A damping switching pre-control method and system of a double solenoid valve CDC shock absorber

Abstract

The application provides a damping switching pre-control method and system of a double electromagnetic valve CDC shock absorber, and relates to the technical field of vehicle semi-active suspension control. The method comprises the following steps: obtaining the motion direction of the suspension in the current period; obtaining the output current of the compression electromagnetic valve and the recovery electromagnetic valve in the last period and the respective original target current change amount; when any original target current change amount exceeds a preset threshold value, determining the priority coefficient of the compression electromagnetic valve and the recovery electromagnetic valve according to the motion direction; calculating the current step length of the double valve in the current period according to the priority coefficient; and calculating the current period command current according to the output current in the last period and the current step length and outputting the current period command current. Through the priority allocation based on the suspension motion direction and the iteration of the current step length period by period, the application realizes the smooth and coordinated switching of the double valve current, eliminates the mechanical impact and transient damping mismatch caused by the step current switching, and improves the vehicle posture stability and the driving comfort.

Description

Technical Field

[0001] This application relates to the field of vehicle semi-active suspension control technology, specifically to a damping switching pre-control method and system for a dual-electromagnetic-valve CDC shock absorber. Background Technology

[0002] Continuous Damping Control (CDC) dampers change the damping force by adjusting the current of the solenoid valve. CDC dampers with a dual-solecular structure have independent compression and recovery solenoid valves, enabling complete decoupling and independent adjustment of the damping force during compression and recovery strokes.

[0003] Existing control methods for dual-electromagnetic-valve CDC dampers apply the target current to both solenoid valves in a step manner during damping switching. This step current can easily cause mechanical shock to the valve core and abnormal operating noises. Furthermore, the inherent difference in the response rates of the two valves can lead to damping force mismatch during the switching transient. Simultaneously, existing strategies lack the perception and response to the real-time motion phase of the suspension, resulting in inaccurate control timing and limiting the potential for improvement in system response quality and comfort. Summary of the Invention

[0004] The technical problem this application aims to solve is that existing dual-electromagnetic-valve CDC dampers directly apply current in a step manner during damping switching, which easily leads to valve core impact noise and transient damping mismatch, and lacks differentiated coordinated control based on the suspension motion phase. This invention aims to provide a damping switching pre-control method and system for dual-electromagnetic-valve CDC dampers.

[0005] In a first aspect, the technical solution of this application provides a damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper, including: Obtain the direction of suspension movement in the current cycle; The output current of the compression solenoid valve and the recovery solenoid valve in the previous cycle, as well as the change in the original target current of the compression solenoid valve and the recovery solenoid valve respectively, are obtained. The change in the original target current is the difference between the original target current of the current cycle and the original target current of the previous cycle. When any change in the original target current exceeds a preset threshold, the priority coefficients of the compression solenoid valve and the recovery solenoid valve are determined according to the direction of motion. The priority coefficients determine the response rate of the corresponding solenoid valve in this damping switch. The current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle is calculated based on the priority coefficient. Based on the output current of the previous cycle and the current step size, calculate and output the command current of the compression solenoid valve and the recovery solenoid valve in the current cycle.

[0006] The damping switching pre-control method for dual-electromagnetic-valve CDC shock absorbers described in some solutions, wherein obtaining the suspension's motion direction in the current cycle includes: Get the speed of the suspension movement in the current cycle; The motion direction is determined based on the comparison between the motion speed and a preset direction threshold; the preset direction threshold includes: a recovery direction threshold and a compression direction threshold.

[0007] In some solutions, the damping switching pre-control method for dual-electromagnetic-valve CDC vibration dampers determines the direction of return to the original state when the motion speed is greater than the return direction threshold. When the movement speed is less than the compression direction threshold, it is determined to be in the compression direction; When the movement speed is between the compression direction threshold and the recovery direction threshold, it is determined that the direction is maintained.

[0008] In some solutions, the damping switching pre-control method for dual-solenoid valve CDC vibration dampers obtains the original target currents of the compression solenoid valve and the recovery solenoid valve in the following way: Obtain the target damping force; Based on the current-damping force characteristic mapping relationship, the target damping force is converted into the original target current of the compression solenoid valve and the original target current of the restoration solenoid valve, respectively.

[0009] In some solutions, the damping switching pre-control method for dual solenoid valve CDC dampers has a preset threshold value ranging from 5mA to 20mA.

[0010] The damping switching pre-control method for dual-solenoid valve CDC vibration dampers described in some solutions, wherein determining the priority coefficients of the compression solenoid valve and the recovery solenoid valve based on the direction of motion includes: Get the speed of the suspension movement in the current cycle; The priority coefficient of the reset solenoid valve is calculated using the Sigmoid function: ; in, ) represents the motion speed, β represents the shape factor, and n represents the sequence number of the current control cycle; The priority coefficient of the compression solenoid valve is determined based on the priority coefficient of the recovery solenoid valve: .

[0011] The damping switching pre-control method for dual-electromagnetic-valve CDC vibration dampers described in some solutions, wherein the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle is calculated according to the priority coefficient, includes: The effective time constants of the compression solenoid valve and the recovery solenoid valve are determined based on the priority coefficient. The corresponding current step size is calculated based on the original target current change and effective time constant of the compression solenoid valve. The corresponding current step size is calculated based on the original target current change and effective time constant of the restoration solenoid valve.

[0012] The damping switching pre-control method for dual-solenoid valve CDC vibration dampers described in some schemes, wherein determining the effective time constants of the compression solenoid valve and the recovery solenoid valve based on the priority coefficient includes: Linear interpolation is performed on the preset fast and slow time constants: ; ; in, This is the effective time constant of the compression solenoid valve. To restore the effective time constant of the solenoid valve, For fast time constant, It is a slow time constant, and t< , where n is the sequence number of the current control cycle.

[0013] Some solutions describe a damping switching pre-control method for dual-solenoid valve CDC dampers, which calculates the current step size of the compression solenoid valve and the recovery solenoid valve as follows: The theoretical current increment of the compression solenoid valve in the current cycle is calculated using the following formula: ; The theoretical current increment of the recovery solenoid valve in the current cycle is calculated using the following formula: ; in, This represents the initial target current change of the compression solenoid valve. To restore the original target current change of the solenoid valve, Δt is the control period.

[0014] Some solutions describe a damping switching pre-control method for dual-solenoid valve CDC vibration dampers, which calculates the current step size of the compression solenoid valve and the recovery solenoid valve, and also includes: The effective rate of change limit for the compression solenoid valve and the recovery solenoid valve is determined based on the priority coefficient. The theoretical current increment is limited by the effective rate of change, and the limited theoretical current increment is used as the current step size of the corresponding solenoid valve in the current cycle.

[0015] The damping switching pre-control method for dual-solenoid valve CDC vibration dampers described in some solutions, wherein determining the effective rate-of-change limit of the compression solenoid valve and the recovery solenoid valve based on the priority coefficient includes: Linear interpolation is performed on the preset fast rate of change limit and slow rate of change limit: ; ; in, To limit the effective rate of change of the compression solenoid valve, To restore the effective rate of change limitation of the solenoid valve, To limit the rate of change, For slow rate of change constraints, and > , where n is the sequence number of the current control cycle.

[0016] The damping switching pre-control method for dual-electromagnetic-valve CDC vibration dampers described in some solutions also includes: Predict the speed of the next cycle based on the speed and acceleration of the suspension in the current cycle, and determine the prediction priority coefficient accordingly; The current cycle's priority coefficient is weighted and combined with the predicted priority coefficient, and the command current for the current cycle is recalculated based on the combined priority coefficient.

[0017] The damping switching pre-control method for dual-electromagnetic-valve CDC vibration dampers described in some solutions, which involves weighting and combining the priority coefficient of the current cycle with the predicted priority coefficient, includes: Calculate the smooth transition factor: ; in, For the speed of movement, is the transition time constant; n is the sequence number of the current control cycle; Weight the priority coefficients for the current period and the prediction priority coefficients: ; in, To restore the overall priority coefficient of the solenoid valve, This is the priority coefficient of the recovery solenoid valve for the current cycle. The priority coefficient for predicting the recovery solenoid valve in the next cycle.

[0018] In some solutions, the damping switching pre-control method for dual-electromagnetic-valve CDC vibration dampers calculates the command current in the following way: ; ; in, and These are the command currents for the compression solenoid valve and the reset solenoid valve in the current cycle, respectively. and These are the original target currents of the compression solenoid valve and the recovery solenoid valve in the previous cycle, respectively. and These are the current step sizes for the compression solenoid valve and the reset solenoid valve in the current cycle, respectively, where n is the sequence number of the current control cycle.

[0019] Secondly, the technical solution of this application provides a damping switching pre-control system for a dual-electromagnetic-valve CDC vibration damper, comprising: The state perception module obtains the direction of suspension movement in the current cycle; The target information acquisition module acquires the output current of the compression solenoid valve and the recovery solenoid valve in the previous cycle, as well as the change in the original target current of the compression solenoid valve and the recovery solenoid valve respectively. The change in the original target current is the difference between the original target current of the current cycle and the original target current of the previous cycle. The response information acquisition module determines the priority coefficients of the compression solenoid valve and the recovery solenoid valve based on the direction of motion when any change in the original target current exceeds a preset threshold. The priority coefficients determine the response rate of the corresponding solenoid valve in this damping switch. The drive information acquisition module calculates the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle according to the priority coefficient. The drive output module calculates and outputs the command current for the compression solenoid valve and the recovery solenoid valve in the current cycle based on the output current of the previous cycle and the current step size.

