first load torque, and / or a second initial feedforward compensation current is determined based on the second load torque;

[0052] The first initial feedforward compensation current is filtered to determine the first feedforward compensation current, and / or the second initial feedforward compensation current is filtered to determine the second feedforward compensation current;

[0053] The first motor is controlled by combining the first feedforward compensation current and the first drive signal, and / or the second motor is controlled by combining the second feedforward compensation current and the second drive signal.

[0054] Optionally, the first pump body includes a first hydraulic pump; the second pump body includes a second hydraulic pump; estimating the motor speed based on the first target sampling current and determining the first motor speed includes:

[0055] Obtain the first hydraulic oil pressure and / or first flow rate in the pipeline of the first hydraulic pump;

[0056] The motor speed is estimated based on the first target sampling current to generate a first speed; the second speed is determined based on the first hydraulic oil pressure and / or the first flow rate, using a pre-established dynamic model between the hydraulic oil pressure and / or flow rate and the motor speed.

[0057] The first speed and the second speed are fused and filtered to determine the speed of the first motor.

[0058] The second motor speed is estimated based on the second target sampling current, and the second motor speed is determined, including:

[0059] Obtain the second hydraulic oil pressure and / or second flow rate in the pipeline of the second hydraulic pump;

[0060] The motor speed is estimated based on the second target sampling current to generate a third speed; the fourth speed is determined based on the second hydraulic oil pressure and / or the second flow rate through a pre-established dynamic model between the hydraulic oil pressure and / or flow rate and the motor speed.

[0061] The third speed and the fourth speed are fused and filtered to determine the speed of the first motor.

[0062] This application provides a controller, the controller comprising:

[0063] Memory is used to store executable instructions for a computer;

[0064] The processor, when executing computer-executable instructions stored in the memory, implements the control method of the active suspension control system provided in the embodiments of this application.

[0065] This application provides a vehicle, the vehicle including any of the above-described active suspension control systems provided in this application.

[0066] This application provides a computer-readable storage medium storing a computer program or computer-executable instructions, which, when executed by a processor, implements the control method of the active suspension control system provided in this application.

[0067] The embodiments of this application have the following beneficial effects:

[0068] By using pre-calibrated first and / or second current curves, the first initial sampling current and / or second initial sampling current obtained from motor sampling are corrected to obtain the first target sampling current and / or second target sampling current. Since the current curves characterize the correspondence between the actual sampling current and the standard sampling current, a more accurate standard sampling current can be determined as the first target sampling current and / or second target sampling current based on the actual sampled first and / or second initial sampling currents. Thus, by estimating the motor speed and torque based on the first and / or second target sampling currents, a more accurate drive signal can be generated to control the motor. Therefore, in the active suspension control system, sensorless FOC control without the need for speed measurement using magnetic encoder sensors or other speed sensors is achieved, and the accuracy of motor control is improved. This allows the motor to quickly generate sufficient torque to rapidly build up the pressure required by the suspension system, thereby improving the suspension system's response speed. Attached Figure Description

[0069] Figure 1 This is a schematic diagram of the structure of the active suspension control system provided in the embodiments of this application. Figure 1 ;

[0070] Figure 2 This is a schematic diagram of the structure of the active suspension control system provided in the embodiments of this application. Figure 2 ;

[0071] Figure 3 This is a flowchart illustrating the control method of the active suspension control system provided in an embodiment of this application;

[0072] Figure 4 This is a schematic diagram of the structure of a controller provided in an embodiment of this application. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0074] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0075] In this application embodiment, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0076] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit this application.

[0077] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0078] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0079] 1) Sensor-based FOC (Sensitive FOC): In sensor-based FOC, magnetically encoded sensors (such as rotary encoders or magnetic sensors) are typically used to provide precise position information of the motor rotor. These sensors can directly measure the motor shaft angle, thereby enabling smooth speed control of the PMSM (Permanent Magnet Synchronous Motor). The accuracy of the position sensor is crucial for the stability and performance of the motor.

[0080] 2) Sensorless FOC (Fluidized Oscillator Control): Also known as sensorless control or sensorless control, it determines the rotor position without relying on external position sensors. It primarily relies on sampling the stator current and estimating the rotor position using the motor's back electromotive force (EMF) or other electrical parameters. This method reduces system complexity and cost.

[0081] See Figure 1 , Figure 1 This is a schematic diagram of a structure of an active suspension control system provided in an embodiment of this application. Figure 1 As shown, the active suspension control system 1 includes: a controller 11, a first motor 121, a second motor 122, a first pump body 131, and a second pump body 132; wherein,

[0082] Controller 11 is configured to sample the current of a first motor to obtain a first initial sampled current; and / or sample the current of a second motor to obtain a second initial sampled current; determine a first target sampled current based on the first initial sampled current and a pre-calibrated current curve; and / or determine a second target sampled current based on the second initial sampled current and a pre-calibrated current curve; estimate the motor speed and motor torque based on the first target sampled current to generate a first drive signal; and / or estimate the motor speed and motor torque based on the second target sampled current to generate a second drive signal. The current curve represents the correspondence between the actual sampled current and the standard sampled current; the current curve is obtained by injecting a standard sampled current into the motor and sampling the actual sampled current.

[0083] The first motor 121 is used to drive the first pump body 131 to adjust the state of the first active suspension according to the first drive signal;

[0084] The second motor 122 drives the second pump body 132 to adjust the state of the second active suspension according to the second drive signal.

