Modular six-degree-of-freedom vehicle-mounted vibration reduction platform and control method thereof

Abstract

The embodiment of the application relates to a modular six-degree-of-freedom vehicle-mounted damping platform and a control method thereof, the vehicle-mounted damping platform comprising at least three damping modules, a controller and a gas charging and discharging valve block; the damping module comprises an additional air chamber, a lower mounting plate, an upper mounting plate, a three-way stiffness air spring, a height adjustment module, a first acceleration sensor, a second acceleration sensor, an X-direction variable-damping shock absorber, a Y-direction variable-damping shock absorber, a Z-direction variable-damping shock absorber and a locking mechanism, each damping module is mounted on a vehicle body through the lower mounting plate, a vehicle-mounted device is mounted above the upper mounting plate, the controller adjusts the height of the three-way stiffness air spring according to the height value, three-way acceleration obtained from the damping module, controls the height adjustment module to adjust the height of the three-way stiffness air spring, controls the variable-damping shock absorber to adjust the damping, and controls the locking mechanism to be released or locked, so that the vehicle-mounted device is supported and damped.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a modular six-degree-of-freedom vehicle-mounted vibration reduction platform and its control method. Background Technology

[0002] When a vehicle is running on various complex road surfaces, the vehicle body experiences six degrees of freedom of random vibration. This vibration is quite complex and characterized by a wide frequency range and large amplitude, which is even more pronounced when the vehicle's suspension characteristics are poor. For optical equipment, due to the directional nature of light, onboard optical equipment mounted on the vehicle body is highly sensitive to vibration.

[0003] Existing vehicle-mounted equipment mostly uses multiple rubber components for support and vibration damping, belonging to passive vibration damping systems. Its core is an elastic support system constructed through multiple layers of rubber components. This design is based on the viscoelastic properties of rubber materials: when the vehicle body undergoes six-degree-of-freedom motion (translation / rotation), the rubber pads absorb impact energy through hysteresis damping and achieve vibration attenuation through geometric deformation. Under normal operating conditions, this passive system can meet basic requirements; however, its performance exhibits significant scenario-dependent characteristics. Furthermore, systems using multiple rubber components for support and vibration damping require extremely high installation precision. Existing passive vibration damping rubber components suffer from defects such as creep, high natural frequency, and fixed damping ratio, mainly manifested as follows: Material aging failure: Rubber parts undergo irreversible deformation under long-term alternating loads, causing the installation height of vehicle-mounted equipment to continuously decrease over time, seriously affecting the long-term stability of the equipment.

[0004] Natural frequency contradiction: The dynamic stiffness characteristics of rubber components cause their natural frequencies to be concentrated in a relatively high range, such as... Figure 1 As shown, in the frequency range above 6-8Hz, vibrations in the vehicle body at higher frequencies are amplified and transmitted to the onboard equipment, forming a "high-frequency amplification effect" that exceeds the standard limit. Figure 1 As shown, the frequency range from 0 to 1.4 times the natural frequency, with the vertical axis greater than 1.

[0005] Contradictory damping characteristics: Fixed damping can lead to an inability to simultaneously achieve vibration reduction performance at both high and low frequencies, such as... Figure 1 As shown, when the damping ratio ζ increases, the amplification factor at the natural frequency decreases, which is reflected in improved vibration at low frequencies. However, the high-frequency transmissibility increases, which is reflected in deteriorated vibration at high frequencies. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a modular six-degree-of-freedom vehicle-mounted vibration damping platform and its control method. This is a modular and scalable six-degree-of-freedom vehicle-mounted vibration damping platform and its control method based on air springs. By reducing the system's natural frequency to below 2Hz and combining it with variable damping dampers and height sensor feedback control, it achieves stable installation height of vehicle-mounted equipment and wide-band vibration suppression.

[0007] To achieve the above objectives, a first aspect of the present invention provides a modular six-degree-of-freedom vehicle-mounted vibration damping platform, comprising N vibration damping modules, a controller, and an inflation / deflation valve block; N is an integer and N≥3; wherein, The vibration damping module includes an additional air chamber, a lower mounting plate, an upper mounting plate, a three-dimensional stiffness air spring, a height adjustment module, a first acceleration sensor, a second acceleration sensor, an X-axis variable damping damper, a Y-axis variable damping damper, a Z-axis variable damping damper, and a locking mechanism. Each vibration damping module is mounted on the vehicle body via a lower mounting plate, and the on-board equipment is mounted on top of the upper mounting plate. The N vibration damping modules together support the on-board equipment. The additional air chamber is connected to the internal cavity of the three-dimensional stiffness air spring, and the additional air chamber is also connected to the inflation / deflation valve block; The first and second acceleration sensors are respectively mounted on the lower mounting plate and the upper mounting plate. The two ends of the X, Y and Z direction variable damping shock absorbers are respectively mounted on the upper mounting plate and the lower mounting plate, and the damping directions are along the X, Y and Z directions respectively. The controller obtains the height value of the triaxial stiffness air spring in real time from the height adjustment module, and adjusts the height of the triaxial stiffness air spring by controlling the height adjustment module through the inflation / deflation valve block. It also controls the locking mechanism to release or lock the upper and lower mounting plates relative to each other. Based on the first triaxial acceleration of the first acceleration sensor and the second triaxial acceleration of the second acceleration sensor, the controller controls the X, Y, and Z-axis variable damping shock absorbers to provide damping along the X, Y, and Z directions, respectively.

[0008] Preferably, the inflation / deflation valve block includes an external high-pressure gas inlet, an inflation solenoid valve, and a deflation solenoid valve, wherein, The inflation solenoid valve is connected to the external high-pressure gas inlet; The venting solenoid valve is connected to the atmosphere.

[0009] More preferably, the height adjustment module includes a height sensor, and the height adjustment module obtains the height value of the three-dimensional stiffness air spring in real time by the height sensor detecting the distance between the upper mounting plate and the lower mounting plate in real time to obtain the height value.

[0010] More preferably, the height adjustment module further includes a breathing valve. The controller obtains the height value of the three-dimensional stiffness air spring in real time based on the height adjustment module, and controls the height adjustment module to adjust the height of the three-dimensional stiffness air spring through the inflation / deflation valve block. Specifically, this includes: The controller controls the opening and closing of the breathing valve based on the altitude value; The controller controls the inflation / deflation valve block to cooperate with the exhalation valve according to the height value, thereby controlling the high-pressure gas to enter or exit the triaxial stiffness air spring and adjusting the height of the triaxial stiffness air spring.

