Damping force control method for active shock absorber, controller, vehicle, and storage medium

Abstract

A damping force control method for an active shock absorber, a controller, a vehicle, and a storage medium, which relate to the technical field of suspension control. The damping force control method for an active shock absorber is applied to a vehicle having a wheel and an active shock absorber, wherein the active shock absorber comprises a pump body (300). The damping force control method for an active shock absorber comprises: when a wheel vibrates, calculating, on the basis of the moment of inertia of a pump body (300), a required torque or required rotation speed for an electric motor of the pump body (300) to overcome the moment of inertia, and on the basis of the required torque or required rotation speed, controlling an output of the electric motor of the pump body (300), so as to adjust the damping force of an active shock absorber. By means of algorithm adjustment, the damping force of an active shock absorber can be adjusted.

Description

Damping force control method for active shock absorbers, controller, vehicle and storage medium Technical Field

[0001] This invention relates to the field of suspension control technology, and in particular to a method for controlling the damping force of an active shock absorber, a controller, a vehicle, and a storage medium. Background Technology

[0002] An active damper includes components such as an actuator, a pump body, and a throttle valve. The pump body's pressure regulation causes the actuator to move, thereby controlling the vehicle's height or drag. Because the active damper contains a basic valve system such as a throttle valve, its total output force is affected by both the active force and the damping force. The active force has a relatively narrow control bandwidth; on bumpy roads, it is difficult for the active force to effectively maintain the stability of the vehicle body and wheels. Therefore, damping force is needed for basic control of the vehicle body and wheels; that is, the damping force of the active damper directly affects the overall ride comfort of the vehicle.

[0003] In related technologies, some active dampers have added proportional solenoid valves and controller hardware to adjust the damping force by changing the throttling area of ​​the proportional solenoid valve. However, this approach increases the complexity of the mechanical structure and the cost.

[0004] Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a method for controlling the damping force of an active vibration damper, which can adjust the damping force of the active vibration damper through algorithm adjustment.

[0006] The present invention also proposes a controller.

[0007] The present invention also proposes a vehicle.

[0008] The present invention also proposes a computer-readable storage medium.

[0009] According to a first aspect of the present invention, a method for controlling the damping force of an active shock absorber is applied to a vehicle having wheels and an active shock absorber, the active shock absorber including a pump body, the method for controlling the damping force of the active shock absorber comprising:

[0010] When the wheel vibrates, the required torque or speed of the pump body motor to overcome the rotational inertia is calculated based on the pump body's rotational inertia. The output of the pump body motor is then controlled according to the required torque or speed to adjust the damping force of the active damper.

[0011] The damping force control method for the active damper according to embodiments of the present invention has at least the following beneficial effects: Since the pump body has rotational inertia, and the active damper is connected to the wheel, when the wheel vibrates, the oil flow through the pump body is obstructed, generating a damping force. Therefore, the pump body can be considered equivalent to a throttle valve. When the wheel vibrates, this active damper damping force control method calculates the required torque or speed of the pump body's motor to overcome the rotational inertia based on the pump body's rotational inertia, and controls the output of the pump body's motor according to the required torque or speed. That is, it applies additional torque or speed to the pump body's motor, which helps to increase or decrease the resistance of the oil flow through the pump body, thereby changing the damping force of the active damper. Controlling the damping force enhances the ride comfort of the entire vehicle. Furthermore, this active damper damping force control method does not require additional hardware; the damping force of the active damper can be adjusted through algorithmic adjustments.

[0012] According to some embodiments of the present invention, calculating the required torque or required speed of the pump body's motor to overcome rotational inertia includes:

[0013] Obtain the rotation angle of the pump body's motor within a preset time period, and calculate the angular acceleration of the pump body's motor;

[0014] Multiply the moment of inertia by the angular acceleration to calculate the required torque for the pump's motor to overcome the moment of inertia.