[0085] In this embodiment, the active suspension control system is applied to the vehicle's suspension system. This active suspension control system uses a single controller to control two sets of motors and a pump. For example, for a two-axle, four-wheeled vehicle, one active suspension control system can be configured on each axle, controlling the suspension of the two wheels on that axle. The active suspension control system works by using multiple sensors on the vehicle, such as wheel acceleration sensors, suspension height sensors, and inertial measurement units, to monitor the vehicle's motion and road conditions in real time. The controller in the active suspension control system determines the vehicle's attitude and road conditions based on feedback signals from multiple sensors and determines how to adjust the suspension system's operating state to meet different driving needs and road conditions. To achieve precise motor control, the controller also needs to sample the stator current in the motor. The sampled current reflects the motor's operating state, including torque and speed. In this way, the controller integrates feedback signals from multiple sensors and the sampled current of the motor to calculate the drive signal for the motor. The motor adjusts its operating state according to this drive signal, driving the pump to draw hydraulic oil from the tank and pressurize it through an internal mechanical structure before delivering it to the actuators of the suspension system, such as hydraulic cylinders or shock absorbers. The actuators adjust the stiffness and damping of the suspension according to the pressure changes of the hydraulic oil, thereby controlling the vehicle's driving posture.

[0086] In some embodiments, the controller in this application may include an electronic control unit (ECU) on a vehicle.

[0087] In some embodiments, such as Figure 2 As shown, the motor (first motor 121 or second motor 122) may include a brushless motor. Exemplarily, the brushless motor may be a high-speed three-phase motor, including a stator and a rotor, such as... Figure 2 The first stator 1211 and the first rotor 1212, and as shown in Figure 2 The second stator 1221 and the second rotor 1222 are shown in the diagram. Exemplarily, the stator may employ a split-yoke or modular design, and the rotor may employ a spoke structure. The pump body (first pump body 131 or second pump body 132) may include internal meshing gears (such as... Figure 2 The first internal meshing gear 1311 and the second internal meshing gear 1321 are shown in the figure. For example, the internal meshing gear may include an internal gear and an external gear (not shown in the figure).

[0088] It can be seen that, as Figure 1 or Figure 2The block diagram of the active suspension control system shown does not include magnetic coded sensors or other types of speed sensors. This application embodiment is a system that controls the motor using a sensorless FOC (Focus-to-Cycle) method, and improves the control accuracy of the sensorless FOC application in the active suspension control system by correcting the current curve of the initial sampled current obtained from actual sampling.

[0089] In some embodiments, a pre-calibrated current curve can be obtained in the following manner. It should be noted that the current curve may include a first current curve corresponding to the first motor and / or a second current curve corresponding to the second motor; that is, the calibration method below can be implemented on the first motor and the second motor respectively to obtain the current curves corresponding to the first motor and the second motor respectively.

[0090] Multiple standard sampling currents are used to inject current into the motor at multiple points, and the actual sampling current generated by the motor under each standard sampling current injection is collected as the actual sampling current corresponding to that standard sampling current; the current curve is determined based on the correspondence between multiple standard sampling currents and multiple actual sampling currents for the same motor.

[0091] The motors in the above process include a first motor and / or a second motor, and the current curves include a first current curve corresponding to the first motor and / or a second current curve corresponding to the second motor. That is, multiple standard sampling currents can be used to inject current into the first motor at multiple points, and the actual sampling current generated by the first motor under each injected standard sampling current can be collected as the actual sampling current corresponding to that standard sampling current; the first current curve is determined based on the correspondence between the multiple standard sampling currents and the multiple actual sampling currents corresponding to the first motor; and / or, multiple standard sampling currents can be used to inject current into the second motor at multiple points, and the actual sampling current generated by the second motor under each injected standard sampling current can be collected as the actual sampling current corresponding to that standard sampling current; the second current curve is determined based on the correspondence between the multiple standard sampling currents and the multiple actual sampling currents corresponding to the second motor.

[0092] For example, the current curve can be calibrated by multi-point current injection during the offline detection of the motor, and the accuracy of the initial sampling current can be corrected by curve mapping during motor control, thereby improving the accuracy of the sampling current.

[0093] For example, current can be injected into the motor at various speeds and torques to obtain the standard sampling current at each speed and torque point. Here, the standard sampling current represents the most accurate sampling current of the motor at a certain speed and torque. Control commands are output to the motor from the host computer, causing the motor to output current to the stator with the standard sampling current as the target. The actual current on the motor stator is sampled to obtain the actual sampling current. The difference between the actual sampling current and its corresponding standard sampling current is calculated to obtain the compensation amount (i.e., gain) required to compensate different actual sampling currents to the accurate standard current; a current curve is obtained based on the actual sampling current and its corresponding gain.

[0094] It is understandable that, based on the initial sampling current (first initial sampling current and / or second initial sampling current) obtained from the current sampling, the standard sampling current corresponding to it in the current curve (first current curve and / or second current curve) can be determined as the target sampling current (first target sampling current and / or second target sampling current), thereby improving the accuracy of the target sampling current, and further improving the accuracy of generating drive signals based on the target sampling current to achieve motor control.

