A control method and system for a breakable electronic stabilizer bar actuator

Abstract

The present application belongs to the field of stabilizer bar actuators, and particularly relates to a control method and system for a breakable electronic stabilizer bar actuator. After receiving an instruction, the electromagnetic lock is unlocked, the motor is driven to rotate forward to drive the push rod to move to a disengaged position, and the lock is controlled by detecting the number of steps of the sensor magnetic ring. If the movement is blocked, the energy storage spring is compressed, and when the stabilizer bar force is balanced, the break is automatically released. After receiving an instruction, the motor is driven to rotate reversely to drive the push rod to move to an engaged position, and the lock is controlled by detecting the number of steps. If the movement is blocked, the motor PWM duty cycle is increased to increase the torque until the position is reached or a fault protection is triggered. By rotating the motor forward and reversely, the reliability of the actuator is improved. Based on the energy storage spring and the blocked processing mode, the energy can be stored when the break is blocked, and the torque can be adaptively increased when the connection is blocked, thereby improving the system fault tolerance and user experience. Based on the cooperative control of the step detection and the electromagnetic lock, the reliability of the stabilizer bar break and connection state is ensured.

Description

Technical Field

[0001] This invention pertains to stabilizer bar actuators, specifically relating to a control method and system for a disconnectable electronic stabilizer bar actuator. Background Technology

[0002] The car suspension system is one of the assemblies of a car, connecting the wheels and the body. Its main function is to transmit the force and torque between the wheels and the frame, and to buffer the impact force transmitted from uneven road surfaces to the frame or body.

[0003] In a suspension system, the stabilizer bar is an auxiliary elastic element. Its main function is to prevent excessive lateral roll of the vehicle body during cornering, thereby improving vehicle handling stability. When the left and right wheels move synchronously, such as when traversing undulations on a flat road surface, the stabilizer bar has no effect. When the left and right wheels move inconsistently, the stabilizer bar twists, generating an anti-roll moment to suppress body roll.

[0004] During the disconnection process of the existing stabilizer bar actuator, when the two sections of the stabilizer bar are subjected to uneven force, causing the push rod movement to be obstructed, the motor is prone to stalling. Long-term stalling will not only burn out the motor, but also cause wear on the gear meshing of the transmission mechanism and deformation of the guide rod. At the same time, the push rod cannot complete the disengagement action, and the user needs to repeatedly operate the control button to try to disconnect, which increases the complexity of operation and also consumes additional vehicle power, affecting the vehicle's range.

[0005] Furthermore, if the stabilizer bar is obstructed during operation, the system will output the maximum duty cycle, which is equivalent to applying the rated voltage to the motor. At this time, the rotor is stationary, and the current is only limited by the DC resistance of the windings, which can far exceed the rated current. Repeated occurrences of this will accelerate the aging of the motor winding insulation, and the power MOSFETs may fail due to excessively high junction temperatures. Summary of the Invention

[0006] This invention provides a control method for a disconnectable electronic stabilizer bar actuator. Through an energy storage spring design, energy can be stored when the push rod movement is obstructed, allowing the action to be completed when conditions are suitable, thus avoiding multiple operations by the user. When obstruction is encountered during the connection process, the motor torque is increased to ensure the push rod reaches its designated position.

[0007] The disconnection process includes the following steps: S1: Receives user commands to disconnect the stabilizer bar via the communication module; S2: In response to the disconnect command, the control module controls the electromagnetic locking component to unlock; S3: The drive module drives the motor to rotate in the forward direction, and the rotational motion of the motor is converted into the axial movement of the push rod towards the disengaged position through the transmission mechanism; S4: During the movement of the push rod, the number of rotation steps of the sensor magnetic ring linked with the transmission mechanism is detected by the sensor module; S5: When the number of rotation steps is detected to reach a first predetermined value corresponding to the disengagement position, the electromagnetic locking component is controlled to lock. S6: If the axial movement of the push rod toward the disengagement position is obstructed during the execution of steps S3 to S5, the energy storage spring in the transmission mechanism is compressed; when it is detected that the two sections of the stabilizer are under equal force, the energy storage spring releases potential energy to drive the push rod to complete the final movement toward the disengagement position.

[0008] The connection process includes the following steps: S7: Receives user commands to connect the stabilizer bar via the communication module; S8: In response to the connection command, the control module controls the electromagnetic locking component to unlock; S9: The drive module drives the motor to rotate in the opposite direction, and the rotational motion of the motor is converted into the axial movement of the push rod toward the engagement position through the transmission mechanism; S10: During the movement of the push rod, the number of rotation steps of the sensor magnetic ring is detected by the sensor module; S11: When the number of rotation steps is detected to reach the second predetermined value corresponding to the engagement position, the electromagnetic locking component is controlled to lock. S12: If the axial movement of the push rod toward the engagement position is obstructed during the execution of steps S9 to S11, the drive module increases the duty cycle of the motor drive signal to increase the motor output torque until the push rod moves to the engagement position or the duty cycle reaches the upper limit.

[0009] The present invention also provides a control system for a breakable electronic stabilizer bar actuator, the system comprising: a housing assembly, a transmission mechanism assembly, a sensor module assembly, and a locking and accessory assembly; The housing assembly includes: a first housing, a second housing, a circuit board, and a circuit board connector; The circuit board is fixedly mounted on the inner wall of the first housing; the circuit board plug is fixed on the circuit board and extends outward through the opening of the first housing; the second housing is sealed to the first housing, and the two together form a receiving cavity; The transmission mechanism components include: a motor, a reduction gear assembly, an electromagnetic locking assembly, a guide rod, a push rod, and an energy storage spring; The motor is fixed inside the first housing; the output shaft of the motor is connected to the input gear of the reduction assembly via a spline; the output gear of the reduction assembly meshes with the driven gear of the electromagnetic locking assembly; the driven gear of the electromagnetic locking assembly is coaxially fixed to one end of the guide rod via a flat key; the external thread of the guide rod meshes with the internal thread of the push rod to form a lead screw pair; the energy storage spring is sleeved between the guide rod and the push rod, with one end of the energy storage spring abutting against the shoulder of the guide rod and the other end of the energy storage spring abutting against the inner end face of the push rod. The sensor module components include: a sensor magnetic ring, a motor step count sensor, and a position sensor; The sensor magnetic ring is fixed to the end face of the output gear of the reduction assembly and rotates synchronously with the output gear; the motor step sensor is set on the circuit board, with the sensing surface of the motor step sensor facing the sensor magnetic ring and spaced apart; the position sensor is fixed to the end of the accessory fork.

