Control method, electronic device, computer program product, readable storage medium

Abstract

The application provides a control method, an electronic device, a computer program product and a readable storage medium, wherein the control method comprises: obtaining a relative pressure value of a gas supply unit pipeline relative to atmospheric pressure and a driving speed of a mobile tool carrying the air spring; determining a target rotating speed of an electric driver for a compressor in the gas supply unit based on the relative pressure value; based on the determined target rotating speed, solving a constructed cost function by means of a model predictive control algorithm to obtain an optimal control increment for the electric driver, the cost function comprising a rotating speed tracking deviation penalty term, a noise suppression penalty term and a control smoothing penalty term; and generating a driving control signal based on the optimal control increment, the driving control signal being used to adjust the electric driver and thereby prompting air supply adjustment of the air spring. Through the control method, noise in the spring inflation process can be effectively suppressed.

Description

Technical Field

[0001] The present invention relates to a control method for an air supply unit for an air spring, a control method for an air spring, an electronic device for performing such a control method, a computer program product, and a computer-readable storage medium. Background Technology

[0002] Air springs are an important component of automotive suspension systems, capable of absorbing and releasing energy and mitigating impacts from uneven road surfaces. By inflating or deflating the spring chambers, the stiffness or height of the air springs can be adjusted to match different vehicle operating conditions and improve passenger comfort.

[0003] An existing air spring system is known in which an electric actuator (e.g., a motor) in the air supply unit drives a compressor to inflate the spring chamber, thereby adjusting vehicle height and suspension stiffness. During the inflation of the spring chamber by the air supply unit, significant aerodynamic noise can be generated due to the throttling and pulsation of high-pressure gas at pipes, valve ports, and chamber interfaces. Commonly, physical materials (e.g., additional sound insulation cotton or sound insulation shells) are used to absorb noise waves or block their propagation path into the cabin. This can increase structural complexity and may yield minimal results for noise cancellation at specific frequencies. Alternatively, an active noise cancellation effect can be achieved by superimposing secondary sound waves generated by in-vehicle speakers to cancel out the noise from the air supply unit. However, the preparation of secondary sound waves requires the collection of a large amount of ambient noise, and the application of secondary sound waves also requires complex logical calculations.

[0004] It should be noted that the content described herein is only to provide background information in relation to this disclosure and does not necessarily belong to the prior art. Summary of the Invention

[0005] In view of this, the object of the present invention is to provide a method that can effectively reduce the air supply noise of an air spring, especially its air supply unit.

[0006] Furthermore, the present invention aims to solve or alleviate other technical problems existing in the prior art.

[0007] According to a first aspect of the present invention, a control method for an air supply unit for an air spring is provided, comprising: Data acquisition; obtaining the relative pressure value of the air supply unit pipeline relative to atmospheric pressure and the travel speed of the mobile tool equipped with the air spring; Determination of target rotational speed: The target rotational speed of the electric drive for the compressor in the air supply unit is determined based on the relative pressure value; Determination of optimal control increment: Based on the determined target speed, the constructed cost function is solved using a model predictive control algorithm to obtain the optimal control increment for the electric drive. The cost function includes a speed tracking deviation penalty term, a noise suppression penalty term, and a control smoothing penalty term. Generation of drive control signal: A drive control signal is generated based on the optimal control increment. The drive control signal is used to adjust the electric actuator and thereby cause the air supply to the air spring to be adjusted.

[0008] In some embodiments of the control method, optionally, determining the target rotational speed includes: Based on the relative pressure value, the target rotational speed of the electric drive is determined through a preset mapping relationship, in which the target rotational speed is negatively correlated with the relative pressure value.

[0009] In some embodiments of the control method, optionally, the preset mapping relationship is in the form of the following function: in, The target rotational speed of the electric drive; The maximum permissible rotational speed of the electric actuator when the relative pressure value is zero; The minimum permissible rotational speed of the electric actuator when the relative pressure value is at its maximum; It is the attenuation coefficient and is greater than zero; The relative pressure value is given.