[0015] The damping force control method of this active shock absorber obtains the rotation angle of the pump motor within a preset time when the suspension vibrates, calculates the angular acceleration of the pump motor, and multiplies the moment of inertia by the angular acceleration according to Newton's second law to calculate the torque required for the pump motor to overcome the moment of inertia. The output of the pump motor is controlled according to the required torque, thereby changing the damping force of the active shock absorber. By controlling the damping force, the ride comfort of the entire vehicle is improved. Moreover, this damping force control method of the active shock absorber does not require additional hardware; the damping force of the active shock absorber can be adjusted solely through an algorithm.

[0016] According to some embodiments of the present invention, and controlling the motor output of the pump body according to the required torque or required speed, the method includes:

[0017] Based on multiple preset driving modes, set multiple amplification factors for the required torque;

[0018] Select the corresponding magnification factor based on the current driving mode;

[0019] The amplification factor is multiplied by the required torque to obtain the output torque, and the motor of the pump body is controlled to output the output torque.

[0020] To ensure the continuous adjustability of the damping force of the active damper, the damping force control method of this active damper can set an amplification factor for the required torque according to multiple preset driving modes. After selecting the corresponding amplification factor according to the current driving mode, the amplification factor is multiplied by the required torque to obtain the final output torque. The motor of the pump body is then controlled to output the required torque, thereby changing the damping force of the active damper. By setting the amplification factor, it is beneficial to adjust the damping force of the active damper according to different driving modes, so as to enhance the applicability to different scenarios.

[0021] According to some embodiments of the present invention, multiple amplification factors for the required torque are set based on multiple preset driving modes, including:

[0022] When the driving mode is set to Eco mode, the magnification factor is set to 0.

[0023] Specifically, considering the need to save energy under the economic model, the damping force control method of the active damper sets the amplification factor to 0, that is, the pump motor does not provide additional output, thereby achieving the effect of saving energy and extending the driving range.

[0024] According to some embodiments of the present invention, multiple amplification factors for the required torque are set based on multiple preset driving modes, including:

[0025] When the driving mode is Comfort mode, set the magnification factor to be greater than 0 and less than or equal to 1.

[0026] Specifically, considering that the damping force of the active damper needs to be reduced in comfort mode, the damping force control method of the active damper sets the amplification factor to be greater than 0 and less than or equal to 1. By applying additional torque or speed to the pump body motor, the oil can flow more smoothly through the pump body, thereby reducing the damping force of the active damper and enhancing the driving experience of the passengers.

[0027] According to some embodiments of the present invention, multiple amplification factors for the required torque are set based on multiple preset driving modes, including:

[0028] When the driving mode is Sport mode, set the magnification factor to be greater than or equal to -1 and less than 0.

[0029] Specifically, considering the need to increase the damping force of the active damper in motion mode, the damping force control method of this active damper can set the amplification factor to be greater than or equal to -1 and less than 0. That is, the motor of the pump body is controlled to rotate in the direction that hinders the flow of oil, so as to increase the resistance of the oil flowing through the pump body, that is, to increase the damping force of the active damper. By setting the amplification factor, this damping force control method of the active damper can help to increase the damping force adjustment range of the active damper to meet the usage needs of the vehicle in different scenarios.

[0030] According to some embodiments of the present invention, multiple amplification factors for the required torque are set based on multiple preset driving modes, including:

[0031] When the driving mode is custom mode, the magnification factor is set to the user's input value, which is greater than -1 and less than 1.

[0032] Specifically, to ensure personalized service for users, the damping force control method of the active shock absorber adds a customization function. That is, when the driving mode is customized, the damping force control method of the active shock absorber sets the amplification factor to the user's input value. The amplification factor is set to be greater than -1 and less than 1, so as to ensure that users can customize a driving mode that matches their own driving habits.

[0033] According to a second aspect of the present invention, the controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a damping force control method for an active damper as shown in any of the first aspects.