[0020] Thirdly, the present application provides a computer-readable storage medium storing program information. After reading the program information, the computer executes the damping switching pre-control method of the dual solenoid valve CDC vibration damper described in any one of the first aspects.

[0021] Fourthly, the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the damping switching pre-control method for the dual solenoid valve CDC damper as described in any one of the first aspects.

[0022] Fifthly, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the damping switching pre-control method for the dual solenoid valve CDC damper as described in any one of the first aspects.

[0023] Sixthly, the present application provides a vehicle including an electronic control unit and a dual-solenoid valve CDC damper; the dual-solenoid valve CDC damper includes a compression solenoid valve and a recovery solenoid valve; the electronic control unit is configured to perform a damping switching pre-control method for the dual-solenoid valve CDC damper as described in any of the first aspects.

[0024] The technical solution provided in this application has the following technical effects compared with the prior art: The damping switching pre-control method and system for the dual-electromagnetic-valve CDC shock absorber provided in this application calculates the current step size cycle by cycle based on the priority coefficient, rather than directly applying the original target current change to the solenoid valve all at once. This allows the current command to gradually approach the target value step by step, eliminating the current abrupt changes caused by traditional step-like current switching. This avoids mechanical shock and audible noise caused by current abrupt changes in the valve core, improving the working reliability of the shock absorber and the NVH quality of the vehicle. The priority coefficient is determined based on the real-time movement direction of the suspension in the current cycle. The high-priority valve completes the current switching at a faster response rate to ensure a rapid response of the damping force of the dominant valve in this stroke, while the low-priority valve follows smoothly at a slower response rate to avoid unnecessary current disturbances. This achieves synchronous and smooth switching of the two valves under the master-slave coordination mechanism, eliminating the transient damping force mismatch caused by the differences in the independent electrical and mechanical response characteristics of the two valves. The priority coefficient is dynamically determined cycle-by-cycle based on the real-time motion direction, enabling the distribution of the dual-valve response rate to be continuously adjusted according to the real-time changes in the suspension motion phase. This ensures that the control strategy always matches the actual motion state of the current suspension, avoiding the problem of inaccurate control timing when the motion direction changes with a fixed strategy. Therefore, the technical solution of this application achieves a smooth and coordinated output of current command in the dual-electromagnetic valve CDC damper during damping switching, eliminating mechanical shock and transient mismatch while ensuring precise matching of damping force, thus improving vehicle posture stability and ride comfort. Attached Figure Description

[0025] Figure 1 This is a diagram showing the overall framework of the damping switching pre-control system for a dual-solenoid valve CDC vibration damper. Figure 2 A schematic flowchart illustrating the damping switching pre-control method for the dual-electromagnetic-valve CDC vibration damper provided in this application embodiment; Figure 3 A schematic diagram of the process for obtaining the direction of motion of the suspension in the current cycle, provided for an embodiment of this application; Figure 4 This is a flowchart illustrating the process of determining the direction of motion based on a comparison between the motion speed and a preset direction threshold, as provided in an embodiment of this application. Figure 5 A schematic diagram of the process for obtaining the original target current provided in an embodiment of this application; Figure 6 A flowchart illustrating the determination of priority coefficients based on the direction of motion, provided for an embodiment of this application; Figure 7 This is a flowchart illustrating the calculation of the current step size based on the priority coefficient, provided in an embodiment of this application. Figure 8 A schematic diagram illustrating the motion trend prediction and weighted aggregation process provided in this application embodiment; Figure 9 A schematic diagram of the module structure of the damping switching pre-control system for the dual solenoid valve CDC vibration damper provided in the embodiments of this application; Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0026] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0027] It is readily understood that, based on the technical solution of this application, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of this application. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this application and should not be considered as the entirety of this application or as limitations or restrictions on the technical solution of the application.

[0028] Figure 1 This is a general framework diagram of the damping switching pre-control system for a dual-solenoid valve CDC vibration damper. Figure 1 As shown, the system includes a state perception module, a control algorithm module, and a drive execution module. The state perception module acquires suspension height signals through four height sensors to calculate suspension speed and direction, acquires vehicle acceleration signals through four acceleration sensors, and obtains vehicle status signals via the CAN bus. The control algorithm module includes an upper-level decision module, a current mapping module, and a pre-control algorithm module. The upper-level decision module outputs a target damping force based on the signals acquired by the state perception module. The current mapping module converts the target damping force into the original target currents for the compression solenoid valve and the restoration solenoid valve based on the current-damping force characteristic mapping relationship. The pre-control algorithm module smooths the original target currents and outputs a command current. The drive execution module outputs the command currents to the compression solenoid valve and the restoration solenoid valve, respectively.

[0029] This embodiment provides a damping switching pre-control method for a dual-electromagnetic-valve CDC shock absorber, which is applied in a vehicle control system, such as... Figure 2 As shown, it includes: S100: Obtain the direction of motion of the suspension in the current cycle.

[0030] Specifically, the direction of suspension movement in the current cycle is acquired in real time by sensors installed on the vehicle body. During vehicle operation, the shock absorber reciprocates in response to road surface excitation, with its movement directions including compression and restoring directions. In this step, a height sensor installed on the suspension system collects the suspension height signal. After signal processing, the suspension's movement speed for the current cycle is obtained. Based on the comparison between this speed and a preset direction threshold, the direction of suspension movement in the current cycle is determined. The compression direction corresponds to the suspension's compression movement towards the vehicle body, while the restoring direction corresponds to the suspension's extension movement away from the vehicle body. This direction of movement forms the basis for subsequently determining the dual-valve priority coefficient.

[0031] S200: Obtain the output current of the compression solenoid valve and the recovery solenoid valve in the previous cycle, as well as the change in the original target current of the compression solenoid valve and the recovery solenoid valve respectively. The change in the original target current is the difference between the original target current of the current cycle and the original target current of the previous cycle.

[0032] Specifically, the vehicle's control system stores the command current values ​​actually output to the compression solenoid valve and the reset solenoid valve in the previous control cycle, i.e., the output current of the previous cycle. Simultaneously, the control system acquires the original target current for the current cycle and the original target current for the previous cycle. The original target current is the current value derived from the target damping force calculated by the upper-level control decision (such as the ceiling algorithm) based on the vehicle's current driving state, and then converted through the current-damping force characteristic mapping relationship. It represents the ideal current value that the control system expects to apply to the solenoid valves in the current cycle. The change in the original target current reflects the adjustment range of the upper-level control decision between two adjacent control cycles. In this step, the difference between the original target current of the compression solenoid valve in the current cycle and the original target current of the previous cycle is calculated as the change in the original target current of the compression solenoid valve, and the difference between the original target current of the reset solenoid valve in the current cycle and the original target current of the previous cycle is calculated as the change in the original target current of the reset solenoid valve. Acquiring this information provides a data basis for subsequent determination of whether to activate the pre-control algorithm.

[0033] S300: When the change in any original target current exceeds a preset threshold, the priority coefficients of the compression solenoid valve and the restoration solenoid valve are determined according to the direction of motion. The priority coefficients determine the response rate of the corresponding solenoid valve in this damping switch.

[0034] Specifically, after obtaining the original target current changes of the compression solenoid valve and the recovery solenoid valve, it is determined whether either of these two changes exceeds a preset threshold. The preset threshold is a pre-set small current value used to define whether the current change is significant enough to require the activation of the pre-control algorithm. When neither change exceeds the preset threshold, it indicates that the original target current of the current cycle changes very little compared to the previous cycle, and even if a step current is applied directly, it will not produce significant mechanical shock or noise, so there is no need to activate the pre-control algorithm. Conversely, when either change exceeds the preset threshold, it indicates that a larger current switching is required in the current cycle, and a direct step current application will produce mechanical shock and abnormal noise, so the pre-control algorithm needs to be activated.

[0035] After the pre-control algorithm is triggered, the system determines the priority coefficients of the compression solenoid valve and the recovery solenoid valve based on the suspension motion direction obtained in step S100. The basic principle of priority coefficient allocation is as follows: during the recovery stroke, the recovery valve is dominant and requires a rapid response to achieve accurate control of the recovery damping; therefore, the recovery valve receives a higher priority and the compression valve receives a lower priority. During the compression stroke, the compression valve is dominant and receives a higher priority and the recovery valve receives a lower priority. The priority coefficient characterizes the response priority of the corresponding solenoid valve in this damping switch. The higher the priority coefficient, the faster the solenoid valve is allowed to complete the current change; the lower the priority coefficient, the smoother the current change should be. Through this priority allocation based on motion direction, the response behavior of the two valves is matched with the real-time motion state of the suspension.

[0036] S400: Calculate the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle according to the priority coefficient.

[0037] Specifically, after determining the priority coefficients of the compression solenoid valve and the reset solenoid valve, the system determines the current step size for each solenoid valve in the current control cycle based on the priority coefficients. The current step size represents the incremental value of the allowable change in solenoid valve current within the current control cycle, which is the actual change after constraining the theoretical current change.

[0038] The constraint mechanism of the priority coefficient on the current step size is as follows: the solenoid valve with a higher priority coefficient is allowed a larger current step size, that is, it can approach the original target current more quickly within the current cycle; the solenoid valve with a lower priority coefficient has its current step size limited to a smaller range, that is, it can only change slowly within the current cycle. As a result, the master valve can respond quickly to achieve timely adjustment of the damping force, while the driven valve follows in a gradual manner, and the two coordinate with each other in time.

[0039] By calculating the current step size cycle by cycle, the large step current change that originally needed to be completed in a single control cycle is decomposed into small changes that are completed gradually over multiple control cycles, thereby eliminating abrupt changes in the current command.