[0010] In some embodiments of the control method, optionally, determining the optimal control increment includes: Using the constructed prediction model, the system state sequence in the prediction time domain is predicted based on the system state in the current control cycle; Within the prediction time domain, with the goal of minimizing the cost function, the optimal control increment sequence within the prediction time domain is determined under the constraints of the electric actuator. The first control increment in the optimal control increment sequence is determined as the optimal control increment for the current control cycle.

[0011] In some embodiments of the control method, the constraints of the electric drive may optionally include at least one of the following: electric drive phase current constraint, electric drive phase voltage constraint, electric drive rotational speed constraint, and electric drive acceleration constraint.

[0012] In some embodiments of the control method, optionally, the cost function form: Where N is the number of prediction times, which is greater than 1; To predict the time k The predicted rotational speed of the electric drive at that time; To predict the time k The target rotational speed of the electric drive as determined at that time; The weight for penalizing speed tracking deviation is a constant value. The noise suppression penalty weights are related to the driving speed at prediction time k. Negative correlation; The weight for the smoothing penalty is set to a constant value. To predict the time k Control increments during the time period.

[0013] In some embodiments of the control method, optionally, the optimal control increment is used to characterize the current regulation or voltage regulation of the electric drive, wherein the generation of the drive control signal includes: The target control quantity for the current control cycle is determined by superimposing the actual control quantity for the electric drive from the previous control cycle with the optimal control increment. The target PMW (Pulse Width Modulation) duty cycle is determined based on the target control quantity, and a drive control signal carrying the target PMW duty cycle is generated.

[0014] In some embodiments of the control method, optionally, the target PWM duty cycle is determined based on the target control quantity using a field-oriented control algorithm.

[0015] In some embodiments of the control method, optionally, the data acquisition, the determination of the target rotational speed, the determination of the optimal control increment, and the generation of the drive control signal are re-executed in the next control cycle.

[0016] According to a second aspect of the present invention, a control method for an air spring is provided, comprising: In the air spring inflation mode, the electric actuator is controlled by any of the above-mentioned control methods for the air spring supply unit to adjust the air spring to the target pressure or target height.

[0017] According to a third aspect of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement any of the above-described control methods for an air supply unit for an air spring or for an air spring.

[0018] According to a fourth aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements any of the above-described control methods for an air supply unit for an air spring or for an air spring.

[0019] According to a fifth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements any of the above-described control methods for an air supply unit for an air spring or for an air spring.

[0020] By using a control method for an air supply unit for an air spring according to some embodiments, noise during the inflation process can be effectively suppressed. Attached Figure Description

[0021] Referring to the accompanying drawings, the above and other features of the present invention will become apparent, wherein, Figure 1 A flowchart of a control method for a gas supply unit according to one embodiment is shown; Figure 2 A flowchart of a control method for an air spring according to one embodiment is shown; Figure 3 A block diagram of an electronic device according to one embodiment is shown. Detailed Implementation

[0022] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0023] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," "third," and similar expressions are used for descriptive and distinguishing purposes only and should not be construed as indicating or implying the relative importance of the corresponding components.

[0024] Before describing this application in conjunction with the accompanying drawings, it should be noted that the control method provided in this application is applicable to mobile vehicles equipped with various air springs or air suspension systems, and does not limit its specific mechanical structure. Exemplarily, the air spring can be a bladder-type air spring (e.g., a single-section, double-section, or multi-section series type), a diaphragm-type air spring (e.g., a free diaphragm or a constrained diaphragm type), or a hybrid air spring combining both. Exemplarily, the air spring can be a single-chamber structure, or a double-chamber or multi-chamber structure whose effective working volume can be adjusted by a valve assembly. Taking a vehicle as an example, the air spring can be integrated with the shock absorber to form an air spring shock absorber assembly, or it can be separately mounted between the vehicle frame and the axle.

[0025] Furthermore, it should be noted that the air supply unit of the air spring includes an (air) compressor and an electric actuator (e.g., a motor), and the specific structural form or corresponding accessories are not limited in the embodiments of this application. Exemplarily, the air supply unit can be an integrated air supply assembly, wherein the compressor, electric actuator, air tank, valve assembly, and sensor are integrated on the same housing or bracket. Exemplarily, the air supply unit can be a split structure, wherein the compressor and air tank are connected via external piping.