[0095] In this embodiment, the target sampling current reflects the current operating state of the motor, such as its speed or torque. The controller 11 can estimate the motor speed and torque based on information from multiple sensors, including motion state and road conditions, combined with the target sampling current. It then determines the appropriate motor speed and torque to output, thereby adjusting the suspension system's operating state through motor control of the pump to meet different driving needs and road conditions. The controller 11 generates a drive signal based on the estimated motor speed and torque, which controls the motor to operate according to the specified speed and torque.

[0096] In some embodiments, the process by which the controller 11 estimates the motor speed and torque based on the target sampling current (first target sampling current and / or second target sampling current) and generates drive signals (first drive signal and / or second drive signal) may include: estimating the rotor position based on the target sampling current; estimating the motor speed based on the rotor position; estimating the torque based on the motor speed and the target speed; and generating a torque current reference value characterizing the motor torque. The drive signal is then generated based on the torque current reference value, the excitation current reference value (typically determined based on a preset control target), and the excitation component current and torque component current corresponding to the target sampling current. The controller 11 can perform motor speed and torque estimation and control in a sensorless FOC manner, including: using coordinate transformation to decompose the stator current of the AC motor into excitation component current and torque component current and control them separately, thus completely decoupling them and achieving dynamic performance similar to a DC speed control device. Specifically, the target sampling current is the target sampling current in a three-phase stationary coordinate system. The controller 11 obtains the initial position of the motor rotor when the motor is stationary through a motor position detection algorithm. Through coordinate transformation, the target sampling current in the three-phase stationary coordinate system is converted into current components in two stationary coordinate systems. Using a sensorless algorithm, the rotor position is estimated based on the current in the two stationary coordinate systems. Based on the rotor position, the current components in the two stationary coordinate systems are converted into torque component current and excitation component current in two rotating coordinate systems. Thus, by using coordinate transformation, the three-phase AC coupled stator current is converted into mutually orthogonal and independent torque component current and excitation component current. Furthermore, based on the initial position of the motor rotor and the estimated rotor position... The rotor speed (i.e., motor speed) is determined; a torque current reference value is generated by comparing the motor speed and the target speed; based on the error between the torque component current corresponding to the target sampling current and the torque current reference value, and the error between the excitation component current corresponding to the target sampling current and the excitation current reference value, two control voltages in a rotating coordinate system are generated. After inverse coordinate transformation, signal modulation, and signal generation, a drive signal for driving the motor is generated. This achieves the control of the motor's excitation current and torque current based on the stator current represented by the target sampling current and the principle of field orientation, thus making the three-phase AC motor equivalent to a brushed DC motor for control; achieving the same purpose as a DC motor by directly controlling the torque through controlling the torque current.

[0097] Understandably, FOC (Fluorescent Control) sensorless control estimates the motor's speed and torque based on the rotor position, such as the rotor's position angle, and generates corresponding drive signals. By correcting the initial sampled current using a pre-calibrated current curve, the accuracy of current sampling can be optimized, thereby improving the accuracy of FOC's rotor position estimation based on current. This allows for the generation of more accurate drive signals based on a more accurate rotor position, enabling the provision of high torque and rapid pressure build-up. This improves the precision of motor control, allowing the motor to quickly generate sufficient torque to rapidly build up the pressure required by the suspension system, thus enhancing the suspension system's response speed.

[0098] In some embodiments, the controller 11 includes: a control module, an inverter circuit, and a current sampling circuit; wherein,

[0099] A current sampling circuit is used to sample the current of the first stator in the first motor to obtain a first initial sampling current; and / or to sample the current of the second stator in the second motor to obtain a second initial sampling current;

[0100] The control module is configured to: determine a first target gain corresponding to the first initial sampling current based on the first initial sampling current and the current curve; determine a first target sampling current based on the first initial sampling current and the first target gain; estimate the motor speed and motor torque based on the first target sampling current to obtain a first pre-stage drive signal; and / or, determine a second target gain corresponding to the second initial sampling current based on the second initial sampling current and the current curve; determine a second target sampling current based on the second initial sampling current and the second target gain; estimate the motor speed and motor torque based on the second target sampling current to obtain a second pre-stage drive signal.

[0101] An inverter circuit is used to perform signal conversion on a first pre-stage drive signal to determine a first drive signal; and / or to perform signal conversion on a second pre-stage drive signal to determine a second drive signal.

[0102] Optionally, the controller 11 may also include a power supply module. The power supply module supplies power to the control module, inverter circuit, and current sampling circuit. Alternatively, in some embodiments, the control module, inverter circuit, and current sampling circuit may be powered by an external power supply or power supply circuit. This application does not impose specific limitations on the embodiments described.

[0103] In some embodiments, the control module may include a microcontroller unit (MCU) in the controller ECU.

[0104] In this embodiment, the process of sampling the stator current of the first motor and the second motor and generating the first drive signal and the second drive signal is similar. Objects not distinguished as first and second in the embodiments include the first object and / or the second object, which will not be elaborated here.

[0105] In some embodiments, the current sampling circuit samples the current in the stator (first stator and / or second stator) of the motor (first motor and / or second motor) to obtain an analog sampling current; the analog sampling current is then filtered, amplified, and input to the analog-to-digital converter (ADC) of the control module for analog-to-digital conversion to obtain the initial sampling current (first initial sampling current and / or second initial sampling current). In some embodiments, the initial sampling current includes the actual current in the form of a digital signal obtained by real-time current sampling of the stator in the motor.

