Hydraulic coupling active shock absorber, control method and system, vehicle, and storage medium

Abstract

The present invention belongs to the technical field of vehicles. Disclosed are a hydraulic coupling active shock absorber, a control method and system, a vehicle and a storage medium. The hydraulic coupling active shock absorber comprises: a hydraulic coupling mechanism, comprising an input shaft connected to a driving member and an output shaft connected to a driven member, oil being contained between the driving member and the driven member; a transmission mechanism, connected to the output shaft; and a driving member, used for driving the input shaft to rotate. Transferring torque by means of the oil can achieve the effect of shock absorption. The driving member drives the input shaft to rotate, so as to transfer the torque to the output shaft by means of the oil, and finally the torque is converted by the transmission mechanism into an active force or a damping force to act on a vehicle body, thereby achieving the effect of active shock absorption, increasing the flexibility of the shock absorber, and avoiding system jams. Because of the uncertainty of road excitation, using the shock absorber can reduce shocks. In addition, the absence of parts such as a solenoid valve and a hydraulic pump reduces structural complexity and achieves relatively easy structural control.

Description

Hydraulic coupling active damper and control method, system, vehicle, storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a hydraulic coupling active damper and control method, system, vehicle, storage medium. BACKGROUND

[0002] The active damper currently used by vehicles is a cylinder type active damper. The cylinder type active damper drives a hydraulic cylinder through an electric hydraulic pump to control the active damper, and the actuator vibration drives the oil to flow through the valve to control the damping force. This structure needs to separately control the electric hydraulic pump to control the active force, and control the electromagnetic valve to control the damping force. The active damping control structure of the cylinder type active damper needs to determine the timing of the electromagnetic valve and the electric hydraulic pump in real time, which is relatively complex.

[0003] SUMMARY

[0004] The present application aims to provide a hydraulic coupling active damper and control method, system, vehicle, storage medium to solve one or more technical problems existing in the prior art, at least to provide a beneficial choice or create conditions.

[0005] To solve the above technical problems, the technical solution adopted is: a hydraulic coupling active damper for reducing the vibration between the vehicle body and the chassis in a vehicle, the active damper comprising: a hydraulic coupling mechanism comprising an input shaft and an output shaft arranged in relative rotation, the input shaft being connected with an active part, the output shaft being connected with a driven part, a containing space being formed between the active part and the driven part, the containing space containing oil for transmitting torque; a transmission mechanism, one end of which is connected with the output shaft, and the other end of which is connected with the vehicle body, the vehicle body and the output shaft being drivingly connected through the transmission mechanism; a driving part installed on the chassis, the driving part being used to drive the input shaft to rotate.

[0006] The technical solution has at least the following beneficial effects: the driving part drives the input shaft and the active part to rotate, and under the torque transmission effect of the oil, the output shaft forms a certain torque, the rotational motion is converted into vibrational motion through the transmission mechanism, the torque is converted into active force or damping force and acts on the vehicle body, thereby achieving the effect of active damping. Using oil to transmit torque can increase the flexibility of the damper and prevent the system from being stuck. Due to the uncertainty of road excitation, the damper can reduce the impact on the driving part. In addition, there are no electromagnetic valves and hydraulic pumps, which reduces the complexity of the structure.

[0007] As a further improvement of the above technical solution, the driving member is connected with the input shaft through a planetary gear reducer. The output end of the driving member is speed-reduced and torque-increased through the planetary gear reducer, so as to ensure that a larger driving torque can be provided. The planetary gear reducer is light in weight and small in size, which is beneficial to the arrangement and weight reduction of the vehicle chassis. Meanwhile, the planetary gear reducer has a large transmission ratio range, and can provide a larger resultant torque, so as to provide a larger input torque for the input shaft of the hydraulic coupling mechanism. In addition, the gears of the planetary gear reducer are well meshed, and have the advantages of stable operation, which is beneficial to the accuracy and stability of driving control, so as to improve the control effect of active damping.

[0008] As a further improvement of the above technical solution, the transmission mechanism comprises a first rocker arm and a second rocker arm, one end of the second rocker arm is rotatably connected with the vehicle body, the other end is rotatably connected with the first rocker arm, and the first rocker arm away from the one end of the second rocker arm is connected with the output shaft. When the output shaft outputs torque, the first rocker arm can be swung to drive the second rocker arm to swing, so as to realize the conversion of rotary motion and vibration motion. The rotatable connection between the vehicle body and the second rocker arm and the rotatable connection between the first rocker arm and the second rocker arm can maintain good stability during frequent motion, and have a long service life, so as to ensure the safety of the vehicle.