[0010] The locking and attachment assembly includes: an attachment fork and an attachment fork spring; The accessory fork is sleeved on the outer periphery of the push rod and is axially fixed to the push rod by a retaining ring, and moves axially synchronously with the push rod; the accessory fork spring is sleeved on the accessory fork, with one end of the accessory fork spring abutting against the flange of the accessory fork and the other end abutting against the inner wall of the first housing.

[0011] As can be seen from the above technical solutions, the present invention has the following advantages: This invention addresses the problems of push rod obstruction, motor stalling, and repeated user operation when the stabilizer bar disengages. An energy storage spring is installed between the guide rod and the push rod. When the push rod is obstructed, the drive module maintains the motor's forward rotation for a predetermined number of steps and compresses the energy storage spring through a transmission mechanism to store potential energy. A stress sensor detects the force on both ends of the stabilizer bar. When the force is balanced, the energy storage spring releases energy, pushing the push rod to complete the disengagement action. This avoids motor stalling, protects the motor and transmission mechanism, reduces onboard energy consumption, ensures the stabilizer bar disengages at the appropriate time, and improves the actuator's adaptability to different operating conditions.

[0012] This invention combines step counting with the detection of the actual axial position of the push rod by a position sensor to perform dual verification of the locking action. It ensures that the sensor's magnetic ring rotation reaches the target step count and the push rod actually reaches the target position before controlling the electromagnetic locking assembly to lock, ensuring the stabilizing rod disconnects and the connection is reliable. Furthermore, it employs a gradient-increasing method for the motor drive signal duty cycle, gradually increasing the duty cycle in 5% increments, maintaining a 20ms stabilization time after each increase, achieving a smooth increase in motor output torque. This avoids the impact of sudden torque changes on the transmission mechanism and motor, reducing component wear.

[0013] This invention sets an upper limit for the duty cycle. If the push rod is still not in position after the duty cycle reaches the upper limit, the motor drive circuit is shut off, the electromagnetic locking component remains unlocked, and a fault pulse signal is output to the vehicle ECU via the communication module, effectively protecting the motor and preventing overheating. By using the forward and reverse rotation of the motor to drive the push rod, combined with the locking and unlocking control of the electromagnetic locking component, component wear is reduced, and the long-term reliability of the actuator is improved. Attached Figure Description

[0014] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 Exploded view of the control system of a disconnectable electronic stabilizer bar actuator; Figure 2 A schematic diagram of an embodiment of a disconnectable electronic stabilizer bar actuator; Figure 3 A schematic diagram of an embodiment of the locking and accessory components; Figure 4 This is a sectional view of the control system of a disconnectable electronic stabilizer bar actuator; Figure 5 This is a schematic diagram of an embodiment of the control system for a disconnectable electronic stabilizer bar actuator.

[0016] Explanation of reference numerals in the attached figures: 1-First housing, 2-Push rod, 3-Energy storage spring, 4-Guide rod, 5-Motor step sensor, 6-Deceleration assembly, 7-Electromagnetic locking assembly, 8-Motor, 9-Second housing, 10-Accessory fork, 11-Position sensor, 12-Accessory fork spring, 13-Circuit board, 14-Circuit board plug. Detailed Implementation

[0017] like Figures 1 to 5 As shown, the control system of the breakable electronic stabilizer actuator according to this application will be described in detail below. Specific details such as particular system structures and technologies are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details.

[0018] The control system of the disconnectable electronic stabilizer bar actuator includes: housing assembly, transmission mechanism assembly, sensor module assembly, and locking and accessory assembly.

[0019] The housing assembly includes: a first housing 1, a second housing 9, a circuit board 13, and a circuit board connector 14.

[0020] The circuit board 13 is fixedly installed on the inner wall of the first housing 1; the circuit board plug 14 is fixed on the circuit board 13 and extends outward through the opening of the first housing 1; the second housing 9 is sealed to the first housing 1 by bolts, and the two together form a receiving cavity.

[0021] It should be noted that the first housing 1 supports and secures internal components such as the motor 8, circuit board 13, and guide rod 4, providing mechanical support and protection. The second housing 9 is sealed to the first housing 1, enclosing the internal space of the actuator and preventing dust and moisture from entering. The circuit board 13 integrates a control module, drive module, communication module, and sensor signal processing circuit, performing step calculation, logical judgment, and command output. The circuit board connector 14 provides an external power supply and a CAN communication interface for connecting to the vehicle's wiring harness.

[0022] Furthermore, the transmission mechanism assembly includes: a motor 8, a reduction gear 6, an electromagnetic locking gear 7, a guide rod 4, a push rod 2, and an energy storage spring 3.

[0023] The motor 8 is fixed inside the first housing 1; the output shaft of the motor 8 is connected to the input gear of the reduction assembly 6 via a spline. The output gear of the reduction assembly 6 meshes with the driven gear of the electromagnetic locking assembly 7. The driven gear of the electromagnetic locking assembly 7 is coaxially fixed to one end of the guide rod 4 via a flat key. The external thread of the guide rod 4 meshes with the internal thread of the push rod 2 to form a lead screw pair. The energy storage spring 3 is sleeved between the guide rod 4 and the push rod 2, with one end of the energy storage spring 3 abutting against the shoulder of the guide rod 4 and the other end of the energy storage spring 3 abutting against the inner end face of the push rod 2.

[0024] It should be noted that motor 8 generates forward or reverse rotational torque in response to the drive module's commands, providing power for the movement of push rod 2. The reduction gear 6 reduces and increases the torque of the high-speed rotation of motor 8, transmitting it to the driven gear of the electromagnetic locking assembly 7, which in turn drives the sensor magnetic ring to rotate. According to the locking module's commands, the electromagnetic locking assembly 7 controls the engagement or disengagement of the locking pin and the driven gear slot via the energization or de-energization of the electromagnetic coil, thus achieving locking and unlocking of the transmission mechanism.

[0025] The guide rod 4 converts the received rotational motion into the axial motion of the push rod 2 through an external thread, and also serves as the support shaft for the energy storage spring 3. Driven by the guide rod 4, the push rod 2 extends axially to the disengaged position or retracts to the engaged position, directly engaging with the two sections of the stabilizer rod to achieve connection or disconnection.