[0106] In some embodiments, the pre-drive signals include signals for controlling the operation of power switching elements (such as IGBTs or MOSFETs) in the inverter circuit, which determine the waveform of the inverter output voltage. For example, in a three-phase inverter circuit, each phase typically has two power switching elements (such as IGBTs or MOSFETs), which respectively control the upper and lower bridge arms of that phase. Therefore, a total of six power switching elements are required for a three-phase inverter circuit, and correspondingly, six pulse width modulation (PWM) comparators are needed to control these switching elements. By precisely controlling the on and off times of the two power switching elements in each phase using PWM comparators, the desired output voltage vector can be synthesized, enabling the inverter to generate a space vector pulse width modulation (SVPWM) waveform based on the pre-drive signals to control the motor operation.

[0107] In some embodiments, the controller further includes: a pre-stage driver circuit; and a power supply module for supplying power to the pre-stage driver circuit; wherein...

[0108] The pre-drive circuit is used to convert the voltage output by the controller into the DC bus voltage of the inverter circuit.

[0109] The inverter circuit is further configured to convert the first pre-stage drive signal into six first pulse width modulation signals with amplitude equal to the DC bus voltage, and synthesize a first space vector pulse width modulation signal based on the six first pulse width modulation waves as the first drive signal; and / or, convert the second pre-stage drive signal into six second pulse width modulation signals with amplitude equal to the DC bus voltage, and synthesize a second space vector pulse width modulation signal based on the six second pulse width modulation waves as the second drive signal.

[0110] The pre-drive circuit is connected between the output of the controller and the input of the inverter circuit to provide a suitable operating environment for the inverter circuit. For example, the pre-drive circuit can rectify and filter the voltage and current output by the controller to make them more stable, and output the required DC bus voltage for the inverter circuit, thereby providing a stable and reliable operating environment for the inverter circuit and ensuring that the inverter circuit can operate normally and perform its functions.

[0111] In this system, the DC bus voltage serves as the energy source for the inverter's conversion of DC to AC. In Space Vector Pulse Width Modulation (SVPWM) technology, the DC bus voltage is effectively utilized to synthesize three-phase AC voltage. By properly controlling the switching states, the DC bus voltage can be converted into PWM waves of varying amplitudes, thereby controlling the motor's operation.

[0112] In this way, the inverter circuit can convert the output DC bus voltage provided by the front-stage drive circuit into six PWM waves with amplitude equal to the bus voltage to synthesize an SVPWM wave, and use the SVPWM wave to drive the motor.

[0113] In some embodiments, the control module is connected to the power supply module, the pre-drive circuit, the inverter circuit, and the current sampling circuit, respectively, to complete the logic control of motor operation, SVPWM wave generation, FOC calculation, current sampling, and motor abnormal state protection.

[0114] Understandably, the initial sampled current obtained from motor sampling is corrected using a pre-calibrated current curve to obtain the target sampled current. Since the current curve is obtained by injecting a standard sampled current into the motor and sampling the actual sampled current, it characterizes the correspondence between the actual sampled current and the standard sampled current. Therefore, based on the initial sampled current obtained from the actual sampling, a more accurate standard sampled current can be determined as the target sampled current through the current curve. In this way, estimating the motor speed and torque based on the target sampled current allows for the generation of more accurate drive signals to control the motor. Thus, in the active suspension control system, sensorless FOC control without the need for speed measurement using magnetic encoder sensors or other speed sensors is achieved, and the accuracy of motor control is improved.

[0115] In sensorless control (FOC), load torque refers to the torque applied by the external load acting on the rotor of the motor. Load torque affects the motor's speed and dynamic response; therefore, embodiments of this application can estimate and compensate for it using the following methods.

[0116] In some embodiments, the controller 11 described above includes: a load torque observer and a feedforward compensation loop; the feedforward compensation loop includes a filtering module; wherein:

[0117] The controller is configured to estimate the motor speed based on a first target sampling current, and determine the first motor speed and the first motor torque; and / or, to estimate the motor speed based on a second target sampling current, and determine the second motor speed and the second motor torque.

[0118] A load torque observer is used to determine a first load torque of a first motor based on the speed and torque of a first motor; and / or, to determine a second load torque of a second motor based on the speed and torque of a second motor.

[0119] A feedforward compensation circuit is used to output a first initial feedforward compensation current based on a first load torque; and / or, to output a second initial feedforward compensation current based on a second load torque.

[0120] The filtering module is used to filter the first initial feedforward compensation current and output the first feedforward compensation current; the first feedforward compensation current is used to control the first motor in conjunction with the first drive signal; and / or, to filter the second initial feedforward compensation current and output the second feedforward compensation current; the second feedforward compensation current is used to control the second motor in conjunction with the second drive signal.

[0121] Specifically, a load torque observer can be pre-established in the controller to estimate the load torque in real time based on the motor speed and torque estimated from the target sampled current. The load torque is then used as a feedforward compensation signal and input into the feedforward compensation loop to achieve active compensation for load disturbances.

[0122] The feedforward compensation circuit can output an initial feedforward compensation current based on the load torque, achieving active compensation for the system. This allows the controller to react quickly when the load torque changes, adjusting the motor current or voltage to maintain stable motor operation. Consequently, it reduces motor speed fluctuations caused by load changes, offsetting the impact of load variations by adjusting the control signal in advance, and ultimately improving the system's resistance to load disturbances.