[0040] S500: Based on the output current of the previous cycle and the current step size, calculate and output the command current of the compression solenoid valve and the recovery solenoid valve in the current cycle.

[0041] Specifically, after calculating the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle, the system uses the original target current of the compression solenoid valve in the previous cycle as a reference value, adds this reference value to the current step size of the compression solenoid valve in the current cycle, and obtains the command current of the compression solenoid valve in the current cycle. Similarly, using the original target current of the recovery solenoid valve in the previous cycle as a reference value, this reference value is added to the current step size of the recovery solenoid valve in the current cycle, and obtains the command current of the recovery solenoid valve in the current cycle. This command current is the actual drive current value output to the corresponding solenoid valve in this control cycle. The system outputs the calculated command current of the compression solenoid valve and the command current of the recovery solenoid valve to their respective solenoid valve drive circuits. The drive circuits control the opening degree of the solenoid valve according to the received command current value, thereby realizing independent adjustment of the compression damping force and the recovery damping force.

[0042] In this way, the command current output in each control cycle is the result of gradual adjustment based on the actual output value of the previous cycle. The actual change path of the current presents a smooth trajectory that progresses cycle by cycle, rather than a one-time step jump. After multiple control cycles of iteration, the command current gradually approaches the original target current, thus achieving smooth switching of the dual-valve current without sacrificing response speed, and eliminating the problems of mechanical shock and transient damping mismatch.

[0043] The damping switching pre-control method for the dual-electromagnetic-valve CDC vibration damper provided in this embodiment achieves the following technical effects through the above steps S100 to S500: First, through steps S200 to S500, this method, when the original target current changes, does not directly output the original target current as the command current all at once. Instead, it calculates the current step size cycle by cycle according to the priority coefficient, so that the command current gradually approaches the original target current in a step-by-step manner. This eliminates the current abrupt changes caused by traditional step-like current switching, avoids mechanical shock and audible noise to the valve core caused by current abrupt changes, improves the reliability of the shock absorber and the vehicle's NVH quality, and extends the service life of the solenoid valve.

[0044] Secondly, through the coordinated operation of steps S100 and S300, this method dynamically determines the priority coefficients of the two valves based on the real-time movement direction of the suspension in the current cycle, ensuring that the control strategy always matches the actual movement state of the suspension. During the recovery stroke, the recovery valve receives high priority for a rapid response; during the compression stroke, the compression valve receives high priority for a rapid response. The high-priority valve completes the current switching at a faster rate, while the low-priority valve follows smoothly at a slower rate, achieving synchronous coordination between the two under the master-slave coordination mechanism. This eliminates the transient damping force mismatch caused by the differences in the independent electrical and mechanical response characteristics of the two valves, ensuring the continuity and smoothness of the damping force during switching and improving the vehicle's attitude stability.

[0045] Furthermore, through the cycle-by-cycle iterative calculation of the current step size in step S400, the actual current change path presents a smooth, progressive trajectory, rather than a single jump. Under operating conditions requiring significant adjustments, the current change is distributed across multiple control cycles to be completed gradually, avoiding both shocks caused by excessively rapid changes and response lags caused by excessively slow changes, thus achieving a balance between response speed and switching smoothness.

[0046] In summary, this method achieves a smooth and coordinated output of current commands during the damping switching process of the dual-electromagnetic-valve CDC damper. It eliminates mechanical shock and transient mismatch while ensuring precise matching of damping forces, improves vehicle attitude stability and ride comfort, reduces wear and energy consumption of the actuator, and enhances system reliability.

[0047] Among them, such as Figure 3 As shown, step S100, obtaining the direction of motion of the suspension in the current cycle, includes: S101: Obtain the speed of the suspension movement in the current cycle.

[0048] Specifically, during vehicle operation, the suspension system undergoes reciprocating motion in response to road surface excitation. Its velocity reflects the intensity and directional trend of this motion at any given moment. This step involves real-time acquisition of suspension dynamic deflection signals using height sensors positioned between the vehicle body and the wheels. This signal characterizes the amount of displacement change of the wheels relative to the vehicle body. The control system performs time-difference processing on the acquired suspension dynamic deflection signals, dividing the displacement change between the current and previous cycles by the control cycle duration to calculate the suspension velocity in the current cycle. The velocity is a vector quantity, with its sign indicating the direction of suspension movement.

[0049] S102: Determine the motion direction based on the comparison result between the motion speed and the preset direction threshold; the preset direction threshold includes: restoration direction threshold and compression direction threshold.

[0050] Specifically, the control system presets a small positive velocity threshold as the recovery direction threshold and a small negative velocity threshold as the compression direction threshold. These two thresholds are used to filter out suspension speed fluctuations caused by minor road vibrations, avoiding frequent misjudgments of direction due to noise interference.

[0051] Furthermore, such as Figure 4 As shown, S102 specifically includes: S1021: When the movement speed is greater than the restoration direction threshold, it is determined to be the restoration direction; When the speed of movement exceeds the return direction threshold, it is determined that the suspension is currently in the return stroke, that is, the suspension is extending away from the vehicle body. At this time, the return valve should receive a higher response priority.

[0052] S1022: When the movement speed is less than the compression direction threshold, it is determined to be a compression direction.

[0053] When the speed of movement is less than the compression direction threshold, it is determined that the suspension is currently in the compression stroke, that is, the suspension is compressing towards the vehicle body. At this time, the compression valve should receive a higher response priority.

[0054] S1023: When the movement speed is between the compression direction threshold and the recovery direction threshold, it is determined that the direction is maintained.

[0055] When the speed of movement is between the compression direction threshold and the recovery direction threshold, it is determined that the current speed of the suspension is in the zero speed range. At this time, the suspension direction is considered to be maintained, that is, no clear direction determination is generated. The direction determination result of the previous cycle can be used or the dual valve priority can be kept unchanged.

[0056] Through the aforementioned direction determination logic, the control system can accurately identify the real-time motion phase of the suspension, providing a reliable basis for determining the priority coefficients in subsequent steps. This ensures that the control strategy always matches the actual motion state of the suspension, avoiding control errors caused by misjudgment of direction. Simultaneously, by setting a direction threshold, frequent direction switching caused by signal noise is avoided when the suspension approaches zero speed, improving system stability.

[0057] Furthermore, such as Figure 5 As shown, the original target currents of the compression solenoid valve and the recovery solenoid valve in step S200 are obtained in the following way: S201: Obtain the target damping force.

[0058] Specifically, the upper-level decision-making module in the control system calculates the target damping force based on the vehicle state information obtained by the state perception module. In this embodiment, the upper-level decision-making module adopts the ceiling algorithm as the control strategy. This algorithm calculates the desired damping force required to maintain the vehicle's attitude based on signals such as the vehicle's vertical acceleration and suspension speed. The ceiling algorithm is a well-known semi-active suspension control algorithm in the field. Its basic principle is to suppress vehicle vibration while allowing wheel bounce; the specific calculation method will not be elaborated here. The damping force calculated by the ceiling algorithm is the target damping force, which represents the magnitude of the damping force that the control system expects the shock absorber to output under the current driving conditions.

[0059] S202: Based on the current-damping force characteristic mapping relationship, the target damping force is converted into the original target current of the compression solenoid valve and the original target current of the restoration solenoid valve, respectively.

[0060] Specifically, after acquiring the target damping force, the control system converts the target damping force into the original target current of the compression solenoid valve and the original target current of the recovery solenoid valve, respectively, based on the pre-stored current-damping force characteristic mapping relationship. This current-damping force characteristic mapping relationship is typically pre-stored in the control system as a MAP (Modular Mapping) diagram. This MAP diagram is obtained by the vibration damper manufacturer through bench testing and reflects the damping force output value corresponding to different solenoid valve drive currents during the compression and recovery strokes of the vibration damper.

[0061] Because the compression valve and the recovery valve of the dual-solenoid valve CDC shock absorber are controlled independently, their current-damping force characteristics may differ, thus requiring separate mapping. The control system distributes the target damping force to the corresponding stroke channel according to the current suspension movement direction: when the suspension is in the recovery stroke, the target damping force is mainly converted through the current-damping force characteristic mapping relationship of the recovery valve; when the suspension is in the compression stroke, the target damping force is mainly converted through the current-damping force characteristic mapping relationship of the compression valve. Simultaneously, due to the decoupling characteristics of the dual-valve structure, the current-damping force characteristic mapping relationship of the non-dominant valve remains effective, ensuring rapid response during direction changes.

[0062] After the above transformation, the original target currents for the compression solenoid valve and the restoration solenoid valve in the current cycle are obtained. These two current values ​​represent the ideal current values ​​that the control system expects to apply to each solenoid valve in the current cycle, and will serve as the basic inputs for calculating the change in the original target current and executing the pre-control algorithm in subsequent steps.