[0026] The energy storage spring 3 is compressed and stores elastic potential energy when the push rod 2 is obstructed from moving to the disengaged position. After the forces at both ends of the stabilizing rod are balanced, the potential energy is released, driving the push rod 2 to automatically return to its original position.

[0027] Furthermore, the sensor module assembly includes: a sensor magnetic ring, a motor step count sensor 5, and a position sensor 11. The sensor magnetic ring is fixed to the end face of the output gear of the reduction assembly 6 and rotates synchronously with the output gear. The motor step count sensor 5 is mounted on the circuit board 13, with its sensing surface facing the sensor magnetic ring and spaced 0.8 mm apart. The position sensor 11 is fixed to the end of the accessory fork 10.

[0028] It should be noted that the sensor magnetic ring rotates with the output gear of the reduction assembly 6, and the alternating N / S magnetic pole pairs on its end face provide an angle detection reference for the motor step count sensor 5. The motor step count sensor 5 detects the number of rotation steps of the sensor magnetic ring and outputs three analog voltage signals with a 120° phase difference. After being processed by the circuit board 13, the cumulative number of rotation steps is obtained. The position sensor 11 is used to sense the distance to the accessory fork 10 and outputs a voltage signal that is linearly related to the axial position of the push rod 2, which is used to determine whether the push rod 2 has reached the disengaged or engaged position.

[0029] Furthermore, the locking and attachment assembly includes an attachment fork 10 and an attachment fork spring 12. The attachment fork 10 is sleeved on the outer periphery of the push rod 2 and is axially fixed to the push rod 2 by a retaining ring, and moves axially synchronously with the push rod 2; the attachment fork spring 12 is sleeved on the attachment fork 10, with one end of the attachment fork spring 12 abutting against the flange of the attachment fork 10 and the other end abutting against the inner wall of the first housing 1.

[0030] It should be noted that the accessory fork 10 can move synchronously with the push rod 2, providing a detection target for the position sensor 11, while restricting the rotational freedom of the push rod 2 so that it can only move axially. The accessory fork spring 12 can provide preload, eliminating the axial gap between the accessory fork 10 and the push rod 2, and ensuring the repeatability accuracy of the position detection.

[0031] Furthermore, the motor 8, reduction gear 6, electromagnetic locking assembly 7, gears, and guide rod 4 constitute a rotary power transmission chain. The motor's power is transmitted to the guide rod, and the reduction speed meets the requirement for high torque output. The threaded engagement between the guide rod 4 and the push rod 2 forms a rotary-to-linear motion conversion mechanism. This converts the motor's rotary motion into the push rod's linear stroke. The electromagnetic locking assembly 7 locks the guide rod 4, providing a mechanical position holding function at the end of the chain, ensuring that the push rod's position is rigidly fixed in the absence of power, thus guaranteeing the reliability of the stabilizer bar connection.

[0032] The energy storage spring 3 is pre-compressed between the shoulder of the guide rod 4 and the bottom surface of the inner cavity of the push rod 2. This connection constitutes a force coupling and energy buffering mechanism. This eliminates the rigid push between the guide rod 4 and the push rod 2, instead creating a flexible connection via the spring. This invention allows the motor to still compress the spring 3 through the rotation of the guide rod 4 when the front end of the push rod 2 is obstructed, rather than stalling, thus achieving obstructed energy storage. When the resistance disappears, the restoring force of the spring 3 acts directly through its connection with the push rod 2, achieving automatic release.

[0033] A sensor magnetic ring fixed to guide rod 4 establishes position feedback based on process increments. This enables the control system to drive the angular displacement of the shaft, thereby controlling the push rod stroke. The accessory fork 10, push rod 2, and position sensor 11 constitute an absolute position verification based on the final result. This connection ensures direct linkage between the detection point and the execution point, confirming whether the push rod has reached its endpoint.

[0034] The sensor magnetic ring, the position sensor aligned with the sensor module on the circuit board 13, the motor 8, and the electromagnetic locking assembly, all controlled by the drive module on the circuit board 13, form an electronic control closed loop for signal acquisition and command execution. This enables the sensing of the actuator's status and the control of the execution unit. The circuit board 13 is fixed inside the housing and connected to the outside via the plug 14, forming centralized control and external communication.

[0035] It should be understood that, when used in this specification, the term "comprising" indicates the presence of the described feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0036] The terms "one embodiment" or "some embodiments" used in this application mean that one or more embodiments of this application include the specific features, structures, or characteristics described in that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this application do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0037] The technical solutions of the embodiments of the present invention 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.

[0038] In a specific embodiment, the control method for the disconnectable electronic stabilizer bar actuator includes: S1: Receives user commands to disconnect the stabilizer bar via the communication module.

[0039] In some embodiments, the communication module adopts the vehicle CAN communication protocol to establish a communication link with the stabilizer bar control button in the vehicle's cockpit. After the user presses the control button, the disconnect command issued by the button is transmitted to the communication module in the form of a CAN message, and then transmitted to the control module through the data bus.

[0040] S2: In response to the disconnect command, the control module controls the electromagnetic locking component to unlock.

[0041] In some embodiments, in response to a disconnect command, the control module outputs an unlocking control signal to the drive circuit of the electromagnetic locking component. After receiving the signal, the drive circuit supplies a reverse current to the excitation coil of the electromagnetic locking component to cancel the residual magnetic field in the coil. This causes the locking component to disengage from the output shaft of the deceleration component under the preload of the return spring. After unlocking is completed, the position switch built into the electromagnetic locking component outputs an unlocking signal and feeds it back to the control module. The control module then marks the unlocking status as unlocked.

[0042] S3: The drive module drives the motor to rotate in the forward direction, and the rotational motion of the motor is converted into the axial movement of the push rod towards the disengaged position through the transmission mechanism.

[0043] In some embodiments, after receiving feedback that the electromagnetic locking component has unlocked, the control module outputs a forward drive command to the drive module. The drive module uses an H-bridge drive circuit to output a forward drive current to the motor, controlling the motor to rotate forward at its rated speed. The motor output shaft is rigidly connected to the drive gear of the reduction assembly. The rotational motion is reduced by the planetary gear reduction assembly and then transmitted to the guide rod. The guide rod and the push rod are connected by a ball screw and nut pair. The rotational motion of the guide rod is converted into the linear motion of the push rod moving axially to the disengaged position. During the push rod's movement, the accessory fork moves axially synchronously with the push rod, and the position sensor on the accessory fork starts working synchronously.