[0123] In this embodiment, a filter module is connected in series in the feedforward compensation circuit to filter the feedforward compensation current, which can further reduce the fluctuation of the compensation signal and improve the stability and responsiveness of the system.

[0124] In some embodiments, the filtering module is equivalent to the inertial element in the FOC control system. It can be implemented by software algorithms or by filters, depending on the actual situation. This application does not limit the implementation of the embodiment.

[0125] Understandably, by adding a filtering strategy to the sensorless FOC, the smoothness of suspension control is ensured.

[0126] In some embodiments, the first pump body includes a first hydraulic pump; the second pump body includes a second hydraulic pump; the active suspension control system further includes at least one sensor; the at least one sensor includes a hydraulic pressure magnetically encoded sensor corresponding to the first hydraulic pump and / or the second hydraulic pump. The hydraulic pressure magnetically encoded sensor is used to acquire a first hydraulic oil pressure and / or a first flow rate in the pipeline of the first hydraulic pump; and / or to acquire a second hydraulic oil pressure and / or a second flow rate in the pipeline of the second hydraulic pump;

[0127] The controller is also configured to estimate the motor speed based on the first target sampling current to generate a first speed; determine a second speed based on the first hydraulic oil pressure and / or the first flow rate using a pre-established dynamic model between the hydraulic oil pressure and / or flow rate and the motor speed; and / or, estimate the motor speed based on the second target sampling current to generate a third speed; and determine a fourth speed based on the second hydraulic oil pressure and / or the second flow rate using a pre-established dynamic model between the hydraulic oil pressure and / or flow rate and the motor speed.

[0128] The controller is also used to fuse and filter the first speed and the second speed to obtain the first motor speed; and / or to fuse and filter the third speed and the fourth speed to obtain the second motor speed.

[0129] Among them, the hydraulic pressure magnetic coding sensor can be set at the inlet and outlet of the hydraulic pump pipeline. Through the hydraulic pressure magnetic coding sensor, the hydraulic pressure at the inlet and outlet of the hydraulic pump pipeline can be accurately measured to estimate the flow rate and pressure of the hydraulic oil, and then correlated with the motor speed.

[0130] The pre-established dynamic model relating hydraulic oil pressure, flow rate, and motor speed can predict motor speed variations under different operating conditions. For example, a mathematical relationship between hydraulic oil pressure, flow rate, and motor speed can be established based on fluid mechanics and motor control theory, such as fluid dynamics equations, motor torque equations, and pump displacement characteristics. A simulation model corresponding to this mathematical relationship is built using simulation methods. The model parameters are then adjusted using experimental data until the simulation results match the experimental data. A closed-loop control strategy, such as a PID controller, is added to the adjusted model to achieve precise control of hydraulic oil pressure and flow rate, thereby affecting motor speed, resulting in the final dynamic model relating hydraulic oil pressure and / or flow rate and motor speed.

[0131] In this way, a dynamic model of the relationship between hydraulic oil pressure and / or flow rate and motor speed can be used to obtain a second speed and / or a fourth speed based on the hydraulic oil pressure and / or flow rate at the inlet and outlet of the hydraulic pump pipeline, for example, based on the pressure difference and / or flow rate difference between the inlet and outlet hydraulic oil, thereby achieving precise control of hydraulic oil pressure and flow rate.

[0132] Specifically, the first motor speed can be obtained by performing data fusion and filtering based on a pre-established model-based sensor fusion optimization filtering system. This system uses a first rotational speed estimated from a first target sampling current and a second rotational speed obtained from a dynamic model of the relationship between the first hydraulic oil pressure and / or the first flow rate and the motor speed. This data is then combined with sensor signals from at least one sensor to perform data fusion and filtering. Alternatively, the second motor speed can be obtained by performing data fusion and filtering based on a third rotational speed estimated from a second target sampling current and a fourth rotational speed obtained from a dynamic model of the relationship between the second hydraulic oil pressure and / or the second flow rate and the motor speed.

[0133] It is understandable that by optimizing and filtering the electronic speed to obtain the motor speed using the above method, the jitter of the estimated motor speed can be reduced, making the closed-loop control of the motor speed more accurate and the speed response smoother and more stable.

[0134] Based on the aforementioned active suspension control system, this application embodiment also provides a control method for the active suspension control system, applied to the controller in any of the aforementioned active suspension control systems, such as... Figure 3 As shown, it includes:

[0135] S101. Sample the current of the first motor and / or the second motor to obtain the first initial sampled current and / or the second initial sampled current.

[0136] S102. Determine the first target sampling current and / or the second target sampling current based on the first initial sampling current and / or the second initial sampling current, and the pre-calibrated first current curve and / or second current curve.

[0137] S103. Estimate the motor speed and motor torque based on the first target sampling current and / or the second target sampling current, and generate the first drive signal and / or the second drive signal.

[0138] The current curve represents the correspondence between the actual sampled current and the standard sampled current. The current curve is obtained by injecting the standard sampled current into the motor and sampling the actual sampled current. The first drive signal is used to drive the first motor and control the first pump in the active suspension control system to adjust the state of the first active suspension. The second drive signal is used to drive the second motor and control the second pump in the active suspension control system to adjust the state of the second active suspension.