[0026] In addition, it should be noted that the mobile means mentioned are not limited to vehicles, such as fuel-powered cars, pure electric vehicles and hybrid vehicles, and may also include two-wheeled motorcycles or other suitable land-based mobile means.

[0027] Figure 1 A flowchart illustrating one embodiment of the proposed control method for an air supply unit of an air spring (hereinafter also referred to as the air supply unit control method) is shown. This air supply unit control method includes... Step S1 (Data Acquisition): Obtain the relative pressure value of the air supply unit pipeline relative to atmospheric pressure and the travel speed of the mobile tool equipped with the air spring; Step S2 (Determination of target speed): Determine the target speed of the electric drive for the compressor in the air supply unit based on the relative pressure value; Step S3 (Determination of optimal control increment): Based on the determined target speed, the constructed cost function is solved using the model predictive control algorithm to obtain the optimal control increment for the electric drive. The cost function includes a speed tracking deviation penalty term, a noise suppression penalty term, and a control smoothing penalty term. Step S4 (Generation of drive control signal): A drive control signal is generated based on the optimal control increment. The drive control signal is used to adjust the electric actuator and thereby cause the air supply to the air spring to be adjusted.

[0028] Regarding step S1, exemplarily, the relative pressure value can be obtained by subtracting the pipeline pressure measured by the pressure sensor in the air supply unit from the atmospheric pressure measured by the atmospheric pressure sensor at the vehicle body. The relative pressure value can also be directly measured by the gauge pressure sensor in the air supply unit. Taking a vehicle as an example, the driving speed can be directly read from the vehicle controller via an onboard communication network (e.g., CAN bus), or calculated based on wheel speed sensor measurement data.

[0029] Furthermore, in some implementations, considering that road surface bumps during vehicle operation may cause high-frequency noise in the driving speed signal, the initially acquired driving speed can be filtered to remove abrupt noise and obtain a smooth driving speed that can be used for subsequent predictive control algorithms, thereby improving control stability.

[0030] Regarding step S2, in some embodiments, the target rotational speed of the electric drive is determined based on the relative pressure value through a preset mapping relationship. In this mapping relationship, the target rotational speed is negatively correlated with the relative pressure value, meaning that the target rotational speed decreases as the relative pressure value increases; a higher relative pressure value corresponds to a lower target rotational speed. This is to reduce the electric drive rotational speed after the pipeline pressure of the gas supply unit rises rapidly, thereby reducing gas supply noise.

[0031] For example, the preset mapping relationship is in the form of an exponential function: in, The target rotational speed of the electric drive; The maximum permissible rotational speed of the electric actuator when the relative pressure value is zero; The minimum permissible rotational speed of the electric actuator when the relative pressure value is at its maximum; The attenuation coefficient is greater than zero. The relative pressure value is given.

[0032] The introduction of this exponential function, where, with the relative pressure value... The increase of the target speed The monotonically decreasing speed results in a smooth, continuous target speed curve without abrupt changes, which is beneficial for control stability. (The above...) , , It can be adjusted according to the air spring response speed requirements to ensure that the electric actuator can meet the air spring inflation requirements even at lower speeds.

[0033] It should be noted that other feasible functional representations of the mapping relationship are not excluded in the embodiments of this application, such as inverse proportional functions, logarithmic functions or piecewise functions, wherein the target rotational speed of the electric drive is negatively correlated with the relative pressure value.

[0034] In other embodiments, the mapping relationship can take the form of a two-dimensional mapping table of relative pressure values ​​and target rotational speeds obtained through bench testing, wherein the test air supply unit is tested at different relative pressure values ​​to achieve the target flow rate (e.g., the flow rate required to meet vehicle suspension lift or spring stiffness). During air spring operation, the corresponding target rotational speed can be found based on the current relative pressure value or calculated by interpolation.