[0034] The controller according to the embodiments of the present invention has at least the following beneficial effects: when the processor executes the computer program, it implements the damping force control method of the active damper as shown in any of the first aspects. Since the pump body has rotational inertia, the active damper is connected to the wheel. When the wheel vibrates, the oil flow of the active damper through the pump body is obstructed, thereby generating a damping force. Therefore, the pump body can be equivalent to a throttle valve. When the wheel vibrates, the damping force control method of the active damper calculates the required torque or required speed of the pump body motor to overcome the rotational inertia based on the rotational inertia of the pump body, and controls the output of the pump body motor according to the required torque or required speed, that is, to apply additional torque or speed to the pump body motor, which is beneficial to increase or decrease the resistance of the oil flow through the pump body, thereby changing the damping force of the active damper. By controlling the damping force, it is beneficial to enhance the ride comfort of the whole vehicle. Moreover, the damping force control method of the active damper does not require additional hardware. The damping force of the active damper can be adjusted by adjusting the algorithm.

[0035] A vehicle according to a third aspect of the present invention includes the controller shown in the second aspect.

[0036] The vehicle according to the embodiments of the present invention has at least the following beneficial effects: the vehicle includes the controller shown in the second aspect. Since the pump body has rotational inertia, the active damper is connected to the wheel. When the wheel vibrates, the oil flow of the active damper through the pump body is obstructed, thereby generating a damping force. Therefore, the pump body can be equivalent to a throttle valve. The damping force control method of the active damper calculates the required torque or required speed of the pump body motor to overcome the rotational inertia based on the rotational inertia of the pump body when the wheel vibrates, and controls the output of the pump body motor according to the required torque or required speed, that is, to apply additional torque or speed to the pump body motor, which is beneficial to increase or decrease the resistance of the oil flow through the pump body, thereby changing the damping force of the active damper. By controlling the damping force, the ride comfort of the whole vehicle is enhanced. Moreover, the damping force control method of the active damper does not require additional hardware. The damping force of the active damper can be adjusted by adjusting the algorithm.

[0037] According to a fourth aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for performing a damping force control method for an active damper as described in any of the first aspects.

[0038] The computer-readable storage medium according to embodiments of the present invention has at least the following beneficial effects: computer-executable instructions are used to execute the damping force control method of the active damper as shown in any of the first aspects. Since the pump body has rotational inertia, the active damper is connected to the wheel. When the wheel vibrates, the oil flow of the active damper through the pump body is obstructed, thereby generating a damping force. Therefore, the pump body can be equivalent to a throttle valve. When the wheel vibrates, the damping force control method of the active damper calculates the required torque or required speed of the pump body motor to overcome the rotational inertia based on the rotational inertia of the pump body, and controls the output of the pump body motor according to the required torque or required speed, that is, to apply additional torque or speed to the pump body motor, which is beneficial to increase or decrease the resistance of the oil flow through the pump body, thereby changing the damping force of the active damper. By controlling the damping force, it is beneficial to enhance the ride comfort of the whole vehicle. Moreover, the damping force control method of the active damper does not require additional hardware. The damping force of the active damper can be adjusted by algorithm adjustment.

[0039] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0041] Figure 1 is a schematic diagram of the working principle of the main driving force and damping force of the active vibration damper;

[0042] Figure 2 is a schematic diagram of the active vibration damper;

[0043] Figure 3 is a schematic diagram of the pump body of an active vibration damper damping force control method according to an embodiment of the present invention;

[0044] Figure 4 is a schematic diagram showing the correspondence between driving mode and amplification factor of the active shock absorber damping force control method according to an embodiment of the present invention.

[0045] Figure 5 is a flowchart of a damping force control method for an active vibration damper according to an embodiment of the present invention;

[0046] Figure 6 is a flowchart of a damping force control method for an active vibration damper according to an embodiment of the present invention;

[0047] Figure 7 is a flowchart of a damping force control method for an active vibration damper according to an embodiment of the present invention.