[0063] Preferably, the preset threshold value in S300 ranges from 5mA to 20mA. Specifically, the preset threshold is a critical value used to determine whether the change in the original target current is significant and whether a pre-control algorithm needs to be activated. If the threshold is too small, the pre-control algorithm will be activated frequently, increasing the computational burden; if the threshold is too large, the pre-control algorithm will only intervene when the current change is large, and the impact and noise during small-amplitude current switching cannot be effectively suppressed. In this embodiment, the preset threshold value ranges from 5mA to 20mA. According to the electrical characteristics of the solenoid valve, when the current change is less than 5mA, the valve core movement amplitude is extremely small, and the resulting impact and noise are negligible, so there is no need to activate the pre-control algorithm; when the current change is greater than 20mA, the valve core movement amplitude increases significantly, and if pre-control is not performed, a perceptible mechanical impact will occur. Preferably, the preset threshold is 10mA. Experiments have verified that a preset threshold of 10mA achieves the optimal balance between ensuring NVH performance and the computational efficiency of the control system. This effectively filters out interference from minute current fluctuations in the control algorithm while promptly activating the pre-control algorithm when current changes reach a level that could cause significant impact. When the absolute values ​​of the original target current changes of both the compression and recovery solenoid valves are less than or equal to this preset threshold, the original target current is directly output without activating the pre-control algorithm. When the absolute value of the change in either original target current exceeds this preset threshold, the pre-control algorithm is activated. These values ​​can be adjusted by those skilled in the art based on the specific characteristics of the solenoid valve and actual calibration requirements, and all such adjustments fall within the scope of this invention.

[0064] More preferably, such as Figure 6 As shown, determining the priority coefficients of the compression solenoid valve and the reset solenoid valve based on the direction of motion includes: S301: Obtain the speed of the suspension movement in the current cycle.

[0065] Specifically, the control system obtains the suspension's speed in the current cycle from the state perception module. This speed is obtained by time-difference processing of the suspension dynamic deflection signal collected by the height sensor. Its sign reflects the direction of suspension movement; a positive value indicates the suspension is in the recovery stroke, and a negative value indicates the suspension is in the compression stroke. The absolute value reflects the intensity of the suspension movement. This speed is the core input parameter for calculating the priority coefficient.

[0066] S302: Calculate the priority coefficient of the solenoid valve using the Sigmoid function: ; in, ) represents the motion speed; β is the shape factor, used to control the rate at which the Sigmoid function transitions from 0 to 1; n represents the sequence number of the current control cycle; the Sigmoid function has the characteristics of being continuous, monotonic, and differentiable, and its range is (0,1). When the suspension motion speed... When the value is a large positive value (recovery stroke), Approaching 0, When the value approaches 1, the reset solenoid valve gains high priority; when When the value is a large negative value (compression stroke), Approaching positive infinity, When the value approaches 0, the reset solenoid valve receives a low priority; when When near zero, Approximately equal to 0.5, the priorities of the two valves are similar. Therefore, the priority coefficient of the recovery valve changes continuously with the suspension speed, achieving a smooth transition of the dual valve priorities between the compression and recovery strokes, avoiding control jitter caused by sudden directional changes.

[0067] The value of the shape factor β determines the sensitivity of the priority coefficient to changes in motion speed. A larger β value results in a steeper transition of the sigmoid function near zero, and a more pronounced "either / or" hard switching characteristic in priority allocation; a smaller β value results in a smoother transition and a more gradual priority allocation. In this embodiment, the β value can be set according to actual calibration requirements.

[0068] S303: Determine the priority coefficient of the compression solenoid valve based on the priority coefficient of the recovery solenoid valve: .

[0069] Since the sum of the priority coefficients of the compression solenoid valve and the reset solenoid valve is 1, after determining the priority coefficient of the reset solenoid valve, the priority coefficient of the compression solenoid valve is 1 minus the priority coefficient of the reset solenoid valve. Thus, the higher the priority coefficient of the reset valve, the lower the priority coefficient of the compression valve; and vice versa, the two always maintain a complementary relationship.

[0070] Through the above steps S301 to S303, the control system uses the Sigmoid function to calculate the priority coefficient of the dual valves in real time according to the continuous change of the suspension speed. This realizes the continuous and smooth adjustment of priority allocation with the suspension motion state, and provides accurate basic parameters for the dynamic calculation of the effective time constant and effective rate of change limit in subsequent steps.

[0071] Furthermore, such as Figure 7 As shown, S400, calculating the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle according to the priority coefficient, includes: S401: Determine the effective time constants of the compression solenoid valve and the recovery solenoid valve based on the priority coefficient.

[0072] Specifically, the effective time constant is used to characterize the rate at which the solenoid valve current changes within a unit control cycle. The control system calculates the priority coefficient of the compression solenoid valve according to steps S302-S303. and the priority coefficient of the reset solenoid valve Determine the effective time constant of the compression solenoid valve respectively. and the effective time constant of the solenoid valve There is a negative correlation between the priority coefficient and the effective time constant: the higher the priority coefficient, the smaller the effective time constant and the faster the current changes; the lower the priority coefficient, the larger the effective time constant and the slower the current changes. Based on this mapping relationship, the recovery valve obtains a smaller effective time constant for a rapid response during the recovery stroke, while the compression valve obtains a larger effective time constant for a smoother response; the opposite is true during the compression stroke.

[0073] S402: Calculate the corresponding current step size based on the original target current change and effective time constant of the compression solenoid valve.

[0074] Specifically, in determining the effective time constant of the compression solenoid valve Then, the control system adjusts the original target current change of the compression solenoid valve accordingly. Using the effective time constant, the current step size of the compression solenoid valve in the current cycle is calculated. The current step size represents the maximum allowable increment of the compression solenoid valve current within the current control cycle. The calculation principle is as follows: the original target current change is allocated to each control cycle according to the response rate represented by the effective time constant. The smaller the effective time constant, the more current change is allocated to each control cycle, resulting in a faster current response; conversely, the larger the effective time constant, the less current change is allocated to each control cycle, resulting in a smoother current change. Thus, the original target current change is decomposed into small increments over multiple control cycles, achieving a gradual progression of current.

[0075] S403: Calculate the corresponding current step size based on the original target current change and effective time constant of the restoration solenoid valve.

[0076] Specifically, similar to step S402, the control system restores the original target current change of the solenoid valve. and the effective time constant of the solenoid valve Following the same calculation principle, the current step size of the recovery solenoid valve in the current cycle is calculated. Since the effective time constants of the compression solenoid valve and the recovery solenoid valve are independent of each other, their current steps can be calculated separately, each corresponding to the response rate determined by its priority coefficient.

[0077] Through steps S401 to S403, the control system determines the effective time constant of each of the two valves according to the priority coefficient, and calculates the current step size of each valve in the current cycle accordingly. Since the priority coefficients of the two valves dynamically change with the direction of suspension movement, their effective time constants and current step sizes are also dynamically adjusted, achieving differentiated responses between the compression valve and the recovery valve in different directions of movement—the master valve acts quickly to ensure timely establishment of damping force, while the driven valve follows smoothly to avoid unnecessary current disturbances. The two valves coordinate in time, thus ensuring the synchronicity and coordination of the valve actions during damping switching.

[0078] Specifically, in S401, the effective time constants of the compression solenoid valve and the reset solenoid valve are determined according to the priority coefficient, including: Linear interpolation is performed on the preset fast and slow time constants: ; ; in, This is the effective time constant of the compression solenoid valve. To restore the effective time constant of the solenoid valve, For fast time constant, It is a slow time constant, and < Where n is the sequence number of the current control cycle. Using the above linear interpolation formula, the effective time constant continuously varies with the priority coefficient between the fast and slow time constants. When the priority coefficient of a solenoid valve approaches 1, its effective time constant approaches... (Smaller value), corresponding to fast response; when the priority coefficient approaches 0, its effective time constant approaches... (Larger value), corresponding to slow response; when the priority coefficient is 0.5, the effective time constant is and The median value corresponds to a medium response speed. Because... The sum of the effective time constants of the compression valve and the recovery valve is always equal to This method maintains symmetry in priority allocation: while one valve receives a fast time constant, the other receives a slow time constant, ensuring that the total response resources of the two valves are rationally allocated between the compression and recovery strokes. The master valve responds quickly to meet performance requirements, while the slave valve follows smoothly with a slow transition. This method only requires calibration. t and Two parameters are sufficient to independently adjust the response rate of the dual valves. and The value of is related to the electrical time constant and mechanical response characteristics of the solenoid valve. Preferably, The value range is from 0.005s to 0.02s. The value range is from 0.05s to 0.2s. These values ​​can be adjusted by those skilled in the art based on the specific valve body characteristics and actual calibration requirements, and all such adjustments fall within the scope of protection of this invention.

[0079] Preferably, in S402 and S403, the current step size of the compression solenoid valve and the reset solenoid valve is calculated in the following manner: The theoretical current increment of the compression solenoid valve in the current cycle is calculated using the following formula: ; The theoretical current increment of the recovery solenoid valve in the current cycle is calculated using the following formula: ; in, This represents the initial target current change of the compression solenoid valve. To restore the original target current change of the solenoid valve, Δt is the control period.

[0080] Using the above formula, the original target current change is distributed to each control cycle at a rate characterized by the effective time constant. It can be determined that within the time scale defined by the effective time constant, the solenoid valve current changes from its current value to the target value at a constant rate. The smaller the effective time constant, the larger the theoretical current increment per unit control cycle, and the faster the current change; conversely, the larger the effective time constant, the smaller the theoretical current increment per unit control cycle, and the smoother the current change. Thus, the original target current change is decomposed into an incremental sequence of multiple control cycles, achieving a gradual progression of the current. The theoretical current increment reflects the ideal change in the solenoid valve current within the current control cycle under the current effective time constant. This value will serve as the basic input for subsequent limiting steps, and after being constrained by the rate of change, the final current step size is obtained. Through the above calculations, the original target current change is gradually distributed across multiple control cycles, eliminating step-like current changes. Simultaneously, a smaller effective time constant results in a faster current change, thereby achieving a dynamic balance between stability and response speed.

[0081] Furthermore, the S400 also includes: S404: Determine the effective rate of change limit for the compression solenoid valve and the recovery solenoid valve based on the priority coefficient.