[0139] In some embodiments, before sampling the current of the first motor and / or the second motor to obtain a first initial sampled current and / or a second initial sampled current, the method further includes:

[0140] Multiple standard sampling currents are used to inject current into the motor at multiple points, and the actual sampling current generated by the motor under each standard sampling current injection is collected as the actual sampling current corresponding to that standard sampling current; the motor includes the first motor and / or the second motor;

[0141] The current curve is determined based on the correspondence between multiple standard sampling currents and multiple actual sampling currents corresponding to the same motor; the current curve includes the first current curve corresponding to the first motor and / or the second current curve corresponding to the second motor.

[0142] In some embodiments, determining the first target sampling current and / or the second target sampling current based on the first initial sampling current and / or the second initial sampling current, and a pre-calibrated first current curve and / or second current curve, includes:

[0143] Based on the first initial sampling current and the first current curve, determine the first target gain corresponding to the first initial sampling current;

[0144] The first target sampling current is determined based on the first initial sampling current and the first target gain;

[0145] And / or,

[0146] Based on the second initial sampling current and the second current curve, determine the second target gain corresponding to the second initial sampling current;

[0147] The second target sampling current is determined based on the second initial sampling current and the second target gain.

[0148] In some embodiments, the step of estimating the motor speed and motor torque based on the first target sampling current and / or the second target sampling current, and generating a first drive signal and / or a second drive signal, includes:

[0149] Based on the first target sampling current, the motor speed and motor torque are estimated to obtain the first front-end drive signal;

[0150] The first pre-stage drive signal is converted to determine the first drive signal;

[0151] And / or,

[0152] The motor speed and motor torque are estimated based on the second target sampling current to obtain the second front-stage drive signal;

[0153] The second pre-stage drive signal is converted to determine the second drive signal.

[0154] In some embodiments, the step of signal conversion of the first pre-stage drive signal to determine the first drive signal includes:

[0155] The first pre-stage drive signal is converted into six first pulse width modulation signals with amplitude equal to the DC bus voltage, and a first space vector pulse width modulation signal is synthesized based on the six first pulse width modulation waves as the first drive signal.

[0156] The step of performing signal conversion on the second pre-stage drive signal to determine the second drive signal includes:

[0157] The second pre-stage drive signal is converted into six second pulse width modulation signals with amplitude equal to the DC bus voltage, and a second space vector pulse width modulation signal is synthesized based on the six second pulse width modulation waves as the second drive signal.

[0158] In some embodiments, after estimating the motor speed and motor torque based on the first target sampling current and / or the second target sampling current, and generating the first drive signal and / or the second drive signal, the method further includes:

[0159] The first load torque of the motor is determined based on the first motor speed and the first motor torque, and / or the second load torque of the motor is determined based on the second motor speed and the second motor torque;

[0160] A first initial feedforward compensation current is determined based on the first load torque, and / or a second initial feedforward compensation current is determined based on the second load torque;

[0161] The first initial feedforward compensation current is filtered to determine the first feedforward compensation current, and / or the second initial feedforward compensation current is filtered to determine the second feedforward compensation current;

[0162] The first motor is controlled by combining the first feedforward compensation current and the first drive signal, and / or the second motor is controlled by combining the second feedforward compensation current and the second drive signal.

[0163] In some embodiments, the first pump body includes: a first hydraulic pump; the second pump body includes: a second hydraulic pump; estimating the motor speed based on the first target sampling current and determining the first motor speed includes:

[0164] Obtain the first hydraulic oil pressure and / or first flow rate in the pipeline of the first hydraulic pump;

[0165] The motor speed is estimated based on the first target sampling current to generate a first speed; the second speed is determined based on the first hydraulic oil pressure and / or the first flow rate, using a pre-established dynamic model between the hydraulic oil pressure and / or flow rate and the motor speed.

[0166] The first speed and the second speed are fused and filtered to determine the speed of the first motor.

[0167] The second motor speed is estimated based on the second target sampling current, and the second motor speed is determined, including:

[0168] Obtain the second hydraulic oil pressure and / or second flow rate in the pipeline of the second hydraulic pump;

[0169] The motor speed is estimated based on the second target sampling current to generate a third speed; the fourth speed is determined based on the second hydraulic oil pressure and / or the second flow rate through a pre-established dynamic model between the hydraulic oil pressure and / or flow rate and the motor speed.

[0170] The third and fourth speeds are fused and filtered to determine the speed of the second motor.

[0171] It should be noted that the descriptions of the above method embodiments are similar to those of the above system embodiments, and have similar beneficial effects. For technical details not disclosed in the method embodiments of this application, please refer to the descriptions of the system embodiments of this application for understanding.

[0172] This application also provides a controller. Figure 4 This is a schematic diagram of an optional structure of the controller 3 provided in an embodiment of this application. For example... Figure 4 As shown, the controller 3 includes a memory 32 and a processor 33. The memory 32 and the processor 33 are connected via a communication bus 34. The memory 32 is used to store executable instructions. The processor 33 is used to execute the executable instructions stored in the memory 32 to implement the control method of the active suspension control system provided in this application embodiment.

[0173] This application also provides a vehicle, which includes any of the above-described active suspension control systems provided in this application. Exemplarily, at least one of the above-described active suspension control systems provided in this application may be configured on the vehicle, respectively disposed on at least one axle of the vehicle, for adjusting the stiffness and damping of the suspension near two wheels on the corresponding axle.