[0044] Optionally, the ball screw and nut assembly utilizes the helical engagement between the screw and the nut to convert rotary motion into linear motion, resulting in high transmission efficiency and low wear. It enables precise control of the axial motion of the push rod, and the accessory fork moves synchronously with the push rod, providing a carrier for position detection.

[0045] S4: During the movement of the push rod, the number of rotation steps of the sensor magnetic ring linked with the transmission mechanism is detected by the sensor module.

[0046] S5: When the number of rotation steps is detected to reach a first predetermined value corresponding to the disengagement position, the electromagnetic locking component is controlled to lock.

[0047] S6: If the axial movement of the push rod toward the disengagement position is obstructed during the execution of steps S3 to S5, the energy storage spring in the transmission mechanism is compressed; when it is detected that the two sections of the stabilizer are under equal force, the energy storage spring releases potential energy to drive the push rod to complete the final movement toward the disengagement position.

[0048] In one embodiment of the present invention, based on steps S4, S5, and S6, a possible embodiment will be given below, and its specific implementation will be described in a non-limiting manner.

[0049] S4 specifically includes the following steps: S41: Multiple alternating N-pole magnets and S-pole magnets are arranged at equal angular intervals along the circumferential direction on the annular end face of the sensor magnetic ring. An adjacent pair of N-pole and S-pole forms a magnetic pole pair. The mechanical angle occupied by each magnetic pole pair in the circumferential direction is defined as a single step angle.

[0050] S42: Three Hall effect sensors arranged in an equilateral triangle are placed on the circuit board at a distance of 0.5mm to 1.5mm from the end face of the sensor magnetic ring. Each Hall effect sensor outputs an analog voltage signal that is proportional to the vertical component of the magnetic induction intensity vector at its location.

[0051] S43: After removing common-mode noise from the three analog voltage signals by differential amplifiers, they are sent to analog-to-digital converters to convert them into digital quantities; vector rotation angle calculation is performed on the three digital quantities to obtain the absolute rotation angle of the magnetic ring relative to the initial zero position, and the cumulative count value after rounding the absolute rotation angle to the step angle is used as the rotation step number.

[0052] In some embodiments, multiple alternating N-pole magnets and S-pole magnets are arranged at equal angular intervals along the circumferential direction on the annular end face of the sensor magnetic ring. A pair of adjacent N-pole and S-pole constitutes a complete magnetic pole pair, and the mechanical angle spanned by this magnetic pole pair in the circumferential direction is denoted as α. The value of α is determined according to the required angular resolution. For example, α = 3.6° corresponds to 100 magnetic pole pairs, so the single step angle is 3.6°. The magnetic ring is coaxially fixedly connected to the final gear or guide rod of the transmission mechanism via a spline. When the magnetic ring rotates, the sequence of magnetic pole pairs on its end face rotates accordingly. In step S42, on the side of the circuit board facing the sensor magnetic ring, taking the projection point of the magnetic ring's rotation center axis on the circuit board as a reference point, three points with an angle of 120° are selected around this projection point on a circumference of equal radius R, and three linear Hall sensors are respectively set at these points. The sensitive direction of each Hall sensor is perpendicular to the plane of the circuit board, i.e., along the axial direction of the magnetic ring. There is an air gap between the Hall sensor and the end face of the magnetic ring. The three Hall sensors are labeled H1, H2, and H3. Each Hall sensor, under a 5V supply voltage, outputs an analog voltage that is linearly related to the absolute value of the magnetic flux density passing through its sensitive surface. The three Hall signals V1, V2, and V3 in step S43 are sine waves with a 120° phase difference. Vx and Vy are obtained through linear combination, where the Clarke transform is performed to convert the three-phase stationary coordinate system into a two-phase orthogonal stationary coordinate system. Vx and Vy correspond to the cosine and sine components, respectively, and the absolute rotation angle θ is calculated using the four-quadrant arctangent function. abs : θ abs =arctan2(Vy,Vx),θ abs的 The value range is from -π to π.

[0053] θ abs After converting to degrees, if θabs If the value is negative, add 360°. Let the step angle be α, then the current rotation number N is calculated using the following formula:

[0054] Where 'round' represents rounding to the nearest integer. An accumulator counter 'Count' is configured in the control module. total A new θ is calculated in each sampling period. abs Then, calculate the angle increment Δθ=θ abs -θ prev After performing zero-crossing detection and direction determination on Δθ, the integer part of Δθ divided by α is accumulated into Coun. ttotal This yields the cumulative number of rotations from the initial position. The final output is the rotation count, Coun. ttotal Positive values ​​represent the number of forward rotations, while negative values ​​represent the number of backward rotations.

[0055] Furthermore, S5 specifically includes the following steps: S51: A constant N is pre-written into the circuit board's memory. disengage The constant is equal to the total number of rotation steps of the transmission mechanism required for the push rod to move from the fully retracted position to the disengaged position, and an allowable deviation time of ±ΔN is set. The first specified value is N. disengage .

[0056] S52: The control module will output the current cumulative rotation count from step S43. total The absolute value of N disengage When comparing, when |Count total |≥N disengage When -ΔN is reached, a delay counter is started. The preset value of the delay counter corresponds to the time required for the motor to rotate ΔN steps.

[0057] S53: When the delay counter returns to zero, the control module outputs a square wave pulse with a width of Tw to the electromagnetic coil in the electromagnetic locking assembly. After being driven by the power, the square wave pulse energizes the electromagnetic coil. The magnetic flux generated by the electromagnetic coil forms a circuit through the magnetic core, pushing the locking pin to overcome the preload of the reset spring and move in the unlocking direction.

[0058] S54: When the locking pin is displaced to the point where its end is completely disengaged from the slot of the driven gear in the electromagnetic locking assembly, the driven gear is released, and the miniature mechanical switch set at the end point of the locking pin displacement is triggered. The switch cuts off the power supply circuit of the electromagnetic coil, causing the locking pin to return to its original locking position under the action of the return spring and engage in the next slot of the driven gear, thus completing the locking.