[0082] Specifically, after calculating the theoretical current increment, the control system further determines the effective rate of change limits for the compression solenoid valve and the recovery solenoid valve based on priority coefficients. The effective rate of change limit constrains the maximum allowable rate of change of the solenoid valve current per unit time, preventing excessive valve core movement and impact caused by excessive current changes within a single control cycle. The determination of the effective rate of change limit follows the same principle as the determination of the effective time constant: the higher the priority coefficient, the larger the allowable rate of change limit, and the faster the current change; the lower the priority coefficient, the smaller the allowable rate of change limit, and the smoother the current change. Through this mapping relationship, the recovery valve receives a larger rate of change limit for rapid response during the recovery stroke, while the compression valve receives a smaller rate of change limit for smoother following; the opposite is true during the compression stroke. The value of the effective rate of change limit is related to the electromagnetic and mechanical response characteristics of the solenoid valve and can be calibrated by those skilled in the art based on the specific valve body characteristics.

[0083] S405: The theoretical current increment is limited by the effective rate of change limit, and the limited theoretical current increment is used as the current step size of the corresponding solenoid valve in the current cycle.

[0084] Specifically, after determining the effective rate of change limits for both the compression solenoid valve and the recovery solenoid valve, the control system uses these limits to limit the theoretical current increments calculated in steps S402 and S403. The limiting method is as follows: when the absolute value of the theoretical current increment does not exceed the range allowed by the effective rate of change limit, the theoretical current increment is directly used as the current step size for this cycle; when the absolute value of the theoretical current increment exceeds the range allowed by the effective rate of change limit, the maximum allowable change corresponding to the effective rate of change limit is used as the current step size for this cycle. Thus, the current step size after limiting is constrained within the safe range defined by the effective rate of change limit, avoiding shocks caused by excessive single-step changes, and further constraining the rate of change of the actual current path on the basis of cycle-by-cycle progression.

[0085] In practical implementation, the following methods can be adopted: The function implementation, which limits the theoretical increment to the effective rate of change limit, is expressed as: ; as well as, ; in, The increment of compression current per unit time. It represents the increment of the recovery current per unit time.

[0086] in, The function is defined as:

[0087] when When, return a, If the condition is met, return b; otherwise, return 0. .

[0088] Specifically, the determination of the effective rate of change limit for the compression solenoid valve and the recovery solenoid valve based on the priority coefficient in S404 includes: Linear interpolation is performed on the preset fast rate of change limit and slow rate of change limit: ; ; in, To limit the effective rate of change of the compression solenoid valve, To restore the effective rate of change limitation of the solenoid valve, To limit the rate of change, For slow rate of change constraints, and > , where n is the sequence number of the current control cycle.

[0089] Using the linear interpolation formula described above, the effective rate of change limit continuously varies with the priority coefficient between the fast rate of change limit and the slow rate of change limit. When the priority coefficient of a solenoid valve approaches 1, its effective rate of change limit approaches... (Larger value) allows for faster current changes per unit time, corresponding to a fast response; when the priority coefficient approaches 0, its effective rate of change limit approaches [value missing]. (Smaller value), allowing for slower current changes per unit time, corresponding to slow following; when the priority coefficient is 0.5, the effective rate of change is limited to... and The middle value corresponds to a medium response speed.

[0090] because The sum of the effective rate of change limits of the compression valve and the recovery valve is always equal to In priority allocation, symmetry is maintained: while one valve is subject to a fast rate of change limit, another valve is subject to a slow rate of change limit, which is consistent with the interpolation logic of the effective time constant, and together ensures the coordinated control effect of the master valve responding quickly and the slave valve following smoothly.

[0091] This method only requires calibration of two parameters, R_fast and R_slow, to achieve independent adjustment of the rate of change limit of the dual valves. The values ​​of R_fast and R_slow are related to the electromagnetic and mechanical response characteristics of the solenoid valve. Preferably, the value of R_fast ranges from 200mA / s to 500mA / s, and the value of R_slow ranges from 50mA / s to 200mA / s. The above values ​​can be adjusted by those skilled in the art according to the specific valve body characteristics and actual calibration requirements, and all such adjustments are within the scope of protection of this invention.

[0092] Preferably, such as Figure 8 As shown, the method includes the following steps after S300: S600: Predicts the speed of the next cycle based on the speed and acceleration of the suspension in the current cycle, and determines the prediction priority coefficient accordingly; Specifically, after determining the priority coefficient of the current cycle in step S300, the control system further introduces a motion trend prediction mechanism to predict the motion state of the suspension in the next cycle. The control system acquires the suspension's velocity v_susp(n) and acceleration a_susp(n) in the current cycle, where the acceleration is obtained from an acceleration sensor. Based on the velocity and acceleration of the current cycle, the motion velocity of the next cycle is predicted using kinematic formulas: ; in, The speed of the shock absorber; when the predicted speed A positive value indicates that the suspension tends towards restoring motion in the next cycle; a negative value indicates that the suspension tends towards compression motion in the next cycle. Based on the predicted motion speed for the next cycle, the same method as in step S302 is used: the Sigmoid function is used to calculate the prediction priority coefficient for the next cycle. This yields the prediction priority coefficient for the restoring solenoid valve in the next cycle, and the prediction priority coefficient for the compression solenoid valve in the next cycle is also 1 minus this value. This prediction priority coefficient reflects the influence of the suspension's motion trend in the next cycle on the dual-valve response priority, giving the control a forward-looking capability.

[0093] S700: The priority coefficient of the current cycle is weighted and combined with the predicted priority coefficient, and the command current of the current cycle is recalculated based on the combined priority coefficient.

[0094] Specifically, S700 involves re-executing S400 to S500. After calculating the predicted priority coefficient, the control system weights and combines the priority coefficient of the current cycle with the predicted priority coefficient to obtain a combined priority coefficient. This combined priority coefficient replaces the original priority coefficient of the current cycle and is used for calculating the effective time constant and effective rate of change limit in subsequent steps. Based on the combined priority coefficient, the control system re-executes steps S400 and S500, that is, redetermines the effective time constant and effective rate of change limit, calculates the current step size of the current cycle, and then calculates and outputs the command current of the current cycle.

[0095] Through the above weighted synthesis, the control system can respond to trend changes in advance at the critical moment when the direction of suspension movement is about to change, avoiding control lag caused by simply relying on the speed information at the current moment. This ensures that the timing of the switching of the solenoid valve current is synchronized with the actual phase change of the suspension movement, further improving the accuracy and stability of the control.

[0096] Furthermore, the weighted summation of the priority coefficient of the current period and the prediction priority coefficient as described in S700 includes: Calculate the smooth transition factor: ; in, For the speed of movement, γ(n) is the transition time constant, used to control the sensitivity of the smooth transition factor to speed changes. Its range is [0,1], and it is a calibrable positive real number parameter. When the absolute value of the suspension speed is large, γ(n) approaches 1, indicating a high confidence level in the current cycle's speed, and the overall priority coefficient should be based primarily on the current cycle's priority coefficient. When the absolute value of the suspension speed is small, γ(n) approaches 0, indicating that the suspension direction may be about to change, and the confidence level of the current speed information is low, and the overall priority coefficient should be based primarily on the prediction priority coefficient. n is the sequence number of the current control cycle. Weight the priority coefficients for the current period and the prediction priority coefficients: ; ; ; in, Predict the priority coefficient for the recovery solenoid valve in the next cycle; The predicted suspension speed for the next cycle; To restore the overall priority coefficient of the solenoid valve, This is the priority coefficient of the recovery solenoid valve for the current cycle.

[0097] Through the aforementioned weighted synthesis, when the suspension speed is high, the control system primarily determines the priority based on the actual motion state of the current cycle to ensure real-time control. When the suspension speed approaches zero and the direction of motion is about to change, the control system relies more on predictive information to adjust the priority allocation in advance, enabling the dual-valve response strategy to smoothly adapt to changes in the suspension's direction of motion. Thus, the comprehensive priority coefficient achieves dynamic optimal fusion of current and predictive information under different motion states, avoiding control lag and preventing frequent priority fluctuations caused by noise interference near the zero speed point, thereby improving the system's robustness.

[0098] Furthermore, the command current described in S500 is calculated in the following manner: ; ; in, and These are the command currents for the compression solenoid valve and the reset solenoid valve in the current cycle, respectively. and These are the original target currents of the compression solenoid valve and the recovery solenoid valve in the previous cycle, respectively. and These are the current step sizes for the compression solenoid valve and the reset solenoid valve in the current cycle, respectively, where n is the sequence number of the current control cycle.

[0099] Since the command current output in the previous cycle is the original target current of the previous cycle (when the current change in the previous cycle is less than the preset threshold, the original target current is directly output), or it has already approached the original target current after being smoothed by the pre-control algorithm in the previous cycle, therefore... and The command current for the current cycle is calculated using this as a baseline value. Through the above calculation method, the command current for the current cycle is obtained by adding the current step size of the current cycle to the original target current of the previous cycle. The current step size is determined by a priority coefficient and constrained by an effective rate of change limit. Therefore, through gradual iteration over multiple control cycles, the command current, starting from the original target current of the previous cycle, smoothly transitions towards the original target current of the current cycle along the rate of change defined by the effective rate of change limit, ultimately achieving a smooth and gradual change in the dual-valve current during the switching process. In simpler terms, the control cycle progresses cycle by cycle, and the command current, based on the output value of the previous cycle, is increased by the current step size of the current cycle, gradually approaching the original target current of the current cycle.