[0048] Reference numerals: 100, actuator; 200, throttle valve; 300, pump body. Detailed Implementation

[0049] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0050] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0051] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0052] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0053] Referring to Figures 1 and 2, due to the presence of basic valve systems such as the throttle valve 200 within the active damper, the total output force of the active damper is affected by both the active force and the damping force. Road surface disturbances affect the damping coefficient of the active damper, which in turn affects its damping force. The active suspension system inputs the active force value command to the active damper to control its operation, i.e., the active damper outputs the active force value. The active force value and the damping force value are combined to form the total output force of the active damper.

[0054] When a vehicle is traveling on a relatively smooth road surface, with no road disturbance, the total output force of the active damper is equal to its driving force. However, when the vehicle is traveling on a bumpy road surface, due to the internal valve system of the active damper, even if the driving force is set to 0, the total output force of the active damper will not be zero. This total output force is the damping force of the active damper. Therefore, controlling the vehicle body and wheels requires controlling not only the driving force but also the damping force of the active damper, as the damping force directly affects the overall ride comfort of the vehicle.

[0055] Referring to Figures 1 to 7, an embodiment of the present invention describes a damping force control method for an active shock absorber, applied to a vehicle equipped with wheels and an active shock absorber. The active shock absorber includes a pump body 300, an actuator 100, and a throttle valve 200. Both the pump body 300 and the throttle valve 200 are connected to the chamber of the actuator 100 via connecting pipes. The pump body 300's pressure-changing action causes the actuator 100 to operate, thereby controlling the vehicle height or drag. The active shock absorber is connected to the wheels.

[0056] Referring to Figure 5, the damping force control method of this active vibration damper includes the following steps:

[0057] Step S100: When the wheel vibrates, calculate the required torque or required speed of the motor of the pump body 300 to overcome the rotational inertia based on the rotational inertia of the pump body 300, and control the output of the motor of the pump body 300 according to the required torque or required speed to adjust the damping force of the active damper.

[0058] Referring to Figures 2 and 5, due to the rotational inertia of the pump body 300, when the wheel vibrates, the flow of oil in the active damper through the pump body 300 is obstructed, generating a damping force. Therefore, the pump body 300 can be equivalent to a throttle valve 200. This method of controlling the damping force of the active damper changes the resistance of the pump body 300 to the oil by controlling the torque or rotational speed of the pump body 300, thereby adjusting the damping force of the active damper and achieving control over the vehicle body or wheels.

[0059] Referring to Figures 2, 3, and 5, this active damper damping force control method calculates the required torque or speed for the pump body 300 motor to overcome the rotational inertia based on the pump body 300's moment of inertia when the wheel vibrates. It then controls the output of the pump body 300 motor according to the required torque or speed, thus applying additional torque or speed to the pump body 300 motor. This increases or decreases the resistance of the oil flowing through the pump body 300, thereby changing the damping force of the active damper. Controlling the damping force enhances the ride comfort of the entire vehicle. Furthermore, this active damper damping force control method requires no additional hardware; the damping force can be adjusted solely through algorithmic adjustments. The required torque and required speed can be mutually converted based on the relationship between torque and speed.

[0060] Referring to Figure 6, it can be understood that the damping force control method of this active damper, in step S100, calculates the required torque or required speed for the motor of the pump body 300 to overcome rotational inertia, including the following steps:

[0061] Step S110: Obtain the rotation angle of the motor of the pump body 300 within a preset time, and calculate the angular acceleration of the motor of the pump body 300.

[0062] Step S120: Multiply the moment of inertia by the angular acceleration to calculate the torque required by the motor of pump body 300 to overcome the moment of inertia.