[0059] It can be seen that N disengageThis represents the total number of steps in the transmission chain from the reference position to the target position, including the accumulation of all components such as the reduction gear assembly, gear transmission, and lead screw. Due to factors such as gear meshing clearance, motor rotor inertia, and temperature changes, the actual number of steps will fluctuate within a statistical distribution range each time the machine reaches the same mechanical position. Step S52: The control module reads the current cumulative step count (Count) once per control cycle. total The absolute value is compared, and a delay counter is triggered, which is set to the PWM cycle of the motor driver. In step S53, the electromagnetic locking assembly consists of an electromagnetic coil, a magnetic core, an armature, a locking pin, a return spring, and a driven gear. Under normal conditions, the electromagnetic coil is de-energized, and the return spring presses the locking pin into the slot of the driven gear, preventing the gear from rotating. When the coil is energized, the electromagnetic field generates an attractive force, and the armature overcomes the spring force, causing the locking pin to retract axially and exit the slot, releasing the gear.

[0060] Step S54 involves fixing a miniature mechanical switch inside the housing at the end of the locking pin's stroke, where the armature and the magnetic core are fully engaged. An insulating push rod is installed at the tail end of the locking pin. When the locking pin retracts to its final position, the push rod presses the moving contact of the mechanical switch, connecting the common terminal to the normally open terminal. After the switch is activated, in the interrupt service routine, the pin of the control solenoid coil is set to a low level, cutting off the MOSFET's gate drive and de-energizing the solenoid coil. The return spring pushes the locking pin forward, and the conical surface at the end of the locking pin slides into the next slot of the driven gear. Since the gear has stopped rotating at this point, the locking pin precisely engages at the bottom of the slot, achieving mechanical locking. This is based on the return spring pushing the locking pin back to its original position after power failure. Because the driven gear has stopped rotating before step S53, the slot on the gear is precisely aligned with the locking pin's axis, and the conical surface of the locking pin guides it into the slot. The conical design allows even minor misalignments to be corrected by the radial force generated by the inclined surface, pushing the gear to align and ultimately achieve full engagement.

[0061] Furthermore, S6 specifically includes the following steps: S61: In the first control cycle after the locking operation is performed in step S5, read the analog voltage value output by the position sensor. If the difference between the voltage value and the pre-calibrated voltage value of the disengagement position is greater than the preset voltage threshold Vth, it is determined that the push rod has not reached the disengagement position and the energy storage spring is in a compressed state. The output value of the current motor step number sensor is locked as the reference step number Nref.

[0062] S62: In each subsequent control cycle, the output value Ncurr of the motor step count sensor is continuously acquired, and the fluctuation amount BD = |Ncurr-Nref| relative to Nref is calculated. The sliding average value avgBD of the fluctuation amount is also calculated. When avgBD is less than 1 step for more than 500ms, it is determined that the force at both ends of the stabilizer bar has tended to be balanced.

[0063] S63: In response to the determination result of force balance, the control module outputs a square wave pulse of preset width to the electromagnetic locking component to energize the electromagnetic coil, the locking pin retracts from the driven gear slot, and the locking state established in step S5 is released.

[0064] S64: After the electromagnetic locking assembly unlocks, the energy storage spring pushes the push rod in the disengagement direction, and the output value Vpos of the position sensor begins to change. Record the curve of the output value changing over time, and calculate the voltage difference ΔV between adjacent sampling points at preset intervals. When three consecutive ΔV values ​​are less than 0.01V, it is determined that the push rod movement has stopped.

[0065] It should be noted that during the normal disconnection process in step S61, the position sensor voltage should be equal to Vdisengage when the push rod moves to the disengaged position. If the voltage deviates during locking, it indicates that the push rod encountered resistance and stopped at the intermediate position, while the motor has already rotated the prescribed Ndisengage steps. The excess rotation is absorbed by the energy storage spring, which is compressed and stores elastic potential energy. Nref records the number of steps at the input end of the transmission mechanism at this time as a monitoring benchmark. Since the motor is powered off and the locking component is locked, the transmission mechanism should be stationary. However, in reality, external force will be transmitted in reverse to the motor shaft through the push rod, guide rod, and reduction gear, causing the motor rotor to deflect. This deflection will be detected by the step count sensor.

[0066] In step S62, when the stabilizer bar is subjected to torques in different directions, such as when the vehicle is traveling on a rough road and the left and right wheels bounce inconsistently, the torque difference will act on the motor shaft through the push rod, guide rod, and reduction gear, attempting to deflect the motor rotor. Since the electromagnetic locking assembly has locked the driven gear, the motor rotor cannot rotate continuously, but the gear backlash and shaft torsional elasticity in the transmission chain will cause the motor shaft to produce a small angular displacement oscillation. The amplitude and frequency of this oscillation are related to the magnitude and rate of change of the external torque difference. The step sensor can detect this oscillation, which manifests as Ncurr oscillating up and down around Nref, with the oscillation amount not being zero. When the forces at both ends of the stabilizer bar tend to be balanced, the external torque difference approaches zero, the reverse torque applied to the motor shaft disappears, the oscillation stops, and the oscillation amount becomes zero or occasionally one step due to noise. Compared to using an accelerometer or strain gauge, this utilizes the inherent reversibility of the transmission chain, resulting in higher reliability.

[0067] Step S64 is based on the release of the energy storage spring, where its elastic potential energy is converted into the kinetic energy of the push rod and the work done against friction. The push rod accelerates from the obstructed position to the disengaged position, its speed first increasing and then decreasing, reaching zero at the endpoint. When the push rod stops, its speed is zero, and ΔV / Δt is zero. By monitoring the voltage difference ΔV between adjacent sampling points, it can be determined whether the motion has ended. The criterion of three consecutive ΔV values ​​less than 0.01V is equivalent to requiring a rate of change of 0.0033V / 0.5ms = 6.6V / s, corresponding to a push rod speed of approximately 0.83mm / s, which is far below the perceptible motion of the human eye and can be considered as stationary.

[0068] The connection process of the control method for the disconnectable electronic stabilizer bar actuator of the present invention specifically involves the following steps: S7: Receives user commands to connect the stabilizer bar via the communication module.

[0069] In some embodiments, after the user presses the control button again, the connection command issued by the button is transmitted to the communication module in the form of a CAN message, depending on the actual situation. The communication module then transmits the lockout state data of S5 or S6 to the control module.