[0174] This application provides a computer-readable storage medium storing executable instructions. When the executable instructions are executed by the processor, the processor will execute the control method of the active suspension control system provided in this application.

[0175] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a variety of devices including one or any combination of the above-mentioned memories.

[0176] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0177] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts within a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files storing one or more modules, subroutines, or code sections). As an example, executable instructions may be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0178] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0179] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0180] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0181] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A control method for an active suspension control system, characterized in that, The active suspension control system includes: a controller, a first motor, a second motor, a first pump body, and a second pump body. The method is applied to the controller, and the method includes: Current sampling is performed on the first motor and / or the second motor to obtain a first initial sampling current and / or a second initial sampling current; Based on the first initial sampling current and / or the second initial sampling current, and the pre-calibrated first current curve and / or second current curve, determine the first target sampling current and / or the second target sampling current; Based on the first target sampling current and / or the second target sampling current, the motor speed and motor torque are estimated, and a first drive signal and / or a second drive signal are generated. The current curve represents the correspondence between the actual sampling current and the standard sampling current; the first drive signal is used to drive the first motor and control the first pump body to adjust the state of the first active suspension; the second drive signal is used to drive the second motor and control the second pump body to adjust the state of the second active suspension.

2. The method according to claim 1, characterized in that, Before sampling the current of the first motor and / or the second motor to obtain the first initial sampling current and / or the second initial sampling current, the method further includes: Multiple standard sampling currents are used to inject current into the motor at multiple points, and the actual sampling current generated by the motor under each standard sampling current injection is collected as the actual sampling current corresponding to that standard sampling current; the motor includes the first motor and / or the second motor; The current curve is determined based on the correspondence between multiple standard sampling currents and multiple actual sampling currents corresponding to the same motor; the current curve includes the first current curve corresponding to the first motor and / or the second current curve corresponding to the second motor.

3. The method according to claim 1, characterized in that, The step of determining the first target sampling current and / or the second target sampling current based on the first initial sampling current and / or the second initial sampling current, and the pre-calibrated first current curve and / or second current curve, includes: Based on the first initial sampling current and the first current curve, determine the first target gain corresponding to the first initial sampling current; The first target sampling current is determined based on the first initial sampling current and the first target gain; And / or, Based on the second initial sampling current and the second current curve, determine the second target gain corresponding to the second initial sampling current; The second target sampling current is determined based on the second initial sampling current and the second target gain.

4. The method according to any one of claims 1-3, characterized in that, The step of estimating the motor speed and motor torque based on the first target sampling current and / or the second target sampling current, and generating the first drive signal and / or the second drive signal, includes: Based on the first target sampling current, the motor speed and motor torque are estimated to obtain the first front-end drive signal; The first pre-stage drive signal is converted to determine the first drive signal; And / or, The motor speed and motor torque are estimated based on the second target sampling current to obtain the second front-stage drive signal; The second pre-stage drive signal is converted to determine the second drive signal.

5. The method according to claim 4, characterized in that, The step of performing signal conversion on the first pre-stage drive signal to determine the first drive signal includes: The first pre-stage drive signal is converted into six first pulse width modulation signals with amplitude equal to the DC bus voltage, and a first space vector pulse width modulation signal is synthesized based on the six first pulse width modulation waves as the first drive signal. The step of performing signal conversion on the second pre-stage drive signal to determine the second drive signal includes: The second pre-stage drive signal is converted into six second pulse width modulation signals with amplitude equal to the DC bus voltage, and a second space vector pulse width modulation signal is synthesized based on the six second pulse width modulation waves as the second drive signal.

6. The method according to any one of claims 1-3, or claim 5, characterized in that, After estimating the motor speed and motor torque based on the first target sampling current and / or the second target sampling current, and generating the first drive signal and / or the second drive signal, the method further includes: The first load torque of the motor is determined based on the first motor speed and the first motor torque, and / or the second load torque of the motor is determined based on the second motor speed and the second motor torque; A first initial feedforward compensation current is determined based on the first load torque, and / or a second initial feedforward compensation current is determined based on the second load torque; The first initial feedforward compensation current is filtered to determine the first feedforward compensation current, and / or the second initial feedforward compensation current is filtered to determine the second feedforward compensation current; The first motor is controlled by combining the first feedforward compensation current and the first drive signal, and / or the second motor is controlled by combining the second feedforward compensation current and the second drive signal.

7. The method according to any one of claims 1-3, or claim 5, characterized in that, The first pump body includes: a first hydraulic pump; the second pump body includes: a second hydraulic pump; estimating the motor speed based on the first target sampling current and determining the first motor speed includes: Obtain the first hydraulic oil pressure and / or first flow rate in the pipeline of the first hydraulic pump; The motor speed is estimated based on the first target sampling current to generate a first speed; the second speed is determined based on the first hydraulic oil pressure and / or the first flow rate, using a pre-established dynamic model between the hydraulic oil pressure and / or flow rate and the motor speed. The first speed and the second speed are fused and filtered to determine the speed of the first motor. The second motor speed is estimated based on the second target sampling current, and the second motor speed is determined, including: Obtain the second hydraulic oil pressure and / or second flow rate in the pipeline of the second hydraulic pump; The motor speed is estimated based on the second target sampling current to generate a third speed; the fourth speed is determined based on the second hydraulic oil pressure and / or the second flow rate through a pre-established dynamic model between the hydraulic oil pressure and / or flow rate and the motor speed. The third and fourth speeds are fused and filtered to determine the speed of the second motor.