[0011] More preferably, the height adjustment module includes a height valve, and the height adjustment module obtains the height value of the three-dimensional stiffness air spring in real time specifically by the height valve acquiring the height value of the three-dimensional stiffness air spring in real time through a connecting rod.

[0012] More preferably, the height adjustment module further includes a one-way valve. The controller obtains the height value of the three-dimensional stiffness air spring in real time based on the height adjustment module, and adjusts the height of the three-dimensional stiffness air spring by controlling the height adjustment module through the inflation / deflation valve block. Specifically, this includes: The controller controls the linkage of the height valve to drive the height valve to work in a first working position according to the height value; wherein, the first working position is the right position, the left position, or the middle position; The controller, based on the height value, controls the inflation / deflation valve block to continuously inflate the triaxial stiffness air spring until the triaxial stiffness air spring reaches a set value, or The inflation / deflation valve block is controlled to deflate the triaxial stiffness air spring, causing the height of the triaxial stiffness air spring to drop to a set value.

[0013] Preferably, the locking mechanism includes a lower rubber block, a locking base, a locking motor, a lead screw, a slider, a connecting rod, a pressure rod, and a pressure block.

[0014] More preferably, the control locking mechanism for the relative release or locking of the upper mounting plate and the lower mounting plate specifically includes: The controller pushes the slider to move horizontally through the locking motor and the lead screw, thereby moving the connecting rod and the pressure rod, and controlling the pressure block to rise or fall to control the relative release or locking of the upper mounting plate and the lower mounting plate.

[0015] A second aspect of the present invention provides a modular six-degree-of-freedom vehicle-mounted vibration damping platform control method for controlling the vehicle-mounted vibration damping platform provided in the first aspect of the present invention, the method comprising: The controller collects the height values, first triaxial acceleration, and second triaxial acceleration of each vibration damping module in real time through the height adjustment module of N vibration damping modules, the first acceleration sensor, and the second acceleration sensor. The controller makes a judgment based on the height value and set value of each vibration damping module. When the height value of the first vibration damping module is lower than the set value, the controller controls the height adjustment module and the air filling and emptying valve block of the first vibration damping module to allow external high-pressure gas to enter the three-dimensional stiffness air spring of the first vibration damping module to increase its height. When the height value of the second vibration damping module is higher than the set value, the controller controls the height adjustment module and the air filling and emptying valve block of the second vibration damping module to allow internal high-pressure gas to exit the three-dimensional stiffness air spring of the second vibration damping module to decrease its height. The controller uses a preset variable damping damper control method to calculate the target excitation current required by the X, Y and Z direction variable damping dampers of each damping module based on the first triaxial acceleration and the second triaxial acceleration of each damping module, so as to adjust the damping of the X, Y and Z direction variable damping dampers based on the preset current loop PID.

[0016] Preferably, the preset variable damping shock absorber control method specifically includes: The equivalent linear acceleration and angular velocity of the vehicle equipment in the X, Y and Z directions are calculated based on the first triaxial acceleration, the second triaxial acceleration, and the geometric relationship of the first acceleration sensor and the second acceleration sensor. The linear velocities of the vehicle-mounted equipment in the X, Y, and Z directions are obtained by integrating the equivalent linear accelerations in the X, Y, and Z directions, respectively. The product of equivalent linear acceleration and linear velocity in each direction and the product of angular velocity and linear velocity in each direction are amplified by gain coefficients K1 and K2 respectively, and then added together to obtain the target excitation current of each variable damping damper in the X, Y and Z directions. The target excitation current of each X, Y, and Z-axis variable damping damper is compared with the current to obtain the current error of each X, Y, and Z-axis variable damping damper. After the current error is adjusted by the current loop PID controller, the PWM wave signal of each X, Y, and Z-axis variable damping damper is output to adjust the damping of each X, Y, and Z-axis variable damping damper.

[0017] This invention provides a modular six-degree-of-freedom vehicle-mounted vibration damping platform and its control method, which realizes six-degree-of-freedom vibration damping function for vehicle-mounted equipment. Compared with existing vehicle-mounted vibration damping systems and methods, it has the following significant technical effects and advantages: 1. It has six degrees of freedom vibration reduction capability and integrated modular layout advantages: The six-degree-of-freedom vehicle vibration reduction platform is built with a modular configuration. The system is equipped with at least 3 vibration reduction modules, 1 controller and 1 set of inflation and deflation valve blocks, which can realize six degrees of freedom vibration reduction.

[0018] 2. Air spring support has the advantages of low-frequency vibration reduction and attitude stability: by using a three-dimensional stiffness air spring, the natural frequency of the system is reduced to below 2Hz, the load setting height is stably maintained, the adverse effects of rubber creep are avoided, and the leveling and attitude angle of the vehicle equipment can be maintained within a certain range.

[0019] 3. Variable damping structure has the advantage of wide-frequency adaptive vibration reduction: relying on variable damping vibration isolators combined with sensor data collection, the damping characteristics of each degree of freedom are adjusted in real time, taking into account the vibration reduction needs of low frequency and high frequency, and effectively improving the overall vibration reduction effect.

[0020] 4. Supports flexible switching of working modes, taking into account the advantages of vibration reduction operation and static locking: The working condition is switched through the locking mechanism. In the vibration reduction state, the release lock ensures the vibration reduction movement of the load, and in the non-vibration reduction state, the lock ensures the position stability of the vehicle equipment.

[0021] 5. The addition of an auxiliary air chamber has the advantage of further widening the low-frequency vibration reduction range: the auxiliary air chamber further reduces the natural frequency of the system and continuously optimizes the overall vibration reduction performance.

[0022] 6. The control strategy has the advantage of independent control of linear and angular vibrations: The control method comprehensively considers the influence of linear acceleration and angular velocity. By adjusting the amplification factor K1 of the product of linear velocity and acceleration and the amplification factor K2 of the product of linear velocity and angular velocity, it can selectively suppress linear or angular vibrations.