[0070] S8: In response to the connection command, the control module controls the electromagnetic locking component to unlock.

[0071] In some embodiments, after the control module confirms that the stabilizer bar is currently in the disconnected state, it outputs an unlocking control signal to the drive circuit of the electromagnetic locking component. After receiving the signal, the drive circuit passes a reverse current to the excitation coil to cancel the residual magnetic field of the coil. Under the action of the preload of the reset spring, the locking component disengages from the output shaft of the deceleration component.

[0072] In this embodiment, after unlocking is completed, the position switch of the electromagnetic locking component outputs an unlocking signal, which is fed back to the control module. The control module marks the unlocking status as unlocked and also outputs a motor reverse drive preparation signal to the drive module.

[0073] S9: The drive module drives the motor to rotate in the opposite direction, and the rotational motion of the motor is converted into the axial movement of the push rod toward the engagement position through the transmission mechanism.

[0074] In some embodiments, after the control module outputs a reverse drive command to the drive module, the H-bridge drive circuit of the drive module switches the current direction and outputs a stable reverse drive current to the motor, controlling the motor to rotate in reverse. The reverse rotation motion of the motor output shaft is transmitted to the reduction assembly, and after being reduced by the planetary gear reduction assembly, it drives the guide rod to rotate in reverse. The ball screw nut pair between the guide rod and the push rod converts the reverse rotation motion of the guide rod into the linear motion of the push rod along the axial direction towards the engagement position. During the push rod movement, the accessory fork moves axially synchronously with the push rod, and the position sensor continuously collects the push rod distance data and transmits it to the control module in real time.

[0075] S10: During the movement of the push rod, the number of rotation steps of the sensor magnetic ring is detected by the sensor module. This is consistent with the working mode of the sensor module in S4.

[0076] S11: When the number of rotation steps is detected to reach the second predetermined value corresponding to the engagement position, the electromagnetic locking component is controlled to lock.

[0077] As one implementation of step S11, it specifically includes the following steps: S111: The control module retrieves the second predetermined number of steps corresponding to the preset engagement position and compares the number of sensor magnetic ring rotation steps collected in real time by the sensor module with the second predetermined number of steps.

[0078] S112: When the number of rotation steps is consistent with the second specified number of steps, and the deviation between the push rod distance detected by the position sensor and the preset distance of the engagement position is less than the preset deviation threshold, the control module first reduces the duty cycle of the motor drive signal to 30%, and then outputs a constant DC drive level to the electromagnetic locking component.

[0079] S113: When the excitation coil of the electromagnetic locking component is energized, it generates electromagnetic attraction, which drives the internal locking pin to insert into the locking hole of the output shaft of the reduction component, forming a rigid locking fit. It also sends a locking position signal back to the control module, and the control module shuts off the motor drive circuit and records the locking status.

[0080] It should be noted that step S111 presets a second predetermined number of steps that the sensor magnetic ring needs to rotate when the push rod reaches the engagement position. The second predetermined number of steps is obtained through multiple actual tests and calibrations before leaving the factory, and is adapted to the engagement stroke requirements of the stabilizer bar of different vehicle models.

[0081] In other words, the second specified number of steps is based on parameters such as the lead and reduction ratio of the transmission mechanism, combined with the measured data of the push rod engagement stroke, to establish the relationship between the number of rotation steps and the axial displacement.

[0082] In this embodiment, step S113 is based on the positive correlation between the magnitude of the electromagnetic attraction force and the input current of the excitation coil. When the current reaches a preset value, the electromagnetic attraction force is greater than the preload of the reset spring, pushing the locking pin to complete the insertion action. The transition fit between the locking pin and the locking hole ensures no displacement after locking, thereby fixing the output shaft of the deceleration assembly and restricting the movement of the guide rod and push rod.

[0083] S12: If the axial movement of the push rod toward the engagement position is obstructed during the execution of steps S9 to S11, the drive module increases the duty cycle of the motor drive signal to increase the motor output torque until the push rod moves to the engagement position or the duty cycle reaches the upper limit; when the duty cycle reaches the upper limit and the push rod still has not moved to the engagement position, the electromagnetic locking component is controlled to remain unlocked and a fault signal is output.

[0084] As a specific implementation method of step S12 in this invention, the specific implementation process is given below: S121: During the execution of steps S9 to S11, the sensor module monitors the continuity of the pulse signal of the sensor magnetic ring, and the drive module collects the reverse drive current of the motor. When the pulse signal stops continuously for more than the preset stop time and the motor drive current is greater than the preset current, it is determined that the axial movement of the push rod towards the engagement position is blocked.

[0085] S122: After determining that the push rod is blocked, the drive module gradually increases the PWM duty cycle of the motor drive signal in increments of 5%, and simultaneously collects the motor drive current and the sensor magnetic ring pulse signal until the duty cycle reaches the upper limit of 100% or the number of rotation steps of the sensor magnetic ring reaches the second specified value.

[0086] S123: During the duty cycle gradient increase process, the control module calls the push rod distance data detected by the position sensor in real time, calculates the deviation between the push rod and the preset distance of the engagement position, and at the same time verifies the difference between the number of rotation steps of the sensor magnetic ring and the second specified value to determine whether the push rod has started axial movement.

[0087] If the sensor magnetic ring reaches the second predetermined value in the number of rotation steps during the duty cycle increase process, the drive module stops increasing the duty cycle, and the control module outputs a locking drive signal to the electromagnetic locking component to control its locking.

[0088] If the duty cycle is gradually increased to the upper limit of 100%, and after a period of time the number of rotation steps of the sensor magnetic ring still does not reach the second specified value, the drive module shuts off the motor reverse drive circuit, the control module controls the electromagnetic locking component to remain in the unlocked state, and outputs a low-level fault pulse signal to the vehicle ECU through the communication module.

[0089] It should be noted that throughout the entire duty cycle gradient increase process, the control module establishes real-time communication with the position sensor on the accessory fork via the communication interface, compares it with the pre-stored engagement position distance threshold, and calculates the distance deviation value. The control module verifies the difference between the real-time rotation steps of the sensor magnetic ring and the second predetermined value in real time, which can determine when the push rod moves axially towards the engagement position. Furthermore, if two consecutive data collections show no change in the number of steps and no decrease in the distance deviation, it is determined that the resistance has not been alleviated, and the duty cycle increase operation continues.