[0063] Referring to Figure 6, the damping force control method of this active damper obtains the rotation angle of the motor of the pump body 300 within a preset time when the suspension vibrates, calculates the angular velocity of the motor of the pump body 300, and then calculates the angular acceleration of the motor of the pump body 300. According to Newton's second law, the moment of inertia is multiplied by the angular acceleration to calculate the torque required for the motor of the pump body 300 to overcome the moment of inertia. The output of the motor of the pump body 300 is controlled according to the required torque, thereby changing the damping force of the active damper. By controlling the damping force, the ride comfort of the whole vehicle is improved. Moreover, this damping force control method of the active damper does not require additional hardware. The damping force of the active damper can be adjusted by algorithm alone.

[0064] In step S110, the motor of the pump body 300 of the active vibration damper is equipped with a position sensor. The position sensor acquires the rotation angle of the motor within a preset time. Dividing the rotation angle by the time calculates the angular velocity of the motor, and subsequently, the angular acceleration of the motor is calculated, denoted as α. The formula for calculating angular acceleration is: α = d 2 θ / dt 2 , where θ is the rotation angle and t is the time.

[0065] In step S120, the formula for calculating the required torque is defined as: Tcmd=Jα, where Tcmd is the required torque for the motor to overcome its rotational inertia, and J is the rotational inertia of the pump.

[0066] The moment of inertia J can be directly measured using software such as CATIA (Computer-Aided Three-dimensional Interactive Application) or PreE (Pro / Engineer), or it can be calculated through bench testing before the vehicle leaves the factory.

[0067] Referring to Figures 2, 3, and 6, it can be understood that the damping force control method of this active damper, in step S100, controls the motor output of the pump body 300 according to the required torque or required speed, including the following steps:

[0068] Step S130: Based on multiple preset driving modes, set multiple amplification factors for the required torque;

[0069] Step S140: Select the corresponding magnification factor according to the current driving mode;

[0070] In step S150, the amplification factor is multiplied by the required torque to obtain the output torque, and the motor output torque of the pump body 300 is controlled.

[0071] Referring to Figures 2, 3, and 6, to ensure the continuous adjustability of the damping force of the active damper, the damping force control method can set multiple amplification factors for the required torque based on multiple preset driving modes. Depending on the current driving mode, the corresponding amplification factor is selected, and the amplification factor is multiplied by the required torque to obtain the final output torque. The motor of the pump body 300 is then controlled to output this output torque. This active damper damping force control method adjusts the damping force of the active damper according to different driving modes, thereby enhancing its applicability to different scenarios.

[0072] The formula for calculating the output torque is defined as: Tn = Factor * Jα, where Tn is the output torque and Factor is the amplification factor. The damping force control method of this active shock absorber allows setting the amplification factor value according to different driving modes, and then multiplying the corresponding amplification factor with the required torque based on the selected driving mode to obtain the output torque.

[0073] Referring to Figures 4 and 7, it can be understood that in step S110, the damping force control method of the active shock absorber sets multiple amplification factors for the required torque according to multiple preset driving modes, including:

[0074] Step S131: When the driving mode is economy mode, set the magnification factor to 0.

[0075] Step S132: When the driving mode is comfort mode, set the magnification factor to be greater than 0 and less than or equal to 1.

[0076] Step S133: When the driving mode is Sport mode, set the magnification factor to be greater than or equal to -1 and less than 0.

[0077] Step S134: When the driving mode is custom mode, the magnification factor is set to the user's input value, which is greater than -1 and less than 1.

[0078] Referring to Figures 4 and 7, in step S131, considering the need to save energy in the economic mode, the damping force control method of the active damper sets the amplification factor to 0, i.e., Factor = 0, and the motor of the pump body 300 does not perform additional output, thereby achieving the effect of saving energy and extending the driving range.

[0079] Referring to Figures 4 and 7, in step S132, considering that the damping force of the active damper needs to be reduced in comfort mode, the damping force control method of the active damper sets the amplification factor to be greater than 0 and less than or equal to 1, i.e., 0 < Factor ≤ 1. By applying additional torque or speed through the motor of the pump body 300, the oil can flow more smoothly through the pump body 300, i.e., reduce the damping force of the active damper, so as to enhance the driving experience of the passengers.