[0023] 7. Excellent scalability and multi-load adaptability: The overall modular structure facilitates functional expansion and can adapt to various load specifications. Attached Figure Description

[0024] Figure 1 This is a vibration reduction transfer curve diagram for a passive vibration reduction system. Figure 2 A structural block diagram of a modular six-degree-of-freedom vehicle-mounted vibration reduction platform provided for an embodiment of the present invention; Figure 3 A schematic diagram of a modular six-degree-of-freedom vehicle-mounted vibration reduction platform provided in an embodiment of the present invention; Figure 4a This is a schematic diagram of the structure of a vibration reduction module for a modular six-degree-of-freedom vehicle-mounted vibration reduction platform, provided in an embodiment of the present invention. Figure 4b for Figure 4a The diagram shows a top view of the vibration reduction module of a modular six-degree-of-freedom vehicle-mounted vibration reduction platform. Figure 4c for Figure 4a A schematic diagram of the air circuit structure of a vibration damping module of a modular six-degree-of-freedom vehicle vibration damping platform is shown. Figure 5 This is a schematic diagram of the locking mechanism provided in an embodiment of the present invention; Figure 6 A structural block diagram of another modular six-degree-of-freedom vehicle-mounted vibration reduction platform provided in an embodiment of the present invention; Figure 7 for Figure 6 A schematic diagram of another modular six-degree-of-freedom vehicle-mounted vibration damping platform is shown. Figure 8 A flowchart illustrating a modular six-degree-of-freedom vehicle-mounted vibration reduction platform control method provided in an embodiment of the present invention; Figure 9 A schematic diagram of the algorithm structure of a preset variable damping vibration damper control method provided in an embodiment of the present invention; Figure 10 A flowchart of a preset variable damping vibration damper control method provided in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0026] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] The present invention provides a modular six-degree-of-freedom vehicle-mounted vibration damping platform and its control method, which applies air spring and variable damping vibration damper technology to the vibration damping platform of vehicle-mounted equipment. This overcomes the shortcomings of existing technologies that use passive vibration damping to dampen vehicle-mounted equipment, such as rubber creep, high natural frequency, and fixed damping ratio, and achieves stable installation height of vehicle-mounted equipment and maximum broadband vibration suppression effect.

[0028] Figures 2 to 7 The following is a structural block diagram of the modular six-degree-of-freedom vehicle-mounted vibration damping platform provided in the embodiments of the present invention, a structural schematic diagram of each component, and a flowchart of the control method for the six-degree-of-freedom vehicle-mounted vibration damping platform. Figures 2 to 7 The technical solution of the present invention will be described with reference to specific embodiments.

[0029] Figure 2 This is a structural block diagram of a modular six-degree-of-freedom vehicle-mounted vibration reduction platform provided in an embodiment of the present invention. Figure 3 A schematic diagram of a modular six-degree-of-freedom vehicle-mounted vibration reduction platform provided in an embodiment of the present invention is shown below. Figure 2 and Figure 3 As shown in the figure, a modular six-degree-of-freedom vehicle-mounted vibration damping platform 1000 provided in this embodiment of the invention includes N vibration damping modules 100, a controller 200, and an inflation / deflation valve block 300. N is an integer and N≥3, and the value of N can be determined according to the vehicle-mounted equipment (not shown in the figure) requiring vibration damping. In this embodiment, N=3 is used. As the number, size, and weight of the vehicle-mounted equipment to be damped increase, the number of vibration damping modules can be increased to meet the requirements, for example, N=4, N=5, N=8, or N=10. The controller 200 communicates with the vibration damping modules 100 and the inflation / deflation valve block 300 via wireless or wired communication.

[0030] The following describes in detail each component of a modular six-degree-of-freedom vehicle vibration damping platform 1000 provided in an embodiment of the present invention, with reference to the accompanying drawings. Figure 4a This invention provides a schematic diagram of the structure of a vibration damping module for a modular six-degree-of-freedom vehicle-mounted vibration damping platform, and... Figure 4b for Figure 4a The diagram shows a top view of the vibration damping module of a modular six-degree-of-freedom vehicle-mounted vibration damping platform. Figure 4a and Figure 4b As shown, the vibration damping module 100 includes an additional air chamber 101, a lower mounting plate 102, an upper mounting plate 103, a three-dimensional stiffness air spring 104, a height adjustment module 105, a first acceleration sensor 106, a second acceleration sensor 107, an X-axis variable damping damper 108, a Y-axis variable damping damper 109, a Z-axis variable damping damper 110, and a locking mechanism 111.

[0031] Figure 4c for Figure 4a The diagram shows the air circuit structure of a vibration damping module in a modular six-degree-of-freedom vehicle-mounted vibration damping platform. Figure 4c As shown, in this embodiment of the invention, the triaxial stiffness air spring 104 simultaneously possesses vertical and horizontal stiffness, and is connected to the lower mounting plate 102 via an auxiliary air chamber 101, providing X, Y, and Z triaxial stiffness for the vibration damping module. The auxiliary air chamber 101 is a pressure vessel, communicating with the internal cavity of the triaxial stiffness air spring 104, and is connected to the inflation / deflation valve block via an air pipeline, such as... Figure 3 As shown by the red line in the middle. This design has special technical advantages. By connecting the additional air chamber 101 with the internal cavity of the three-dimensional stiffness air spring 104, the internal volume of the three-dimensional stiffness air spring 104 of each vibration damping module can be increased, thereby reducing the stiffness of the three-dimensional stiffness air spring 104 and thus reducing the natural frequency of the entire six-degree-of-freedom vehicle vibration damping platform.

[0032] like Figure 4c As shown, the modular six-degree-of-freedom vehicle-mounted vibration damping platform inflation / deflation valve block 300 provided in this embodiment of the invention includes an external high-pressure gas inlet P2, an inflation solenoid valve 301, and a deflation solenoid valve 302. The inflation solenoid valve 301 is connected to the external high-pressure gas inlet P2, and the deflation solenoid valve 302 is connected to the atmosphere. In a preferred embodiment of the invention, the deflation solenoid valve 302 is connected to the atmosphere via a silencer 303.

[0033] like Figure 4a and 4b As shown in the embodiment of the present invention, each of the N vibration damping modules 100 is mounted on the vehicle body via its respective lower mounting plate 102. The vehicle-mounted equipment that needs vibration damping, such as vehicle-mounted optical equipment, is mounted above the upper mounting plate 103. In this way, the N vibration damping modules 100 jointly support the vehicle-mounted equipment, and the controller 200 controls the N vibration damping modules 100 to work together to dampen the vehicle-mounted equipment.