[0090] For subsequent steps, reaching the target number of steps indicates that the push rod has reached the engagement position. At this point, maintain the current duty cycle to ensure that the transmission mechanism and the stabilizer bar are tightly engaged. After a constant DC drive level is applied to the excitation coil of the electromagnetic locking assembly, a stable electromagnetic attraction is generated, driving the locking component to engage with the output shaft of the reduction assembly, achieving rigid locking.

[0091] Of course, if the drive module gradually increases the PWM duty cycle to the upper limit of 100%, it will continuously collect data on the rotation steps of the sensor magnetic ring and the distance of the push rod during the timing period. If the rotation steps of the sensor magnetic ring have not reached the second specified value after the timing ends, the drive module will turn off the power transistor of the motor reverse drive H-bridge circuit and stop outputting drive current to the motor. The control module will output an unlocking maintenance signal to the electromagnetic locking component to maintain the unlocked state. The control module will output a fault pulse signal to the vehicle ECU through the communication module to promptly report fault information to the driver.

[0092] In one embodiment of the present invention, the steps further include detecting the axial position of the push rod by a position sensor after each time the electromagnetic locking assembly is locked, and determining and feeding back the current state of the stabilizer rod based on the detection result; the current state includes a disconnected state, a connected state, and an intermediate state.

[0093] This embodiment can identify faults such as electromagnetic locking component failure, push rod jamming, and abnormal energy release of the energy storage spring in real time. It can detect when the push rod is in an unexpected intermediate state, trigger a fault warning, and ensure the safety of vehicle operation.

[0094] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

Claims

1. A control method for a disconnectable electronic stabilizer bar actuator, characterized in that, The disconnection process includes the following steps: S1: Receives user commands to disconnect the stabilizer bar via the communication module; S2: In response to the disconnect command, the control module controls the electromagnetic locking component to unlock; S3: The drive module drives the motor to rotate in the forward direction, and the rotational motion of the motor is converted into the axial movement of the push rod towards the disengaged position through the transmission mechanism; S4: During the movement of the push rod, the number of rotation steps of the sensor magnetic ring linked with the transmission mechanism is detected by the sensor module; S5: When the number of rotation steps is detected to reach a first predetermined value corresponding to the disengagement position, the electromagnetic locking component is controlled to lock. S6: If the axial movement of the push rod toward the disengagement position is obstructed during the execution of steps S3 to S5, the energy storage spring in the transmission mechanism is compressed; when it is detected that the two sections of the stabilizer are under equal force, the energy storage spring releases potential energy to drive the push rod to complete the final movement toward the disengagement position.

2. The control method for the disconnectable electronic stabilizer actuator according to claim 1, characterized in that, The connection process includes the following steps: S7: Receives user commands to connect the stabilizer bar via the communication module; S8: In response to the connection command, the control module controls the electromagnetic locking component to unlock; S9: The drive module drives the motor to rotate in the opposite direction, and the rotational motion of the motor is converted into the axial movement of the push rod toward the engagement position through the transmission mechanism; S10: During the movement of the push rod, the number of rotation steps of the sensor magnetic ring is detected by the sensor module; S11: When the number of rotation steps is detected to reach the second predetermined value corresponding to the engagement position, the electromagnetic locking component is controlled to lock. S12: If the axial movement of the push rod toward the engagement position is obstructed during the execution of steps S9 to S11, the drive module increases the duty cycle of the motor drive signal to increase the motor output torque until the push rod moves to the engagement position or the duty cycle reaches the upper limit.

3. The control method for the disconnectable electronic stabilizer actuator according to claim 1, characterized in that, In the method, after each time the electromagnetic locking assembly locks, the axial position of the push rod is detected by a position sensor, and the current state of the stabilizer rod is determined and fed back based on the detection result; the current state includes a disconnected state, a connected state, and an intermediate state.

4. The control method for the disconnectable electronic stabilizer actuator according to claim 1, characterized in that, S4 specifically includes the following steps: S41: Multiple alternating N-pole magnets and S-pole magnets are arranged at equal angular intervals along the circumferential direction on the annular end face of the sensor magnetic ring. An adjacent pair of N-pole and S-pole forms a magnetic pole pair. The mechanical angle occupied by each magnetic pole pair in the circumferential direction is defined as a single step angle. S42: On the circuit board, three Hall effect sensors arranged in an equilateral triangle are set up opposite the end face of the magnetic ring of the sensor. Each Hall effect sensor outputs an analog voltage signal that is proportional to the vertical component of the magnetic induction intensity vector at its point. S43: The three analog voltage signals are processed by a differential amplifier and an analog-to-digital converter respectively, and then the rotation angle of the execution vector is calculated to obtain the absolute rotation angle of the magnetic ring relative to the initial zero position. The cumulative count value after rounding the absolute rotation angle to the step angle is used as the rotation step.

5. The control method for the disconnectable electronic stabilizer actuator according to claim 4, characterized in that, S5 specifically includes the following steps: S51: Preset constant Ndisengage, which is equal to the total number of rotation steps of the transmission mechanism required for the push rod to move from the fully retracted position to the disengaged position, and sets an allowable deviation time ±ΔN; wherein, the first specified value is Ndisengage; S52: The control module compares the absolute value of the current cumulative rotation steps Counttotal output in step S43 with Ndisengage. When |Counttotal|≥Ndisengage-ΔN, a delay counter is started. The preset value of the delay counter corresponds to the time required for the motor to rotate ΔN steps. S53: When the delay counter returns to zero, the control module outputs a square wave pulse with a width of Tw to the electromagnetic coil in the electromagnetic locking assembly. After being driven by the power, the square wave pulse energizes the electromagnetic coil. The magnetic flux generated by the electromagnetic coil forms a circuit through the magnetic core, pushing the locking pin to overcome the preload of the reset spring and move in the unlocking direction. S54: When the locking pin is displaced to the point where its end is completely disengaged from the slot of the driven gear in the electromagnetic locking assembly, the driven gear is released, and the miniature mechanical switch set at the end point of the locking pin displacement is triggered. The switch cuts off the power supply circuit of the electromagnetic coil, causing the locking pin to return to its original locking position under the action of the return spring and engage in the next slot of the driven gear, thus completing the locking.