[0080] Specifically, in comfort mode, the damping force control method of this active damper can set the amplification factor to 1, thereby significantly reducing the damping force of the active damper.

[0081] Referring to Figures 4 and 7, in step S133, considering the need to increase the damping force of the active damper in motion mode, the damping force control method of the active damper can set the amplification factor to be greater than or equal to -1 and less than 0, i.e., -1≤Factor<0. That is, the motor of the pump body 300 is controlled to rotate in the direction that hinders the flow of oil, so as to increase the resistance of the oil flowing through the pump body 300, i.e., increase the damping force of the active damper. The damping force control method of the active damper, by setting the amplification factor, is beneficial to increase the damping force adjustment range of the active damper to meet the usage needs of the vehicle in different scenarios.

[0082] Specifically, in motion mode, the damping force control method of this active damper can set the amplification factor to -1, thereby significantly increasing the damping force of the active damper.

[0083] Some active dampers incorporate proportional solenoid valves and controller hardware. Damping force is adjusted by changing the throttling area of ​​the proportional solenoid valve. Since the solenoid valve is a passive hydraulic component, the oil flow direction is limited to from high-pressure to low-pressure areas. However, the damping force control method for the active damper provided in this embodiment of the invention, by adjusting the torque and direction of the motor in the pump body 300, allows the oil to flow from high-pressure to low-pressure areas, and vice versa, significantly increasing the adjustment range of the damping force. Theoretically, the damping force of the active damper can be adjusted to 0.

[0084] Referring to Figures 4 and 7, in step S134, specifically, to ensure personalized service for users, the damping force control method of the active damper adds a customization function. That is, when the driving mode is customized, the damping force control method of the active damper sets the amplification factor to the user's input value and defines the amplification factor as greater than -1 and less than 1, i.e., -1 < Factor < 1, so as to ensure that users can customize a driving mode that matches their own driving habits.

[0085] The controller of one embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the damping force control method of the active damper as shown in any of the above embodiments.

[0086] When the processor executes the computer program, it implements the damping force control method of the active shock absorber as shown in any of the above embodiments. Since the pump body 300 has rotational inertia, and the active shock absorber is connected to the wheel, when the wheel vibrates, the oil flow of the active shock absorber through the pump body 300 will be obstructed, thus generating a damping force. Therefore, the pump body 300 can be equivalent to a throttle valve 200. When the wheel vibrates, the damping force control method of the active shock absorber calculates the required torque or required speed of the motor of the pump body 300 to overcome the rotational inertia based on the rotational inertia of the pump body 300, and controls the output of the motor of the pump body 300 according to the required torque or required speed. That is, additional torque or speed is applied to the motor of the pump body 300, which is beneficial to increase or decrease the resistance of the oil flow through the pump body 300, thereby changing the damping force of the active shock absorber. By controlling the damping force, the ride comfort of the whole vehicle is enhanced. Moreover, the damping force control method of the active shock absorber does not require additional hardware. The damping force of the active shock absorber can be adjusted by adjusting the algorithm.

[0087] One embodiment of the present invention includes a vehicle comprising the controller shown in the above embodiment.

[0088] The vehicle includes the controller shown in the above embodiment. Since the pump body 300 has rotational inertia, and the active damper is connected to the wheel, when the wheel vibrates, the oil flow of the active damper through the pump body 300 will be obstructed, generating a damping force. Therefore, the pump body 300 can be equivalent to a throttle valve 200. The damping force control method of this active damper calculates the required torque or required speed of the motor of the pump body 300 to overcome the rotational inertia based on the rotational inertia of the pump body 300 when the wheel vibrates, and controls the output of the motor of the pump body 300 according to the required torque or required speed. That is, additional torque or speed is applied to the motor of the pump body 300, which helps to increase or decrease the resistance of the oil flow through the pump body 300, thereby changing the damping force of the active damper. By controlling the damping force, the ride comfort of the whole vehicle is enhanced. Moreover, the damping force control method of this active damper does not require additional hardware. The damping force of the active damper can be adjusted by adjusting the algorithm.