8. An active suspension control system, characterized in that, include: Controller, first motor, second motor, first pump body, and second pump body; wherein, The controller is configured to sample the current of the first motor and / or the second motor to obtain a first initial sampled current and / or a second initial sampled current; determine a first target sampled current and / or a second target sampled current based on the first initial sampled current and / or the second initial sampled current, and a pre-calibrated first current curve and / or second current curve; estimate the motor speed and motor torque based on the first target sampled current and / or the second target sampled current, and generate a first drive signal and / or a second drive signal; the current curve represents the correspondence between the actual sampled current and the standard sampled current. The first motor is used to drive the first pump body to adjust the state of the first active suspension according to the first drive signal; The second motor is used to drive the second pump body to adjust the state of the second active suspension according to the second drive signal.

9. The active suspension control system according to claim 8, characterized in that, The controller includes: a control module, an inverter circuit, and a current sampling circuit; wherein... The current sampling circuit is used to sample the current of the first stator in the first motor to obtain the first initial sampling current; and / or to sample the current of the second stator in the second motor to obtain the second initial sampling current. The control module is configured to: determine a first target gain corresponding to the first initial sampling current based on the first initial sampling current and the first current curve; determine a first target sampling current based on the first initial sampling current and the first target gain; estimate the motor speed and motor torque based on the first target sampling current to obtain a first pre-stage drive signal; and / or determine a second target gain corresponding to the second initial sampling current based on the second initial sampling current and the second current curve; determine a second target sampling current based on the second initial sampling current and the second target gain; estimate the motor speed and motor torque based on the second target sampling current to obtain a second pre-stage drive signal. The inverter circuit is used to perform signal conversion on the first pre-stage drive signal to determine the first drive signal; and / or to perform signal conversion on the second pre-stage drive signal to determine the second drive signal.

10. The active suspension control system according to claim 9, characterized in that, The controller further includes: a pre-stage drive circuit; wherein... The front-end drive circuit is used to convert the voltage output by the control module into the DC bus voltage of the inverter circuit. The inverter circuit is further configured to convert the first pre-stage drive signal into six first pulse width modulation signals with amplitude equal to the DC bus voltage, and synthesize a first space vector pulse width modulation signal based on the six first pulse width modulation waves as the first drive signal; and / or, convert the second pre-stage drive signal into six second pulse width modulation signals with amplitude equal to the DC bus voltage, and synthesize a second space vector pulse width modulation signal based on the six second pulse width modulation waves as the second drive signal.

11. The active suspension control system according to any one of claims 8-10, characterized in that, The controller includes: a load torque observer and a feedforward compensation loop; the feedforward compensation loop includes a filtering module; The controller is configured to estimate the motor speed based on the first target sampling current, and determine the first motor speed and the first motor torque; and / or, estimate the motor speed based on the second target sampling current, and determine the second motor speed and the second motor torque. The load torque observer is used to determine the first load torque of the first motor based on the first motor speed and the first motor torque; and / or, to determine the second load torque of the second motor based on the second motor speed and the second motor torque. The feedforward compensation circuit is used to output a first initial feedforward compensation current based on the first load torque; and / or, to output a second initial feedforward compensation current based on the second load torque. The filtering module is used to filter the first initial feedforward compensation current and output a first feedforward compensation current; the first feedforward compensation current is used to control the first motor in conjunction with the first drive signal; and / or, to filter the second initial feedforward compensation current and output a second feedforward compensation current; the second feedforward compensation current is used to control the second motor in conjunction with the second drive signal.

12. The active suspension control system according to any one of claims 8-10, characterized in that, The first pump body includes a first hydraulic pump; the second pump body includes a second hydraulic pump; the active suspension control system further includes at least one sensor; the at least one sensor includes a hydraulic pressure magnetic coded sensor corresponding to the first hydraulic pump and / or the second hydraulic pump; The hydraulic pressure magnetic coded sensor is used to acquire the first hydraulic oil pressure and / or the first flow rate in the pipeline of the first hydraulic pump; and / or, to acquire the second hydraulic oil pressure and / or the second flow rate in the pipeline of the second hydraulic pump. The controller is further configured to estimate the motor speed based on the first target sampling current to generate a first speed; determine a second speed based on the first hydraulic oil pressure and / or the first flow rate using a pre-established dynamic model between hydraulic oil pressure and / or flow rate and motor speed; and / or, estimate the motor speed based on the second target sampling current to generate a third speed; and determine a fourth speed based on the second hydraulic oil pressure and / or the second flow rate using a pre-established dynamic model between hydraulic oil pressure and / or flow rate and motor speed. The controller is further configured to fuse and filter the first speed and the second speed to obtain the first motor speed; and / or to fuse and filter the third speed and the fourth speed to obtain the second motor speed.

13. A controller, characterized in that, include: Memory is used to store executable instructions for a computer; A processor, when executing computer-executable instructions stored in the memory, implements the method according to any one of claims 1 to 7.

14. A computer-readable storage medium storing computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or computer program are executed by a processor, they implement the method described in any one of claims 1 to 7.

15. A vehicle, characterized in that, The vehicle includes an active suspension control system as described in any one of claims 8-12.

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