[0034] In this embodiment of the invention, both the first acceleration sensor 106 and the second acceleration sensor 107 are triaxial acceleration sensors, such as... Figure 4a and 4b As shown, the first acceleration sensor 106 and the second acceleration sensor 107 are respectively mounted on the lower mounting plate 102 and the upper mounting plate 103, and are used to measure the triaxial acceleration of the lower mounting plate 102 and the upper mounting plate 103 of the vibration damping module, respectively, to obtain the first triaxial acceleration of the first acceleration sensor and the second triaxial acceleration of the second acceleration sensor.

[0035] In this embodiment of the invention, the X-axis variable damping damper 108, Y-axis variable damping damper 109, and Z-axis variable damping damper 110 are magnetorheological dampers or valve-controlled variable damping dampers, and the damping coefficient of the variable damping dampers is controlled in real time according to the output current of the controller 100. In practical applications, the selection can be made as needed. The X, Y, and Z-axis variable damping dampers in each of the N damping modules 100 can be selected as magnetorheological dampers simultaneously, or as valve-controlled variable damping dampers simultaneously.

[0036] like Figure 4a and 4b As shown in the embodiment of the present invention, the two ends of the X-direction variable damping damper 108, the Y-direction variable damping damper 109, and the Z-direction variable damping damper 110 are respectively mounted on the upper mounting plate and the lower mounting plate of the vibration damping module 100, with the mounting directions being X, Y, and Z directions, respectively. The damping direction of the X-direction variable damping damper 108 is along the X direction, the damping direction of the Y-direction variable damping damper 109 is along the Y direction, and the damping direction of the Z-direction variable damping damper 110 is along the Z direction, thereby providing damping in the X, Y, and Z directions for the vibration damping module.

[0037] Figure 5 This is a schematic diagram of the locking mechanism provided in an embodiment of the present invention, as shown below. Figure 5 As shown, in this embodiment of the invention, the locking mechanism 111 includes a lower rubber block 1111, a locking base 1112, a locking motor 1113, a lead screw 1114, a slider 1115, a connecting rod 1116, a pressure rod 1117, and a pressure block 1118. The locking mechanism 111 is fixed to the lower mounting plate 102 via the locking base 1112. The lower rubber block 1111 of the locking mechanism is fixed to the locking base 1112. The locking motor 1113 is fixed to the locking base 1112. The locking motor 1113 is connected to the slider 1115 via the lead screw 1114. One end of the connecting rod 1116 is pivotally connected to the slider 1115. The other end of the connecting rod 1116 is pivotally connected to one end of the pressure rod 1117. The midpoint of the pressure rod 1117 is fixed to the lower mounting plate 102 via the support rod. The pressure block 1118 is fixed to the upper mounting plate. The pressure rod 1117 is a multi-link mechanism. The unconnected end of the pressure rod 1117 can move up and down. When it moves downward, it can press against the pressure block 1118 so that the pressure block 1118 and the lower rubber block 1111 of the locking mechanism are pressed and fixed, thereby achieving the purpose of locking the upper mounting plate 103 and the lower mounting plate 102 relative to each other.

[0038] In a preferred embodiment of the present invention, the controller 200 can control the locking mechanism 111 to release or lock the upper mounting plate 103 and the lower mounting plate 102 relative to each other. Specifically, the controller 200 uses the locking motor 1113 and the lead screw 1114 to push the slider 1115 to move horizontally, thereby moving the connecting rod 1116 and the pressure rod 1117, thus controlling the pressure block 1118 to rise or fall, achieving the control of the relative release or locking of the upper mounting plate 103 and the lower mounting plate 102. Relative release of the upper mounting plate 103 and the lower mounting plate 102 indicates that they are not fixed and can move relative to each other, while relative locking indicates that they are relatively fixed.

[0039] The controller 200 obtains the height value of the triaxial stiffness air spring 104 in real time according to the height adjustment module 105, and controls the height adjustment module 105 to adjust the height of the triaxial stiffness air spring 104 through the inflation / deflation valve block 300. It also controls the locking mechanism 111 to release or lock the upper mounting plate 103 and the lower mounting plate 102 relative to each other. According to the first triaxial acceleration of the first acceleration sensor 106 and the second triaxial acceleration of the second acceleration sensor 107, the controller controls the X-direction variable damping damper 108, the Y-direction variable damping damper 109 and the Z-direction variable damping damper 110 to provide damping along the X, Y and Z directions to the respective damping modules.

[0040] Figure 4c for Figure 4a The diagram shows the air circuit structure of a vibration damping module in a modular six-degree-of-freedom vehicle-mounted vibration damping platform. Figure 4c As shown, in a preferred embodiment of the present invention, the height adjustment module 105 includes a height sensor 1051 and a breathing valve 1052. In this preferred embodiment, the height adjustment module 105 obtains the height value of the three-dimensional stiffness air spring 104 in real time specifically by the height sensor 1051 detecting the distance between the upper mounting plate 103 and the lower mounting plate 102 in real time to obtain the height value. In this design, the auxiliary air chamber 101 is connected to the breathing valve 1052 via an air pipeline. The breathing valve 1052 is connected to the inflation / deflation valve block 300. The controller 200 obtains the height value of the three-dimensional stiffness air spring 104 in real time through the height adjustment module. The controller 200 controls the height adjustment module 105 to adjust the height of the three-dimensional stiffness air spring 104 through the inflation / deflation valve block 300. Specifically, the controller 200 controls the opening and closing of the breathing valve 1052 based on the height value, and controls the inflation / deflation valve block 300 to cooperate with the exhalation valve 1052, controlling the entry or exit of high-pressure gas into or out of the three-dimensional stiffness air spring 104 to adjust its height. In other words, the controller 200 controls the opening and closing of the breathing valve 1052 and the cooperation of the inflation / deflation valve block 300 to control the entry or exit of high-pressure gas into or out of the internal cavity of the three-dimensional stiffness air spring 104, thereby controlling the distance between the upper mounting plate 103 and the lower mounting plate 102 to a set value.

[0041] Figure 6 A structural block diagram of another modular six-degree-of-freedom vehicle-mounted vibration reduction platform provided for embodiments of the present invention, and Figure 7 for Figure 6 A schematic diagram of another modular six-degree-of-freedom vehicle-mounted vibration damping platform is shown, as follows: Figure 6 and Figure 7 As shown, in another preferred embodiment of the present invention, the height adjustment module 105 includes a height valve 1053 and a one-way valve 1054. The height valve 1053 is a mechanical height valve with a linkage (not shown) that senses an air spring.