[0100] This application also provides a damping switching pre-control system for a dual-solenoid valve CDC vibration damper, such as... Figure 9 As shown, it includes: The state perception module 901 acquires the suspension's direction of motion in the current cycle. Specifically, the state perception module 901 collects suspension motion state information in real time through sensors installed on the vehicle body, and obtains the suspension's direction of motion in the current cycle through signal processing. The state perception module 901 communicates with the height sensor and acceleration sensor installed on the suspension system, collects suspension dynamic deflection signals and vehicle acceleration signals, and calculates the suspension's motion speed and acceleration through signal processing, thereby determining the direction of motion. This direction of motion includes the compression direction and the recovery direction, which serve as the basis for subsequently determining the dual-valve priority coefficient. Simultaneously, the state perception module 901 also acquires vehicle state information via the CAN bus, including vehicle speed, yaw rate, steering wheel angle, and other signals, to assist the upper-level decision-making module in calculating the target damping force.

[0101] The target information acquisition module 902 acquires the output current of the compression solenoid valve and the reset solenoid valve in the previous cycle, as well as the change in the original target current of each of the compression and reset solenoid valves. The change in the original target current is the difference between the original target current of the current cycle and the original target current of the previous cycle. Specifically, the target information acquisition module 902 is communicatively connected to the storage unit in the control system and reads the command current value actually output to the compression and reset solenoid valves in the previous control cycle, i.e., the output current of the previous cycle. At the same time, the target information acquisition module 902 acquires the original target current of the current cycle and the original target current of the previous cycle. The original target current is calculated by the upper-level decision module based on the current driving state of the vehicle and converted through the current-damping force characteristic mapping relationship, representing the ideal current value that the control system expects to apply to the solenoid valve in the current cycle. The target information acquisition module 902 calculates the difference between the original target current of the compression solenoid valve in the current cycle and the original target current of the previous cycle as the change in the original target current of the compression solenoid valve, and the difference between the original target current of the recovery solenoid valve in the current cycle and the original target current of the recovery solenoid valve as the change in the original target current of the recovery solenoid valve.

[0102] The response information acquisition module 903 determines the priority coefficients of the compression solenoid valve and the recovery solenoid valve based on the direction of motion when any change in the original target current exceeds a preset threshold. The priority coefficients determine the response rate of the corresponding solenoid valve during this damping switch. Specifically, after the target information acquisition module 902 acquires the change in the original target current, the response information acquisition module 903 determines whether the change in the original target current of each of the compression and recovery solenoid valves exceeds a preset threshold. When neither change exceeds the preset threshold, it indicates that the current change is minimal and no pre-control algorithm needs to be activated. When either change exceeds the preset threshold, the pre-control algorithm is triggered. Based on the suspension motion direction acquired by the state perception module 901, the response information acquisition module 903 uses the Sigmoid function to calculate the priority coefficients of the compression and recovery solenoid valves respectively. A higher priority coefficient allows the solenoid valve to complete the current change at a faster rate, while a lower priority coefficient allows the solenoid valve to complete the current change at a smoother rate, thus assigning higher response priority to the master valve during the compression and recovery strokes respectively.

[0103] The drive information acquisition module 904 calculates the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle according to the priority coefficient. Specifically, the drive information acquisition module 904 receives the priority coefficient determined by the response information acquisition module 903, determines the effective time constant and effective rate of change limit of the compression solenoid valve and the recovery solenoid valve according to the priority coefficient, and calculates the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle accordingly. The solenoid valve with a higher priority coefficient obtains a smaller effective time constant and a larger effective rate of change limit, and its current step size is larger; the solenoid valve with a lower priority coefficient obtains a larger effective time constant and a smaller effective rate of change limit, and its current step size is smaller. By calculating the current step size cycle by cycle, the drive information acquisition module 904 decomposes the large step current change that originally needed to be completed in a single control cycle into small changes that are gradually completed in multiple control cycles, thus eliminating abrupt changes in the current command.

[0104] The drive output module 905 calculates and outputs the command currents for the compression solenoid valve and the recovery solenoid valve in the current cycle based on the output current of the previous cycle and the current step size. Specifically, the drive output module 905 receives the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle calculated by the drive information acquisition module 904. Using the original target current of the compression solenoid valve in the previous cycle as a reference value, it adds this reference value to the current step size of the compression solenoid valve in the current cycle to obtain the command current of the compression solenoid valve in the current cycle; similarly, it calculates the command current of the recovery solenoid valve in the current cycle. The drive output module 905 outputs the calculated command currents to the drive circuits of the compression solenoid valve and the recovery solenoid valve, respectively. The drive circuits control the opening degree of the solenoid valves according to the received command current values, thereby achieving independent adjustment of the compression damping force and the recovery damping force. Simultaneously, the drive output module 905 feeds back the command current of the current cycle to the storage unit for use in the next control cycle.

[0105] The above modules work together to achieve a smooth output of current commands during the damping switching process of the dual solenoid valve CDC vibration damper.

[0106] Preferably, the modules provided in this embodiment can be placed in... Figure 1 In the system architecture shown, the specific correspondence is as follows: State awareness module 901 corresponds to... Figure 1 The state perception module is used to collect and process suspension motion state information; the target information acquisition module 902, response information acquisition module 903, and drive information acquisition module 904 correspond to... Figure 1 The pre-control algorithm module, together with other modules, implements the core logic of the pre-control algorithm: the target information acquisition module 902 is used to acquire the original target current change and the output current of the previous cycle; the response information acquisition module 903 is used to determine the priority coefficient according to the motion direction; and the drive information acquisition module 904 is used to calculate the current step size according to the priority coefficient. The drive output module 905 corresponds to... Figure 1 The drive execution module is used to output command current to the compression solenoid valve and the recovery solenoid valve. The above modules together constitute a complete dual-solenoid valve CDC damper damping switching pre-control system. Its signal flow is as follows: the state sensing module 901 transmits the collected information to the pre-control algorithm module (i.e., the target information acquisition module 902, the response information acquisition module 903, and the drive information acquisition module 904). After being processed by the pre-control algorithm, the drive execution module (i.e., the drive output module 905) outputs the drive current.

[0107] Preferably, the state perception module 901 collects suspension dynamic deflection signals through a height sensor, performs time-difference processing on the collected suspension dynamic deflection signals, and calculates the suspension's motion speed v_susp(n) in the current cycle. The control system has preset return direction thresholds and compression direction thresholds. The state perception module 901 compares the calculated motion speed with the preset direction thresholds: when the motion speed is greater than the return direction threshold, it is determined that the suspension is currently in the return stroke; when the motion speed is less than the compression direction threshold, it is determined that the suspension is currently in the compression stroke; when the motion speed is between the compression direction threshold and the return direction threshold, it is determined that the direction is maintained, that is, the direction judgment result of the previous cycle is used or the dual valve priority remains unchanged. By setting direction thresholds, frequent direction switching caused by signal noise when the suspension is close to zero speed is avoided, thus improving the stability of the system.

[0108] Preferably, the original target currents of the compression solenoid valve and the recovery solenoid valve in the target information acquisition module 902 are obtained by: acquiring the target damping force; and converting the target damping force into the original target currents of the compression solenoid valve and the recovery solenoid valve respectively, according to the current-damping force characteristic mapping relationship. The response information acquisition module 903 determines whether the change in the original target current exceeds a preset threshold, where the preset threshold ranges from 5mA to 20mA. When the response information acquisition module 903 determines that the absolute values ​​of the changes in the original target currents of both the compression solenoid valve and the recovery solenoid valve are less than or equal to the preset threshold, it directly outputs the original target current without initiating a pre-control algorithm; when the absolute value of any change in the original target current exceeds the preset threshold, it initiates a pre-control algorithm to determine a priority coefficient. The above values ​​can be adjusted by those skilled in the art according to the characteristics of the specific solenoid valve and actual calibration requirements, and all such adjustments fall within the scope of protection of this invention.

[0109] In the above scheme, the response information acquisition module 903 determines the priority coefficients of the compression solenoid valve and the recovery solenoid valve according to the direction of motion in the following way: acquiring the movement speed of the suspension in the current cycle; calculating the priority coefficient of the recovery solenoid valve using the Sigmoid function; and determining the priority coefficient of the compression solenoid valve based on the priority coefficient of the recovery solenoid valve.

[0110] In this embodiment, the drive information acquisition module 904 is used to calculate the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle according to the priority coefficient. Specifically: The drive information acquisition module 904 receives the compression solenoid valve priority coefficient α_Com(n) and the rebound solenoid valve priority coefficient α_Rec(n) determined by the response information acquisition module 903, and calculates the current step size of the dual valves in the current cycle respectively according to the priority coefficients. The current step size represents the incremental value allowed for the solenoid valve current to change within the current control cycle, and is the actual change amount after constraining the theoretical current change amount.

[0111] The drive information acquisition module 904 first determines the effective time constants of the compression solenoid valve and the rebound solenoid valve according to the priority coefficients. The effective time constant is used to characterize the allowable change speed of the solenoid valve current within a unit control cycle, and there is a negative correlation between the priority coefficient and the effective time constant — the higher the priority coefficient, the smaller the effective time constant, and the faster the current change speed; the lower the priority coefficient, the larger the effective time constant, and the slower the current change speed. Specifically, a fast time constant t_fast and a slow time constant t_slow (t_fast<t_slow) are preset in the drive information acquisition module 904, and the effective time constant τ_Com_eff(n) of the compression solenoid valve and the effective time constant τ_Rec_eff(n) of the rebound solenoid valve are respectively calculated by performing linear interpolation on the fast time constant and the slow time constant: ; ; where n is the serial number of the current control cycle. Preferably, the value range of t_fast is 0.005s to 0.02s, and the value range of t_slow is 0.05s to 0.2s.