6. The control method for the disconnectable electronic stabilizer actuator according to claim 1, characterized in that, S6 specifically includes the following steps: S61: In the first control cycle after the locking operation is performed, read the analog voltage value output by the position sensor. If the difference between the analog voltage value and the pre-calibrated disengagement voltage value is greater than the preset voltage threshold Vth, it is determined that the push rod has not reached the disengagement position and the energy storage spring is in a compressed state. The output value of the current motor step number sensor is locked as the reference step number Nref. S62: In each subsequent control cycle, the output value Ncurr of the motor step sensor is continuously collected, and the fluctuation amount BD=|Ncurr-Nref| relative to Nref is calculated. The sliding average value avgBD of the fluctuation amount is also calculated. When avgBD is less than 1 step for more than 500ms, it is determined that the forces on the two sections of the stabilizer have tended to be balanced. S63: In response to the determination result of force balance, the control module outputs a square wave pulse of preset width to the electromagnetic locking component to energize the electromagnetic coil, the locking pin retracts from the driven gear slot, and the locking state established in step S5 is released. S64: After the electromagnetic locking assembly is unlocked, the energy storage spring pushes the push rod to move in the disengagement direction, and the output value Vpos of the position sensor begins to change; the curve of the output value changing with time is recorded, and the voltage difference ΔV between adjacent sampling points is calculated once every preset time interval. When three consecutive ΔV are less than 0.01V, it is determined that the push rod movement stops.

7. The control method for the disconnectable electronic stabilizer actuator according to claim 2, characterized in that, S11 specifically includes the following steps: S111: The control module retrieves the second predetermined number of steps corresponding to the preset engagement position and compares the number of sensor magnetic ring rotation steps collected in real time by the sensor module with the second predetermined number of steps; S112: When the number of rotation steps is consistent with the second specified number of steps, and the deviation between the push rod distance detected by the position sensor and the preset distance of the engagement position is less than the preset deviation threshold, the control module first reduces the duty cycle of the motor drive signal to 30%, and then outputs a constant DC drive level to the electromagnetic locking component. S113: When the excitation coil of the electromagnetic locking component is energized, it generates electromagnetic attraction, which drives the internal locking pin to insert into the locking hole of the output shaft of the reduction component, forming a rigid locking fit. It also sends a locking position signal back to the control module, and the control module shuts off the motor drive circuit and records the locking status.

8. The control method for the disconnectable electronic stabilizer actuator according to claim 2, characterized in that, S12 specifically includes the following steps: During the execution of steps S9 to S11, the sensor module monitors the continuity of the pulse signal of the sensor magnetic ring, and the drive module collects the reverse drive current of the motor. When the pulse signal stops continuously for more than the preset stop time and the motor drive current is greater than the preset current, it is determined that the axial movement of the push rod towards the engagement position is blocked. After determining that the push rod is blocked, the drive module gradually increases the PWM duty cycle of the motor drive signal in increments of 5%, and simultaneously collects the motor drive current and the sensor magnetic ring pulse signal until the duty cycle reaches the upper limit of 100% or the number of rotation steps of the sensor magnetic ring reaches the second specified value. During the duty cycle gradient increase process, the control module calls the push rod distance data detected by the position sensor in real time, calculates the deviation between the push rod and the preset distance of the engagement position, verifies the difference between the number of rotation steps of the sensor magnetic ring and the second specified value, and determines whether the push rod has started axial movement. If the number of rotation steps of the sensor magnetic ring reaches the second specified value during the duty cycle increase process, the drive module stops increasing the duty cycle, and the control module outputs a locking drive signal to the electromagnetic locking component to control it to lock. If the duty cycle is gradually increased to the upper limit of 100%, and after a period of time the number of rotation steps of the sensor magnetic ring still does not reach the second specified value, the drive module shuts off the motor reverse drive circuit, the control module controls the electromagnetic locking component to remain in the unlocked state, and outputs a low-level fault pulse signal to the vehicle ECU through the communication module.

9. A control system for a disconnectable electronic stabilizer bar actuator, characterized in that, The system is used to implement the control method for the disconnectable electronic stabilizer actuator as described in any one of claims 1 to 8; The system includes: housing assembly, transmission mechanism assembly, sensor module assembly, and locking and accessory assembly; The housing assembly includes: a first housing (1), a second housing (9), a circuit board (13), and a circuit board connector (14); The circuit board (13) is fixedly installed on the inner wall of the first housing (1); the circuit board plug (14) is fixed on the circuit board (13) and extends outward through the opening of the first housing (1); the second housing (9) is sealed to the first housing (1), and the two together form a receiving cavity; The transmission mechanism components include: a motor (8), a reduction gear (6), an electromagnetic locking gear (7), a guide rod (4), a push rod (2), and an energy storage spring (3); The motor (8) is fixed inside the first housing (1); the output shaft of the motor (8) is connected to the input gear of the reduction assembly (6) by a spline; the output gear of the reduction assembly (6) meshes with the driven gear of the electromagnetic locking assembly (7); the driven gear of the electromagnetic locking assembly (7) is coaxially fixed to one end of the guide rod (4) by a flat key; the external thread of the guide rod (4) meshes with the internal thread of the push rod (2) to form a screw pair; the energy storage spring (3) is sleeved between the guide rod (4) and the push rod (2), one end of the energy storage spring (3) abuts against the shoulder of the guide rod (4), and the other end of the energy storage spring (3) abuts against the inner end face of the push rod (2); The sensor module components include: a sensor magnetic ring, a motor step sensor (5), and a position sensor (11); The sensor magnetic ring is fixed on the end face of the output gear of the deceleration assembly (6) and rotates synchronously with the output gear; the motor step sensor (5) is set on the circuit board (13), and the sensing surface of the motor step sensor (5) faces the sensor magnetic ring and is spaced apart; the position sensor (11) is fixed on the end of the accessory fork (10).

10. The control system for the disconnectable electronic stabilizer actuator according to claim 9, characterized in that, The locking and attachment assembly includes: an attachment fork (10) and an attachment fork spring (12); The accessory fork (10) is sleeved on the outer periphery of the push rod (2) and is axially fixed to the push rod (2) by a retaining ring, and moves axially synchronously with the push rod (2); the accessory fork spring (12) is sleeved on the accessory fork (10), with one end of the accessory fork spring (12) abutting against the flange of the accessory fork (10) and the other end abutting against the inner wall of the first outer shell (1).

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