[0042] In this preferred embodiment, the height adjustment module 105 acquires the height value of the three-way stiffness air spring 104 in real time. Specifically, the height valve 1053 acquires the height value of the three-way stiffness air spring 104 in real time via a connecting rod. The controller 200 acquires the height value of the three-way stiffness air spring 104 in real time through the height adjustment module, and controls the height adjustment module 105 to adjust the height of the three-way stiffness air spring 104 through the inflation / deflation valve block 300. Specifically, the controller 200 controls the connecting rod of the height valve 1053 to drive the height valve 1053 to work in the first working position according to the height value. That is to say, the first working position is the right position, left position, or middle position. In other words, when the height value is lower than the set height value, the height valve 1053 operates in the right position and connects the three-way stiffness air spring 104 to the inflation line; when the height value is higher than the set height value, the height valve 1053 operates in the left position, connecting the three-way stiffness air spring 104 to the atmosphere and releasing the high-pressure gas in the three-way stiffness air spring 104; when the height value is equal to the set height value, the height valve 1053 operates in the middle position. The controller 200, based on the height value, controls the inflation / deflation valve block 300 to continuously inflate the three-way stiffness air spring 104 until it reaches the set value, or controls the inflation / deflation valve block 300 to deflate the three-way stiffness air spring 104, causing the height of the three-way stiffness air spring 104 to decrease to the set value.

[0043] The foregoing has provided a detailed description of the components of a modular six-degree-of-freedom vehicle-mounted vibration damping platform provided by embodiments of the present invention. The present invention also provides a control method for a modular six-degree-of-freedom vehicle-mounted vibration damping platform. Next, with reference to the accompanying drawings, a detailed description of the control method for a modular six-degree-of-freedom vehicle-mounted vibration damping platform provided by the present invention will be provided.

[0044] Figure 8 A flowchart of a modular six-degree-of-freedom vehicle-mounted vibration reduction platform control method provided in an embodiment of the present invention is shown below. Figure 8 As shown, the modular six-degree-of-freedom vehicle-mounted vibration reduction platform control method provided by the present invention includes the following steps: In step S1, the controller 200 collects the height values, first triaxial acceleration, and second triaxial acceleration of each vibration damping module 100 in real time through the height adjustment module 105 of the N vibration damping modules 100, the first acceleration sensor 106, and the second acceleration sensor 107. Here, N is an integer and N≥3.

[0045] Specifically, in this embodiment of the invention, the controller 200 is communicatively connected to the vibration damping module 100, and obtains the height value of the triaxial stiffness air spring 104, the first triaxial acceleration of the first acceleration sensor 106, and the second triaxial acceleration of the second acceleration sensor 107 from each vibration damping module 100. Each vibration damping module corresponds to a set of height values, first triaxial acceleration, and second triaxial acceleration. In this embodiment of the invention, relevant values ​​are obtained from N vibration damping modules 100 to obtain N sets of height values, first triaxial acceleration, and second triaxial acceleration corresponding to each vibration damping module 100.

[0046] In a preferred embodiment of the present invention, such as Figure 2 and 3 The diagram shows a modular six-degree-of-freedom vehicle-mounted vibration reduction platform. The controller 200 detects the height value of the height sensor 1051 and the value of the first acceleration sensor 106 in real time to obtain the corresponding first triaxial acceleration, and the value of the second acceleration sensor 107 to obtain the corresponding second triaxial acceleration.

[0047] In another preferred embodiment of the present invention, such as Figure 6 and 7 The diagram shows a modular six-degree-of-freedom vehicle-mounted vibration reduction platform. The controller 200 detects the height value of the height valve 1053 and the value of the first acceleration sensor 106 in real time to obtain the corresponding first triaxial acceleration, and the value of the second acceleration sensor 107 to obtain the corresponding second triaxial acceleration.

[0048] In step S2, the controller makes a judgment based on the height values ​​and set values ​​of each vibration damping module. When the height value of the first vibration damping module is lower than the set value, the controller controls the height adjustment module and the air filling / draining valve block of the first vibration damping module to allow external high-pressure gas to enter the three-dimensional stiffness air spring of the first vibration damping module to increase its height. When the height value of the second vibration damping module is higher than the set value, the controller controls the height adjustment module and the air filling / draining valve block of the second vibration damping module to allow internal high-pressure gas to exit the three-dimensional stiffness air spring of the second vibration damping module to decrease its height.

[0049] Specifically, in this embodiment of the invention, when vibration damping is required, the controller 200 controls the locking motor 1113 to rotate, causing the slider 1115 to move to the right and release the pressure block 1118. At this time, the upper and lower mounting plates can move relatively freely. The upper mounting plate 103 and the lower mounting plate 102 are connected only by a triaxial stiffness air spring 104 and X-direction variable damping dampers 108, Y-direction variable damping dampers 109, and Z-direction variable damping dampers 110. The controller 200 determines the height of the air spring by acquiring the height value and controls the height adjustment module to control the high-pressure gas to enter the triaxial stiffness air spring 104 or to discharge the high-pressure gas inside the triaxial stiffness air spring 104 to maintain the height of the triaxial stiffness air spring 104 at the set value.

[0050] The setpoint is a pre-defined height value used to compare with the real-time height data of each vibration damping module 200 to determine whether the first vibration damping module needs to be inflated or deflated. In other words, for each vibration damping module 100, the controller 200 compares its corresponding height value with the setpoint. When the height of the first vibration damping module is lower than the set value, it indicates that the first vibration damping module needs to be inflated to increase the height of the three-way stiffness air spring. For example... Figure 2 and 3 The diagram illustrates a modular six-degree-of-freedom vehicle-mounted vibration damping platform. The controller 200 controls the external high-pressure gas inlet P2 of the first vibration damping module's breathing valve 1052 and inflation / deflation valve block 300 to connect to the inflation solenoid valve 301. At this time, high-pressure gas enters the three-dimensional stiffness air spring 104, raising its height to a set value. Figure 6 and 7 The illustrated modular six-degree-of-freedom vehicle-mounted vibration damping platform uses a controller 200 to control the inflation solenoid valve 301 of the inflation / deflation valve block 300 for inflation. At this time, because the height valve 1053 has not reached the set value, the linkage drives the height valve 1053 to operate in the right position and continuously inflate the three-way stiffness air spring 104 until the three-way stiffness air spring 104 reaches the set value. At this point, the height valve 1053 operates in the middle position. Because of the presence of the one-way valve 1054, the individual three-way stiffness air springs 104 cannot be connected as a whole, and the platform still maintains stable support.