[0112] Then, the drive information acquisition module 904 calculates the theoretical current increment of the dual valves in the current cycle respectively according to the original target current change amount and the effective time constant. The theoretical current increment represents the ideal change amount of the solenoid valve current within this control cycle under the current effective time constant. For the compression solenoid valve, the theoretical current increment ΔI_Com_theory(n) of the compression solenoid valve in the current cycle is calculated according to the original target current change amount ΔI_Com_Raw and the effective time constant τ_Com_eff(n) of the compression solenoid valve; for the rebound solenoid valve, the theoretical current increment ΔI_Rec_theory(n) of the rebound solenoid valve in the current cycle is calculated according to the original target current change amount ΔI_Rec_Raw and the effective time constant τ_Rec_eff(n) of the rebound solenoid valve: ; ; where Δt is the control cycle. In this way, the original target current change amount is distributed to each control cycle at the rate characterized by the effective time constant.

[0113] The drive information acquisition module 904 further determines the effective change rate limits for the compression solenoid valve and the rebound solenoid valve according to the priority coefficient. Specifically, a fast change rate limit R_fast and a slow change rate limit R_slow (R_fast>R_slow) are preset in the drive information acquisition module 904, and linear interpolation is performed on the fast change rate limit and the slow change rate limit to respectively calculate the effective change rate limit R_Com_eff(n) of the compression solenoid valve and the effective change rate limit R_Rec_eff(n) of the rebound solenoid valve: ; ; Preferably, R_fast ranges from 200mA / s to 500mA / s, and R_slow ranges from 50mA / s to 200mA / s.

[0114] After determining the effective change rate limits, the drive information acquisition module 904 uses the effective change rate limits to perform amplitude limiting on the theoretical current increment, and takes the amplitude-limited theoretical current increment as the current step size of the corresponding solenoid valve in the current cycle. Specifically, for the compression solenoid valve, the effective change rate limit R_Com_eff(n) of the compression solenoid valve is used to perform amplitude limiting on the theoretical current increment ΔI_Com_theory(n); for the rebound solenoid valve, the effective change rate limit R_Rec_eff(n) of the rebound solenoid valve is used to perform amplitude limiting on the theoretical current increment ΔI_Rec_theory(n). The amplitude limiting rule is: when the absolute value of the theoretical current increment does not exceed the range allowed by the effective change rate limit, the theoretical current increment is directly used as the current step size of the current cycle; when the absolute value of the theoretical current increment exceeds the range allowed by the effective change rate limit, the maximum allowable change amount corresponding to the effective change rate limit is used as the current step size of the current cycle: ; and, ; wherein the clip function is defined as: returning a when x<a, returning b when x>b, otherwise returning x.

[0115] In a preferred embodiment, the drive information acquisition module 904 further introduces a motion trend prediction mechanism. Specifically, the drive information acquisition module 904 predicts the motion speed of the next cycle according to the motion speed v_susp(n) and the acceleration a_susp(n) of the suspension in the current cycle , and determines the predicted priority coefficient α_Rec_Pred(n+1) of the next cycle accordingly. Then the smoothing transition factor is calculated Where v_trans is the transition time constant, and the current cycle priority coefficient and the prediction priority coefficient are weighted and combined according to the smooth transition factor: ; ; The drive information acquisition module 904 replaces the original priority coefficients with the synthesized priority coefficients α_Com_Final(n) and α_Rec_Final(n), and re-executes the above effective time constant, theoretical current increment and limiting calculation to obtain the final current step size ΔI_Com_lim(n) and ΔI_Rec_lim(n).

[0116] Through the above calculations, the drive information acquisition module 904 achieves cycle-by-cycle decomposition and rate constraint of the dual-valve current change: on the one hand, it disperses the original target current change in the time dimension through the effective time constant; on the other hand, it imposes constraints on the current change in each control cycle from the rate dimension through the effective rate of change limit. Together, these two aspects form a "double smoothing" effect on the current switching process. In the scheme that introduces motion trend prediction, the drive information acquisition module 904 can also adjust the priority allocation in advance according to the suspension motion trend, making the control forward-looking and further improving the smoothness of switching and control accuracy.

[0117] In this embodiment of the application, the drive output module 905 is used to calculate and output the command current of the compression solenoid valve and the restoration solenoid valve in the current cycle based on the output current of the previous cycle and the current step size.

[0118] Specifically, the drive output module 905 receives the compression solenoid valve current step size ΔI_Com_lim(n) and the recovery solenoid valve current step size ΔI_Rec_lim(n) calculated by the drive information acquisition module 904. The drive output module 905 reads the original target current I_Com_Target(n-1) of the compression solenoid valve and the original target current I_Rec_Target(n-1) of the recovery solenoid valve in the previous cycle from the storage unit of the control system, and uses these two values ​​as reference values ​​to calculate the command current of the current cycle. For the compression solenoid valve, the original target current I_Com_Target(n-1) of the compression solenoid valve in the previous cycle is added to the current step size ΔI_Com_lim(n) of the compression solenoid valve in the current cycle to obtain the command current I_Com_Final(n) of the compression solenoid valve in the current cycle; for the recovery solenoid valve, the original target current I_Rec_Target(n-1) of the recovery solenoid valve in the previous cycle is added to the current step size ΔI_Rec_lim(n) of the recovery solenoid valve in the current cycle to obtain the command current I_Rec_Final(n) of the recovery solenoid valve in the current cycle. ; ; Where n is the sequence number of the current control cycle.

[0119] The drive output module 905 outputs the calculated compression solenoid valve command current I_Com_Final(n) and recovery solenoid valve command current I_Rec_Final(n) to the drive circuits of the compression and recovery solenoid valves, respectively. The drive circuits control the opening degree of the solenoid valves based on the received command current values, and change the valve core position by adjusting the drive current of the solenoid valves, thereby controlling the oil flow through the compression and recovery valves and achieving independent adjustment of the compression damping force and the recovery damping force.

[0120] Simultaneously, the drive output module 905 feeds back the command current value of the current cycle to the storage unit of the control system for storage. When the next control cycle arrives, the command current value of the current cycle will be read by the target information acquisition module 902 as the "output current of the previous cycle" for use in the command current calculation of the next cycle. In this way, by updating and saving the current data of the previous cycle in the storage unit, the cycle-by-cycle iterative calculation of the current step size is realized.

[0121] Through the aforementioned operation of the drive output module 905, the command current output in each control cycle is the result of gradual adjustment based on the output value of the previous cycle. The actual current change path presents a smooth trajectory that progresses cycle by cycle, rather than a one-time step jump. After multiple control cycles of iteration, the command current gradually approaches the original target current of the current cycle, thereby achieving smooth switching of the dual-valve current without sacrificing response speed and eliminating the problems of mechanical shock and transient damping mismatch.

[0122] It should be noted that in another embodiment of this application, when the change in the original target current is less than or equal to a preset threshold and there is no need to start the pre-control algorithm, the drive output module 905 directly outputs the original target current of the current cycle as the command current, i.e., I_Com_Final(n)=I_Com_Target(n) and I_Rec_Final(n)=I_Rec_Target(n), without the need to perform step size iteration calculation.

[0123] This application also provides a computer-readable storage medium storing program information. After reading the program information, the computer executes the damping switching pre-control method for the dual-electromagnetic valve CDC shock absorber described in any of the above method embodiments. Specifically, the computer-readable storage medium can be any tangible medium capable of storing program information, including but not limited to read-only memory (ROM), random access memory (RAM), magnetic disk, optical disk (such as CD-ROM, DVD-ROM), hard disk, solid-state drive (SSD), USB flash drive, portable hard disk, etc. The storage medium can be pre-installed in the electronic control unit when the vehicle leaves the factory, or it can be remotely written or updated via OTA (over-the-air) technology. When the processor in the vehicle's electronic control unit reads the program information stored in the storage medium, it executes steps S100 to S700 in the aforementioned method embodiments, that is, sequentially executing steps such as obtaining the suspension movement direction, obtaining the original target current change, determining the priority coefficient, calculating the current step size, calculating and outputting the command current, and the preferred motion trend prediction step. Therefore, without modifying the existing vehicle's hardware structure, the vehicle can be equipped with the dual solenoid valve CDC shock absorber damping switching pre-control function simply through software upgrades, reducing the cost of technology promotion and implementation difficulty.

[0124] This application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the damping switching pre-control method for the dual solenoid valve CDC damper described in any of the above method embodiments.

[0125] Specifically, the computer program product can be directly embedded in the processor of the vehicle's electronic control unit, or it can be stored as independent software and loaded into the processor for execution when needed. The computer program / instructions contain program code for executing the steps in the aforementioned method embodiments. When executed by the processor, it causes the processor to perform the damping switching pre-control method for the dual-electromagnetic valve CDC shock absorber according to steps S100 to S700 in the aforementioned method embodiments. The computer program product can be pre-installed in the vehicle or pushed to sold vehicles via OTA remote upgrades, enabling function updates without modifying the vehicle hardware. Preferably, the computer program product can also dynamically adjust parameters (such as preset thresholds, fast time constants, slow time constants, fast rate of change limits, slow rate of change limits, shape factors, transition time constants, etc.) in response to changes in external input or vehicle operating status to adapt to the needs of different vehicle models, different shock absorber characteristics, and different driving conditions. It should be noted that those skilled in the art will understand that all or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory, or random access memory, etc. When the computer program / instructions in the computer program product are executed by the processor, they implement the steps in the above method embodiments. Specific implementation methods can be found in the method embodiments and will not be repeated here.