[0035] In step S2, considering noise suppression, the target rotational speed of the electric actuator corresponding to the air spring's inflation requirement is determined. In step S3, also considering noise suppression, it is determined how to optimally and stably adjust the electric actuator to this target rotational speed, wherein the electric actuator is adjusted based on the determined optimal control increment. In step S3, the introduction of the rotational speed tracking deviation penalty term reduces steady-state deviation and improves dynamic response and steady-state accuracy. The introduction of the noise suppression penalty term reduces noise and improves acoustic comfort; furthermore, it reduces cost and structural complexity because it eliminates the need for additional acoustic sensors, speakers, and acoustic devices. The introduction of the control smoothing penalty term reduces control abrupt changes in the electric actuator, improves the feasibility of control actions, and reduces damage to the electric actuator. In summary, using the above steps S1 to S4, an improved active noise reduction method for an air supply unit is provided from a software control logic perspective.

[0036] In some implementations, the determination of the optimal control increment based on the MPC (Model Predictive Control) algorithm can be achieved, for example, through steps S31 to S33. In step S31, using the constructed prediction model, the system state sequence in the prediction time domain is predicted based on the system state of the current control cycle. In step S32, within the prediction time domain, with the objective of minimizing the cost function, the corresponding optimal control increment sequence is determined under the constraints of the electric actuator. Subsequently, in step S33, the first control increment in the optimal control increment sequence is determined as the optimal control increment for the current control cycle, which is used for the drive control of the electric actuator.

[0037] Here, compared to common fixed-speed control strategies for electric drives or PID (Proportion-Integral-Differential) based control strategies, the applied model predictive control algorithm makes the pressure change trend and the vehicle's attitude response during the air spring inflation process predictable, enabling precise control of both the electric drive and the air spring inflation process. Furthermore, the introduction of a cost function and constraints allows for optimization while balancing control performance and hardware safety. Moreover, by extracting and applying the first control increment of the optimal sequence, the smoothness and optimality of the drive control in the current control cycle are ensured.

[0038] For example, the optimal control increment, along with its corresponding actual control quantity and target control quantity, is used to characterize the current regulation or voltage regulation of the electric drive.

[0039] For example, the constraint may involve electric drive phase current constraint, electric drive phase voltage constraint, electric drive speed constraint, or electric drive acceleration constraint. Furthermore, the constraint of the electric drive is not limited to the above examples and can be selected as needed, such as involving electric drive torque constraint, thermodynamic constraint, or control variable change rate constraint, etc.

[0040] For example, the cost function for: Where N is the number of prediction times, which is greater than 1; To predict the time k The predicted rotational speed of the electric drive at that time; To predict the time kThe target rotational speed of the electric drive, as determined at that time, can be determined, for example, by means of the mapping relationship described above, based on the relative pressure value of the air supply unit pipeline relative to atmospheric pressure. The speed tracking deviation penalty weight is a fixed value, which can be determined based on experience or experimentation. The noise suppression penalty weight depends on the driving speed at prediction time k. For example, it is negatively correlated with it; To control the smoothing penalty weight, it is a fixed value, which can be determined, for example, based on experience or experimentation; To predict the time k Control increments during the time period.

[0041] For example, the relationship between the noise suppression penalty weight and the driving speed can be calibrated based on experience or experimentation. Taking a vehicle as an example, at low driving speeds, the operating noise of the air supply unit is more noticeable compared to ambient noise (mainly wind noise). By making the noise suppression penalty weight larger, the operating noise can be strictly suppressed. At high driving speeds, the operating noise of the air supply unit is smaller compared to ambient noise. By making the noise suppression penalty weight smaller, the performance of the air springs and the overall noise impact can be balanced, thereby improving the overall NVH (Noise, Vibration, Harshness) performance of the mobile vehicle.

[0042] In some implementations, step S4 (generation of the drive control signal) includes steps S41 and S42. In step S41, the actual control quantity for the electric drive in the previous control cycle is superimposed with the optimal control increment to determine the target control quantity for the current control cycle. Exemplarily, the control cycle can be a sampling period and is on the order of milliseconds. In step S42, based on the target control quantity, for example using a Field Oriented Control (FOC) algorithm to target the PMW duty cycle, a drive control signal carrying the target PMW duty cycle is generated.