[0051] When the height of the second vibration damping module is higher than the set value, it indicates that the second vibration damping module needs to be deflated, thereby reducing the height of the three-way stiffness air spring. For example... Figure 2 and 3 The diagram illustrates a modular six-degree-of-freedom vehicle-mounted vibration damping platform. The controller 200 controls the connection between the breathing valve 1052 and the inflation / deflation valve block 300 of the first vibration damping module, via the deflation solenoid valve 302. At this time, the high-pressure gas inside the three-way stiffness air spring 104 is released into the atmosphere, thereby reducing the height of the three-way stiffness air spring 104 to a set value. Figure 6 and 7The diagram shows a modular six-degree-of-freedom vehicle-mounted vibration damping platform. The controller 200 controls the deflation solenoid valve 301 of the inflation / deflation valve block 300 to release air. At this time, because the height of the height valve 1053 is higher than the set value, the linkage will drive the height valve 1053 to work in the left position, and the deflation solenoid valve 301 will open. The triaxial stiffness air spring 104 of the second vibration damping module is connected to the atmosphere through the one-way valve 1054 and the deflation solenoid valve 302, so that the high-pressure gas inside the triaxial stiffness air spring 104 is discharged into the atmosphere, thereby reducing the height of the triaxial stiffness air spring 104 to the set value. At this time, the height valve 1053 is working in the middle position.

[0052] It should be noted that when the height adjustment module is adjusting the height, only the vibration damping modules in the same state can be inflated or deflated at the same time. That is, only the three-dimensional stiffness air spring 104 of the first vibration damping module can be inflated, or the three-dimensional stiffness air spring 104 of the second vibration damping module can be deflated, at any given time. For example, if two of the three vibration damping modules 100 need to be inflated and one of the second vibration damping modules needs to be deflated, then the two first vibration damping modules will be inflated first, followed by the deflation of the second vibration damping module; or the second vibration damping module can be deflated first, followed by the inflating of the two first vibration damping modules. The inflation and deflation operations cannot be performed simultaneously.

[0053] After completing the inflation and deflation of N damping modules in this step, the three-dimensional stiffness air springs provide all-directional stiffness for the six-degree-of-freedom vehicle-mounted damping platform.

[0054] Step S3: The controller uses a preset variable damping damper control method to calculate the target excitation current required by the X, Y and Z direction variable damping dampers of each damping module based on the first triaxial acceleration and the second triaxial acceleration of each damping module. This is used to adjust the damping of the X, Y and Z direction variable damping dampers based on the preset current loop proportional-integral-derivative (PID).

[0055] Specifically, in this embodiment of the invention, during vibration reduction, the controller 200 calculates the target excitation current required for the X-axis variable damping damper 108, Y-axis variable damping damper 109, and Z-axis variable damping damper 110 based on real-time acquisition of the first triaxial acceleration and the second triaxial acceleration, and according to a preset variable damping damper control method, and adjusts the damping of the X-axis variable damping damper 108, Y-axis variable damping damper 109, and Z-axis variable damping damper 110.

[0056] In a preferred embodiment of the present invention, the preset variable damping shock absorber control method is pre-set in the corresponding module of the controller. Figure 9This is a schematic diagram of the algorithm structure of a preset variable damping vibration damper control method provided in an embodiment of the present invention. Figure 10 A flowchart of a preset variable damping vibration damper control method provided in an embodiment of the present invention is shown below. Figure 9 and Figure 10 As shown, the preset variable damping shock absorber control method specifically includes the following steps: Step S31: Calculate the equivalent linear acceleration and angular velocity of the vehicle-mounted equipment in the X, Y, and Z directions based on the first triaxial acceleration, the second triaxial acceleration, and the geometric relationship between the first acceleration sensor and the second acceleration sensor.

[0057] Specifically, such as Figure 9 As shown, the preset variable damping shock absorber control method obtains the equivalent linear accelerations of the on-board equipment in the X, Y, and Z directions based on the first triaxial acceleration and the second triaxial acceleration, i.e. Figure 9 The "Load Acceleration ACC" shown is used to calculate the current angular velocity based on the first and second accelerometer sensors and their arrangement geometry. Alternatively, a gyroscope can be used to directly detect the angular velocity in an alternative embodiment of the invention.

[0058] Step S32: Integrate the equivalent linear accelerations in the X, Y and Z directions to obtain the linear velocities of the on-board equipment in the X, Y and Z directions respectively.

[0059] Specifically, such as Figure 9 As shown, the preset variable damping shock absorber control method calculates the linear velocity of each point based on the first triaxial acceleration and the second triaxial acceleration detected by the acceleration sensor, that is, the linear velocity of the on-board equipment in the X, Y and Z directions.

[0060] Step S33: The product of the equivalent linear acceleration and linear velocity in each direction and the product of the angular velocity and linear velocity in each direction are amplified by the gain coefficients K1 and K2 respectively, and then added together to obtain the target excitation current of each X, Y and Z direction variable damping vibration damper.

[0061] Specifically, such as Figure 9 As shown, the effect of linear acceleration is measured by multiplying the linear velocity by the acceleration and amplifying it by a factor of K1. Similarly, the effect of angular velocity is measured by multiplying the linear velocity by the angular velocity and amplifying it by a factor of K2. Adding these two factors together yields the target current values ​​required to drive each of the X, Y, and Z-axis variable damping vibration dampers.

[0062] The advantage of using gain coefficients K1 and K2 in this invention is that adjusting the different weights of K1 and K2 can be used to focus on attenuating linear vibrations and angular vibrations, thereby selectively suppressing linear vibrations or angular vibrations.

[0063] Step S34: Based on the comparison between the target excitation current and the current of each X, Y and Z direction variable damping damper, the current error of each X, Y and Z direction variable damping damper is obtained. After the current error is adjusted by the current loop PID controller, the pulse width modulation (PWM) wave signal is output to control each X, Y and Z direction variable damping damper to adjust the damping of each X, Y and Z direction variable damping damper.