[0126] This application also provides an electronic device, such as... Figure 10As shown, the electronic device includes at least one processor 1001 and at least one memory 1002. The memory 1002 stores program information. After reading the program information, the processor 1001 executes the damping switching pre-control method for the dual-electromagnetic valve CDC damper described in any of the above method embodiments. The device may further include an input device 1003 and an output device 1004. The processor 1001, memory 1002, input device 1003, and output device 1004 are communicatively connected. The memory 1002, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 1001 executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 1002, thereby implementing the damping switching pre-control method for the dual-electromagnetic valve CDC damper provided in any of the above embodiments. The memory 1002 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function. The data storage area may store data created based on the use of the damping switching pre-control method for the dual-electromagnetic valve CDC damper. Furthermore, the memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1002 may optionally include memory remotely located relative to the processor 1001. This remote memory can be connected via a network to the apparatus executing the damping switching pre-control method for the dual-electromagnetic valve CDC damper. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof. The input device 1003 may receive user clicks and generate signal inputs related to user settings and function control of the damping switching pre-control method for the dual-electromagnetic valve CDC damper. The output device 1004 may include a display device such as a screen. When one or more modules are stored in the memory 1002 and are run by one or more processors 1001, the damping switching pre-control method of the dual solenoid valve CDC damper in any of the above method embodiments is executed.

[0127] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0128] The above are merely the principles and preferred embodiments of this application. It should be noted that, for those skilled in the art, several other modifications can be made based on the principles of this application, and these modifications should also be considered within the scope of protection of this application.

Claims

1. A damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper, characterized in that, include: Obtain the direction of suspension movement in the current cycle; The output current of the compression solenoid valve and the recovery solenoid valve in the previous cycle, as well as the change in the original target current of the compression solenoid valve and the recovery solenoid valve respectively, are obtained. The change in the original target current is the difference between the original target current of the current cycle and the original target current of the previous cycle. When any change in the original target current exceeds a preset threshold, the priority coefficients of the compression solenoid valve and the recovery solenoid valve are determined according to the direction of motion. The priority coefficients determine the response rate of the corresponding solenoid valve in this damping switch. The current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle is calculated based on the priority coefficient. Based on the output current of the previous cycle and the current step size, calculate and output the command current of the compression solenoid valve and the recovery solenoid valve in the current cycle.

2. The damping switching pre-control method for the dual-electromagnetic-valve CDC vibration damper according to claim 1, characterized in that, The process of obtaining the direction of motion of the suspension in the current cycle includes: Get the speed of the suspension movement in the current cycle; The motion direction is determined based on the comparison between the motion speed and a preset direction threshold; the preset direction threshold includes: a recovery direction threshold and a compression direction threshold.

3. The damping switching pre-control method for the dual-electromagnetic-valve CDC vibration damper according to claim 2, characterized in that: When the movement speed is greater than the restoration direction threshold, it is determined to be the restoration direction; When the movement speed is less than the compression direction threshold, it is determined to be in the compression direction; When the movement speed is between the compression direction threshold and the recovery direction threshold, it is determined that the direction is maintained.

4. The damping switching pre-control method for the dual-electromagnetic-valve CDC vibration damper according to claim 1, characterized in that, The original target currents of the compression solenoid valve and the recovery solenoid valve are obtained in the following way: Obtain the target damping force; Based on the current-damping force characteristic mapping relationship, the target damping force is converted into the original target current of the compression solenoid valve and the original target current of the restoration solenoid valve, respectively.

5. The damping switching pre-control method for the dual-electromagnetic-valve CDC vibration damper according to claim 1, characterized in that: The preset threshold value ranges from 5mA to 20mA.

6. The damping switching pre-control method for the dual-electromagnetic-valve CDC vibration damper according to claim 1, characterized in that: The step of determining the priority coefficients of the compression solenoid valve and the reset solenoid valve based on the direction of motion includes: Get the speed of the suspension movement in the current cycle; The priority coefficient of the reset solenoid valve is calculated using the Sigmoid function: ； in, ) represents the motion speed, β represents the shape factor, and n represents the sequence number of the current control cycle; The priority coefficient of the compression solenoid valve is determined based on the priority coefficient of the recovery solenoid valve: 。 7. The damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper according to claim 1, characterized in that, The step of calculating the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle according to the priority coefficient includes: The effective time constants of the compression solenoid valve and the recovery solenoid valve are determined based on the priority coefficient. The corresponding current step size is calculated based on the original target current change and effective time constant of the compression solenoid valve. The corresponding current step size is calculated based on the original target current change and effective time constant of the restoration solenoid valve.

8. The damping switching pre-control method for the dual-electromagnetic-valve CDC vibration damper according to claim 7, characterized in that, The step of determining the effective time constants of the compression solenoid valve and the reset solenoid valve based on the priority coefficient includes: Linear interpolation is performed on the preset fast and slow time constants: ； ； in, This is the effective time constant of the compression solenoid valve. To restore the effective time constant of the solenoid valve, For fast time constant, It is a slow time constant, and < , where n is the sequence number of the current control cycle.

9. The damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper according to claim 8, characterized in that, The current step size for the compression solenoid valve and the recovery solenoid valve is calculated as follows: The theoretical current increment of the compression solenoid valve in the current cycle is calculated using the following formula: ； The theoretical current increment of the recovery solenoid valve in the current cycle is calculated using the following formula: ； in, This represents the initial target current change of the compression solenoid valve. To restore the original target current change of the solenoid valve, Δt is the control period.

10. The damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper according to claim 9, characterized in that, Calculating the current step size for the compression solenoid valve and the reset solenoid valve also includes: The effective rate of change limit for the compression solenoid valve and the recovery solenoid valve is determined based on the priority coefficient. The theoretical current increment is limited by the effective rate of change, and the limited theoretical current increment is used as the current step size of the corresponding solenoid valve in the current cycle.

11. The damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper according to claim 10, characterized in that, The determination of the effective rate of change limit for the compression solenoid valve and the recovery solenoid valve based on the priority coefficient includes: Linear interpolation is performed on the preset fast rate of change limit and slow rate of change limit: ； ； in, To limit the effective rate of change of the compression solenoid valve, To restore the effective rate of change limitation of the solenoid valve, To limit the rate of change, For slow rate of change constraints, and > , where n is the sequence number of the current control cycle.

12. The damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper according to claim 1, characterized in that, Also includes: Predict the speed of the next cycle based on the speed and acceleration of the suspension in the current cycle, and determine the prediction priority coefficient accordingly; The current cycle's priority coefficient is weighted and combined with the predicted priority coefficient, and the command current for the current cycle is recalculated based on the combined priority coefficient.

13. The damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper according to claim 12, characterized in that, The weighted summation of the priority coefficient of the current period and the prediction priority coefficient includes: Calculate the smooth transition factor: ； in, For the speed of movement, is the transition time constant; n is the sequence number of the current control cycle; Weight the priority coefficients for the current period and the prediction priority coefficients: ； in, To restore the overall priority coefficient of the solenoid valve, This is the priority coefficient of the recovery solenoid valve for the current cycle. The priority coefficient for predicting the recovery solenoid valve in the next cycle.

14. The damping switching pre-control method for a dual-electromagnetic-valve CDC vibration damper according to claim 1, characterized in that, The command current is calculated in the following way: ； ； in, and These are the command currents for the compression solenoid valve and the reset solenoid valve in the current cycle, respectively. and These are the original target currents of the compression solenoid valve and the recovery solenoid valve in the previous cycle, respectively. and These are the current step sizes for the compression solenoid valve and the reset solenoid valve in the current cycle, respectively, where n is the sequence number of the current control cycle.

15. A damping switching pre-control system for a dual-electromagnetic-valve CDC vibration damper, characterized in that, include: The state perception module obtains the direction of suspension movement in the current cycle; The target information acquisition module acquires the output current of the compression solenoid valve and the recovery solenoid valve in the previous cycle, as well as the change in the original target current of the compression solenoid valve and the recovery solenoid valve respectively. The change in the original target current is the difference between the original target current of the current cycle and the original target current of the previous cycle. The response information acquisition module determines the priority coefficients of the compression solenoid valve and the recovery solenoid valve based on the direction of motion when any change in the original target current exceeds a preset threshold. The priority coefficients determine the response rate of the corresponding solenoid valve in this damping switch. The drive information acquisition module calculates the current step size of the compression solenoid valve and the recovery solenoid valve in the current cycle according to the priority coefficient. The drive output module calculates and outputs the command current for the compression solenoid valve and the recovery solenoid valve in the current cycle based on the output current of the previous cycle and the current step size.

16. A computer-readable storage medium, characterized in that, The storage medium stores program information, and after the computer reads the program information, it executes the damping switching pre-control method of the dual solenoid valve CDC vibration damper according to any one of claims 1 to 14.

17. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the damping switching pre-control method for the dual solenoid valve CDC damper as described in any one of claims 1 to 14.

18. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the damping switching pre-control method for the dual solenoid valve CDC damper according to any one of claims 1 to 14.

19. A vehicle, characterized in that, The device includes an electronic control unit and a dual-solenoid valve CDC damper; the dual-solenoid valve CDC damper includes a compression solenoid valve and a recovery solenoid valve; the electronic control unit is configured to perform a damping switching pre-control method for the dual-solenoid valve CDC damper as described in any one of claims 1 to 14.

Images