[0043] In some implementations, the data acquisition, target speed determination, optimal control increment determination, and drive control signal generation described above are re-executed in the next control cycle. Here, by using rolling optimization and closed-loop iteration to adjust the electric actuator speed in real time, the air spring response speed can be improved and effective noise suppression can be achieved.

[0044] Figure 2A flowchart of a control method for an air spring according to one embodiment of this application is shown, comprising step S100: in the air spring inflation mode, controlling an electric actuator by any of the above-described control methods for an air spring supply unit to smoothly and quietly adjust the air spring to a target pressure or target height. Exemplarily, the air spring inflation mode can be automatically triggered by a vehicle controller based on driver commands, vehicle status signals, or sensor feedback.

[0045] The features and advantages described in connection with the control method for an air spring according to this application, which is in conjunction with the control method for an air supply unit according to this application, are particularly evident in the control method for an air spring according to this application, and reference can be made accordingly to the explanations made thereto.

[0046] Figure 3 An electronic device 100 according to a third aspect of this application is shown. The electronic device includes a memory 110, a processor 120, and a computer program 130 stored in the memory 110 and executable on the processor 120, wherein the processor 120 executes the computer program 130 to implement a control method for an air supply unit for an air spring according to at least one of the above embodiments.

[0047] Taking a vehicle as an example, the electronic device is a central processing unit. It receives the pipeline pressure measured by the pressure sensor in the air supply unit, the atmospheric pressure measured by the atmospheric sensor, and the driving speed transmitted from the CAN bus. It outputs the drive control signal generated according to the above embodiment to the controller of the electric drive, or transmits the target control quantity representing voltage or current determined according to the above embodiment to the controller of the electric drive and generates a drive control signal therein (that is, the vehicle central processing unit and the controller of the electric drive jointly execute the above control method for the air supply unit) to achieve its adjustment and thereby cause the air supply adjustment of the air spring.

[0048] Taking the vehicle application scenario as an example, it is also feasible for the electronic device to be a suspension control unit, which can be arranged in the vehicle as an independent electronic control unit, or can be compactly and modularly integrated with the air supply unit (including compressor, electric actuator, and related valve components).

[0049] It should be noted that the electronic device can be any feasible controller for the vehicle, including but not limited to VCU (Vehicle Control Unit), domain controller, and ADAS (Advanced Driving Assistance System) controller.

[0050] For an electronic device used to implement the control method for an air spring according to at least one of the above embodiments, reference can be made to the above description of an electronic device used to implement the control method for an air supply unit for an air spring according to at least one of the above embodiments.

[0051] Furthermore, the features and advantages described in connection with the control method for the air supply unit and the control method for the air spring according to the present application are particularly evident in the electronic device according to the present application, and reference can be made accordingly to the explanations made thereto.

[0052] Furthermore, this application also proposes a computer program product comprising a computer program that, when executed by a processor, implements the control method for an air supply unit for an air spring or the control method for an air spring according to at least one of the above embodiments. Here, the features and advantages described in conjunction with the control method for an air supply unit for an air spring and the control method for an air spring according to this application are particularly evident in the computer program product based on this application, and reference can be made accordingly to the explanations provided thereto.

[0053] Finally, this application also proposes a computer-readable storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the control method for the air supply unit of an air spring and the control method for an air spring according to at least one of the above embodiments. The computer-readable storage medium mentioned herein includes various types of computer storage media, and can be any available medium accessible by a general-purpose or special-purpose computer. For example, the computer-readable storage medium may include RAM, ROM, EPROM, E2PROM, registers, hard disk, removable disk, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage device, or any other temporary or non-temporary medium capable of carrying or storing desired program code units having the form of instructions or data structures and accessible by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. In particular, the features and advantages of this computer-readable storage medium, as described in conjunction with the control method for the air supply unit of an air spring and the control method for an air spring according to this application, are discussed here, and reference can be made accordingly to the explanations provided thereto.