[0064] Specifically, the target excitation current of each X, Y, and Z-axis variable damping damper is compared with the current of each X, Y, and Z-axis variable damping damper to obtain the current error of each X, Y, and Z-axis variable damping damper. In other words, the target excitation current, used as the PID setpoint, is compared with the actual current of the X, Y, and Z-axis variable damping dampers as fed back in real time by the damping module to obtain the current error. Then, the current error is fed in parallel into the proportional, integral, and derivative controllers of the current loop PID controller for proportional, integral, and derivative operations. The three outputs are superimposed to generate a PWM wave signal, which serves as the drive signal. The PWM wave signal is output to the drive circuit of the X, Y, and Z-axis variable damping dampers to adjust the actual current of the X, Y, and Z-axis variable damping dampers, ensuring that the operating current of the X, Y, and Z-axis variable damping dampers follows the target excitation current, thus achieving real-time control of the damping force of the X, Y, and Z-axis variable damping dampers.

[0065] After steps S31-S34, damping in each direction can be provided to the X, Y and Z direction variable damping dampers in the N damping modules.

[0066] The above steps S1-S3 provide a detailed description of the modular six-degree-of-freedom vehicle-mounted vibration damping platform control method provided by the present invention. This control method can realize the control of a modular six-degree-of-freedom vehicle-mounted vibration damping platform, so that the vehicle-mounted vibration damping platform provided by the present invention has six degrees of freedom vibration damping function.

[0067] The following section provides an overview of the operation of a modular six-degree-of-freedom vehicle-mounted vibration reduction platform provided by this invention, using examples.

[0068] The modular six-degree-of-freedom vehicle-mounted vibration reduction platform provided in this embodiment of the invention can operate in both non-vibration reduction mode and vibration reduction mode.

[0069] When vibration damping is not required, the controller 200 controls the height adjustment module 105 of the vibration damping module 100 and the venting solenoid valve at the bottom of the inflation / deflation valve block 300, causing the three-way stiffness air spring 104 of the vibration damping module 100 to deflate. Simultaneously, the controller 200 controls the locking motor 1114 of the locking mechanism 111 to reverse, causing the slider 1115 to move to the left. The pressure rod 1117 presses the pressure block 1118 into the lower rubber block 1111 of the locking mechanism. Because the lower rubber block 1111 of the locking mechanism has high stiffness, the upper and lower mounting plates are relatively fixed at this time, achieving the locking purpose and ultimately maintaining the stability of the load (i.e., the vehicle-mounted equipment).

[0070] When vibration reduction is required, the controller 200 controls the locking motor 1114 of the locking mechanism 111 to rotate, causing the slider 1115 to move to the right and the pressure rod 1117 to rise. At this time, the pressure block 1118 rises away from the rubber block 1111 under the locking mechanism. At this time, the lower mounting plate can move relatively freely. The upper mounting plate 103 and the lower mounting plate 102 are only connected by the three-axis stiffness air spring 104 and the X-axis variable damping damper 108, Y-axis variable damping damper 109 and Z-axis variable damping damper 110. The controller 200 controls the height adjustment module 105 and the inflation / deflation valve block 300 of the vibration damping module 100, so that the three-dimensional stiffness air spring 104 of the vibration damping module 100 is maintained at a set value by injecting or releasing high-pressure gas. In addition, the controller 200 adjusts the damping of the X-direction variable damping damper 108, Y-direction variable damping damper 109 and Z-direction variable damping damper 110 of each vibration damping module 100 according to step S3, so as to provide damping force for each vibration damping module 100 and ultimately maintain the stability of the vehicle equipment.

[0071] It should be emphasized that the modular six-degree-of-freedom vehicle-mounted vibration damping platform provided by the present invention includes at least three vibration damping modules 100. Each vibration damping module 100 includes a three-dimensional stiffness air spring 104, a height adjustment module 105, a three-dimensional variable damping damper (108, 109 and 110) and a locking mechanism 111, etc. The number of vibration damping modules 100 can be adjusted according to the specific situation of the vehicle-mounted equipment.

[0072] This invention provides a modular six-degree-of-freedom vehicle-mounted vibration damping platform and its control method, comprising at least three vibration damping modules, one controller, and a set of inflation / deflation valve blocks, which support and dampen the vehicle-mounted equipment installed on it. Compared with existing vehicle-mounted vibration damping systems and methods, it has the following significant technical effects and advantages: 1. It has six degrees of freedom vibration reduction capability and integrated modular layout advantages: The six-degree-of-freedom vehicle vibration reduction platform is built with a modular configuration. The system is equipped with at least 3 vibration reduction modules, 1 controller and 1 set of inflation and deflation valve blocks, which can realize six degrees of freedom vibration reduction.

[0073] 2. Air spring support has the advantages of low-frequency vibration reduction and attitude stability: by using a three-dimensional stiffness air spring, the natural frequency of the system is reduced to below 2Hz, which stably maintains the load setting height and avoids the adverse effects of rubber creep. At the same time, it can achieve leveling and attitude angle maintenance of vehicle equipment within a certain range.

[0074] 3. Variable damping structure has the advantage of wide-frequency adaptive vibration reduction: relying on variable damping vibration isolators combined with sensor data collection, the damping characteristics of each degree of freedom are adjusted in real time, taking into account the vibration reduction needs of low frequency and high frequency, and effectively improving the overall vibration reduction effect.

[0075] 4. Supports flexible switching of working modes, taking into account the advantages of vibration reduction operation and static locking: The working condition is switched through the locking mechanism. In the vibration reduction state, the release lock ensures the vibration reduction movement of the load, and in the non-vibration reduction state, the lock ensures the position stability of the vehicle equipment.

[0076] 5. The addition of an auxiliary air chamber has the advantage of further widening the low-frequency vibration reduction range: the auxiliary air chamber further reduces the natural frequency of the system and continuously optimizes the overall vibration reduction performance.

[0077] 6. The control strategy has the advantage of independent control of linear and angular vibrations: The control method comprehensively considers the influence of linear acceleration and angular velocity. By adjusting the amplification factor K1 of the product of linear velocity and acceleration and the amplification factor K2 of the product of linear velocity and angular velocity, it can selectively suppress linear or angular vibrations.

[0078] 7. Excellent scalability and multi-load adaptability: The overall modular structure facilitates functional expansion and can adapt to various load specifications.