[0089] One embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for performing a damping force control method for an active damper as described in any of the above embodiments.

[0090] The computer-executable instructions are used to execute the damping force control method of the active shock absorber as shown in any of the above embodiments. Since the pump body 300 has rotational inertia, and the active shock absorber is connected to the wheel, when the wheel vibrates, the oil flow of the active shock absorber through the pump body 300 will be obstructed, thus generating a damping force. Therefore, the pump body 300 can be equivalent to a throttle valve 200. When the wheel vibrates, the damping force control method of the active shock absorber calculates the required torque or required speed of the motor of the pump body 300 to overcome the rotational inertia based on the rotational inertia of the pump body 300, and controls the output of the motor of the pump body 300 according to the required torque or required speed. That is, additional torque or speed is applied to the motor of the pump body 300, which is beneficial to increase or decrease the resistance of the oil flow through the pump body 300, thereby changing the damping force of the active shock absorber. By controlling the damping force, the ride comfort of the whole vehicle is enhanced. Moreover, the damping force control method of the active shock absorber does not require additional hardware. The damping force of the active shock absorber can be adjusted by adjusting the algorithm.

[0091] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] This invention is described in terms of flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowcharts and / or one or more blocks of the block diagrams.

[0093] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0094] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0095] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for controlling the damping force of an active shock absorber, applied to a vehicle having wheels and an active shock absorber, wherein the active shock absorber includes a pump body, characterized in that, The damping force control method of the active damper includes: When the wheel vibrates, the required torque or required speed of the pump body motor to overcome the rotational inertia is calculated based on the rotational inertia of the pump body, and the output of the pump body motor is controlled according to the required torque or required speed to adjust the damping force of the active damper.

2. The damping force control method for an active vibration damper according to claim 1, characterized in that: The calculation of the required torque or required speed of the motor of the pump body to overcome the moment of inertia includes: Obtain the rotation angle of the motor of the pump body within a preset time, and calculate the angular acceleration of the motor of the pump body; Multiply the moment of inertia by the angular acceleration to calculate the required torque for the pump body's motor to overcome the moment of inertia.

3. The damping force control method for an active vibration damper according to claim 2, characterized in that: The method of controlling the motor output of the pump body according to the required torque or the required speed includes: Based on multiple preset driving modes, multiple amplification factors are set for the required torque; Select the corresponding amplification factor based on the current driving mode; The amplification factor is multiplied by the required torque to obtain the output torque, and the motor of the pump body is controlled to output the output torque.

4. The damping force control method for an active vibration damper according to claim 3, characterized in that: The step of setting multiple amplification factors for the required torque based on multiple preset driving modes includes: When the driving mode is Eco mode, the amplification factor is set to 0.

5. The damping force control method for an active vibration damper according to claim 3, characterized in that: The step of setting multiple amplification factors for the required torque based on multiple preset driving modes includes: When the driving mode is comfort mode, the amplification factor is set to be greater than 0 and less than or equal to 1.

6. The damping force control method for an active vibration damper according to claim 3, characterized in that: The step of setting multiple amplification factors for the required torque based on multiple preset driving modes includes: When the driving mode is Sport mode, the amplification factor is set to be greater than or equal to -1 and less than 0.

7. The damping force control method for an active vibration damper according to claim 3, characterized in that: The step of setting multiple amplification factors for the required torque based on multiple preset driving modes includes: When the driving mode is a custom mode, the magnification factor is set to the user's input value, which is greater than -1 and less than 1.

8. A controller, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the damping force control method for an active damper as described in any one of claims 1 to 7.

9. A vehicle, characterized in that, It includes the controller as described in claim 8.

10. A computer-readable storage medium, characterized in that, The device stores computer-executable instructions for performing the damping force control method for an active damper as described in any one of claims 1 to 7.

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