[0054] It should be understood that all the above preferred embodiments are exemplary and not restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of the present invention should be within the legal protection scope of the present invention.

Claims

1. A control method for an air supply unit of an air spring, characterized in that, include: Data acquisition: Obtain the relative pressure value of the air supply unit pipeline relative to atmospheric pressure and the travel speed of the mobile tool equipped with the air spring; Determination of target rotational speed: The target rotational speed of the electric drive for the compressor in the air supply unit is determined based on the relative pressure value; Determination of optimal control increment: Based on the determined target speed, the constructed cost function is solved using a model predictive control algorithm to obtain the optimal control increment for the electric drive. The cost function includes a speed tracking deviation penalty term, a noise suppression penalty term, and a control smoothing penalty term. Generation of drive control signal: A drive control signal is generated based on the optimal control increment. The drive control signal is used to adjust the electric actuator and thereby cause the air supply to the air spring to be adjusted.

2. The control method according to claim 1, characterized in that, The determination of the target rotational speed includes: Based on the relative pressure value, the target rotational speed of the electric drive is determined through a preset mapping relationship, in which the target rotational speed is negatively correlated with the relative pressure value.

3. The control method according to claim 2, characterized in that, The preset mapping relationship is in the form of the following function: in, The target rotational speed of the electric drive; The maximum permissible rotational speed of the electric actuator when the relative pressure value is zero; The minimum permissible rotational speed of the electric actuator when the relative pressure value is at its maximum; The attenuation coefficient is greater than zero. The relative pressure value is given.

4. The control method according to claim 1, characterized in that, The determination of the optimal control increment includes: Using the constructed prediction model, the system state sequence in the prediction time domain is predicted based on the system state in the current control cycle; Within the prediction time domain, with the goal of minimizing the cost function, and under the constraints of the electric actuator, the corresponding optimal control increment sequence within the prediction time domain is determined. The first control increment in the optimal control increment sequence is determined as the optimal control increment for the current control cycle.

5. The control method according to claim 4, characterized in that, The constraints of the electric actuator include at least one of the following: electric actuator phase current constraint, electric actuator phase voltage constraint, electric actuator rotation speed constraint, and electric actuator acceleration constraint.

6. The control method according to claim 1, characterized in that, The cost function for: Where N is the number of prediction times, which is greater than 1; To predict the time k The predicted rotational speed of the electric drive at that time; To predict the time k The target rotational speed of the electric drive as determined at that time; The weight for penalizing speed tracking deviation is a constant value. The noise suppression penalty weights are related to the driving speed at prediction time k. Negative correlation; The weight for the smoothing penalty is set to a constant value. To predict the time k Control increments during the time period.

7. The control method according to claim 1, characterized in that, The optimal control increment is used to characterize the current regulation or voltage regulation of the electric drive, wherein the generation of the drive control signal includes: The target control quantity for the electric drive in the previous control cycle is determined by superimposing the optimal control increment with the actual control quantity for the electric drive in the previous control cycle. The target PMW duty cycle is determined based on the target control quantity, and a drive control signal carrying the target PMW duty cycle is generated.

8. The control method according to claim 7, characterized in that, Using a field-oriented control algorithm, the target PWM duty cycle is determined based on the target control quantity.

9. The control method according to claim 1, characterized in that, In the next control cycle, the data acquisition, the determination of the target speed, the determination of the optimal control increment, and the generation of the drive control signal are re-executed.

10. A control method for an air spring, characterized in that, include: In the air spring inflation mode, the electric actuator is controlled by the control method for the air supply unit of the air spring according to any one of claims 1 to 9 to adjust the air spring to the target pressure or target height.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the control method for the air supply unit of the air spring according to any one of claims 1 to 9 or the control method for the air spring according to claim 10.

12. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for the air supply unit of the air spring according to any one of claims 1 to 9 or the control method for the air spring according to claim 10.

13. A computer-readable storage medium on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it implements the control method for the air supply unit of the air spring according to any one of claims 1 to 9 or the control method for the air spring according to claim 10.

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