[0079] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0080] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0081] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A modular six-degree-of-freedom vehicle-mounted vibration damping platform, characterized in that, The vehicle-mounted vibration damping platform includes N vibration damping modules, a controller, and an inflation / deflation valve block; N is an integer and N≥3; where... The vibration damping module includes an additional air chamber, a lower mounting plate, an upper mounting plate, a three-dimensional stiffness air spring, a height adjustment module, a first acceleration sensor, a second acceleration sensor, an X-axis variable damping damper, a Y-axis variable damping damper, a Z-axis variable damping damper, and a locking mechanism. Each vibration damping module is mounted on the vehicle body via a lower mounting plate, and the on-board equipment is mounted on top of the upper mounting plate. The N vibration damping modules together support the on-board equipment. The additional air chamber is connected to the internal cavity of the three-dimensional stiffness air spring, and the additional air chamber is also connected to the inflation / deflation valve block; The first and second acceleration sensors are respectively mounted on the lower mounting plate and the upper mounting plate. The two ends of the X, Y and Z direction variable damping shock absorbers are respectively mounted on the upper mounting plate and the lower mounting plate, and the damping directions are along the X, Y and Z directions respectively. The controller obtains the height value of the triaxial stiffness air spring in real time from the height adjustment module, and adjusts the height of the triaxial stiffness air spring by controlling the height adjustment module through the inflation / deflation valve block. It also controls the locking mechanism to release or lock the upper and lower mounting plates relative to each other. Based on the first triaxial acceleration of the first acceleration sensor and the second triaxial acceleration of the second acceleration sensor, the controller controls the X, Y, and Z-axis variable damping shock absorbers to provide damping along the X, Y, and Z directions, respectively.

2. The vehicle-mounted vibration damping platform according to claim 1, characterized in that, The inflation / deflation valve block includes an external high-pressure gas inlet, an inflation solenoid valve, and a deflation solenoid valve, wherein... The inflation solenoid valve is connected to the external high-pressure gas inlet; The venting solenoid valve is connected to the atmosphere.

3. The vehicle-mounted vibration damping platform according to claim 2, characterized in that, The height adjustment module includes a height sensor. The height adjustment module obtains the height value of the three-dimensional stiffness air spring in real time. Specifically, the height sensor detects the distance between the upper mounting plate and the lower mounting plate in real time to obtain the height value.

4. The vehicle-mounted vibration damping platform according to claim 3, characterized in that, The height adjustment module also includes a breathing valve. The controller obtains the height value of the three-dimensional stiffness air spring in real time based on the height adjustment module, and adjusts the height of the three-dimensional stiffness air spring by controlling the height adjustment module through the inflation / deflation valve block. Specifically, this includes: The controller controls the opening and closing of the breathing valve based on the altitude value; The controller controls the inflation / deflation valve block to cooperate with the exhalation valve according to the height value, thereby controlling the high-pressure gas to enter or exit the triaxial stiffness air spring and adjusting the height of the triaxial stiffness air spring.

5. The vehicle-mounted vibration damping platform according to claim 2, characterized in that, The height adjustment module includes a height valve. Specifically, the height adjustment module acquires the height value of the three-dimensional stiffness air spring in real time through the height valve via a connecting rod.

6. The vehicle-mounted vibration damping platform according to claim 5, characterized in that, The height adjustment module also includes a one-way valve. The controller obtains the height value of the three-dimensional stiffness air spring in real time based on the height adjustment module, and adjusts the height of the three-dimensional stiffness air spring by controlling the height adjustment module through the inflation / deflation valve block. Specifically, this includes: The controller controls the linkage of the height valve to drive the height valve to work in a first working position according to the height value; wherein, the first working position is the right position, the left position, or the middle position; The controller, based on the height value, controls the inflation / deflation valve block to continuously inflate the triaxial stiffness air spring until the triaxial stiffness air spring reaches a set value, or The inflation / deflation valve block is controlled to deflate the triaxial stiffness air spring, causing the height of the triaxial stiffness air spring to drop to a set value.

7. The vehicle-mounted vibration damping platform according to claim 1, characterized in that, The locking mechanism includes a lower rubber block, a locking base, a locking motor, a lead screw, a slider, a connecting rod, a pressure rod, and a pressure block.

8. The vehicle-mounted vibration damping platform according to claim 7, characterized in that, The control locking mechanism for the relative release or locking of the upper and lower mounting plates specifically includes: The controller pushes the slider to move horizontally through the locking motor and the lead screw, thereby moving the connecting rod and the pressure rod, and thus controlling the pressure block to rise or fall, thereby controlling the relative release or locking of the upper mounting plate and the lower mounting plate.

9. A modular six-degree-of-freedom vehicle-mounted vibration damping platform control method, used to control the vehicle-mounted vibration damping platform described in 1-9, characterized in that, The method includes: The controller collects the height values, first triaxial acceleration, and second triaxial acceleration of each vibration damping module in real time through the height adjustment module of N vibration damping modules, the first acceleration sensor, and the second acceleration sensor. The controller makes a judgment based on the height value and set value of each vibration damping module. When the height value of the first vibration damping module is lower than the set value, the controller controls the height adjustment module and the air filling and emptying valve block of the first vibration damping module to allow external high-pressure gas to enter the three-dimensional stiffness air spring of the first vibration damping module to increase its height. When the height value of the second vibration damping module is higher than the set value, the controller controls the height adjustment module and the air filling and emptying valve block of the second vibration damping module to allow internal high-pressure gas to exit the three-dimensional stiffness air spring of the second vibration damping module to decrease its height. The controller uses a preset variable damping damper control method to calculate the target excitation current required by the X, Y and Z direction variable damping dampers of each damping module based on the first triaxial acceleration and the second triaxial acceleration of each damping module, so as to adjust the damping of the X, Y and Z direction variable damping dampers based on the preset current loop PID.

10. The vehicle-mounted vibration damping platform control method according to claim 9, characterized in that, The specific control methods for preset variable damping shock absorbers include: The equivalent linear acceleration and angular velocity of the vehicle equipment in the X, Y and Z directions are calculated based on the first triaxial acceleration, the second triaxial acceleration, and the geometric relationship of the first acceleration sensor and the second acceleration sensor. The linear velocities of the vehicle-mounted equipment in the X, Y, and Z directions are obtained by integrating the equivalent linear accelerations in the X, Y, and Z directions, respectively. The product of equivalent linear acceleration and linear velocity in each direction and the product of angular velocity and linear velocity in each direction are amplified by gain coefficients K1 and K2 respectively, and then added together to obtain the target excitation current of each variable damping damper in the X, Y and Z directions. The target excitation current of each X, Y, and Z-axis variable damping damper is compared with the current to obtain the current error of each X, Y, and Z-axis variable damping damper. After the current error is adjusted by the current loop PID controller, the PWM wave signal of each X, Y, and Z-axis variable damping damper is output to adjust the damping of each X, Y, and Z-axis variable damping damper.

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