[0009] As a further improvement of the above technical solution, the transmission mechanism comprises a gear and a rack connected in meshing, the rack is connected with the vehicle body, and the gear is installed on the output shaft. When the output shaft outputs torque, the gear can be rotated to drive the rack to move, so as to realize the conversion of rotary motion and vibration motion.

[0010] As a further improvement of the above technical solution, the transmission mechanism comprises a lead screw and a nut sleeved on the lead screw, a ball and a circulating loop for moving the ball are arranged between the nut and the lead screw, the nut is connected with the vehicle body, and the lead screw is connected with the output shaft. When the output shaft outputs torque, the lead screw can be rotated to drive the nut to move, so as to realize the conversion of rotary motion and vibration motion.

[0011] As a further improvement of the above technical solution, the accommodating space comprises an axial gap space and / or a radial gap space. The axial gap space is a gap space formed between the surfaces of the driving member and the driven member which are perpendicular to the output shaft axis. The radial gap space is a gap space formed between the surfaces of the driving member and the driven member which are parallel to the output shaft axis.

[0012] As a further improvement of the above technical solution, the driving part is a driving oil pan, the driven part is a driven oil pan, and the shaft gap space is formed between the driving oil pan and the driven oil pan. The overall thickness size of the fluid coupling mechanism is small, which is beneficial to heat dissipation and stable transmission of axial torque.

[0013] As a further improvement of the above technical solution, the driving part is a driving oil pan, the driven part is a driven oil pan, and the shaft gap space is formed between the driving oil pan and the driven oil pan. The overall thickness size of the fluid coupling mechanism is small, which is beneficial to heat dissipation and stable transmission of axial torque.

[0014] As a further improvement of the above technical solution, the driving part or the driven part can be slidably arranged along the axis direction of the output shaft, and the fluid coupling mechanism further comprises a driving mechanism capable of driving the driving part or the driven part to slide. When the driving part or the driven part slides along the axis direction of the output shaft, the accommodation space between the driving part and the driven part changes, and the torque transmission efficiency and flexibility of the fluid coupling mechanism change, so as to adapt to different vehicle driving comfort requirements.

[0015] As a further improvement of the above technical solution, the driving mechanism comprises a telescopic cylinder and a telescopic container, the output end of the telescopic cylinder is connected with the driving part or the driven part, and the telescopic container is provided with a telescopic space capable of being contracted or expanded. The telescopic space is in communication with the accommodation space and is filled with the oil. By controlling the telescopic cylinder to push the driving part or the driven part, the distance between the driving part and the driven part can be changed, so that the volume of the accommodation space increases or decreases. At this time, the required additional oil or the excess oil can be supplemented or collected through the oil in the telescopic container, so as to change the torque transmission efficiency and flexibility of the fluid coupling mechanism, and adapt to different vehicle driving comfort requirements.

[0016] As a further improvement of the above technical solution, the driving mechanism is an oil pump, a pump port of the oil pump is in communication with the accommodation space through a pipeline, the pipeline is filled with the oil, the oil pump is used to pump out the oil from the accommodation space or input the oil into the accommodation space, and the pipeline is provided with a valve. By controlling the valve and the oil pump to pump out or add the oil in the accommodation space, the relative position between the driving part and the driven part can be changed according to the amount of oil, the distance between the driving part and the driven part is changed, the torque transmission efficiency and flexibility of the fluid coupling mechanism are changed, and different vehicle driving comfort requirements are adapted.

[0017] A control method of a hydraulic coupling active damper, applied to any of the hydraulic coupling active dampers described above, the control method comprising: obtaining a required damping parameter of the vehicle; determining a target damping torque of the output shaft according to the damping parameter; calculating a target relative speed between the input shaft and the output shaft according to the target damping torque; and controlling the driving member to operate according to the target relative speed, so that a real-time relative speed between the input shaft and the output shaft reaches the target relative speed. By controlling the parameter output by the driving member and the relative speed between the input shaft and the output shaft, the active force or damping force can be controlled according to the required damping parameter, so that the active damping control of the vehicle is realized. The control method is easy to implement and stable and reliable.

[0018] Optionally, the controlling the driving member to operate according to the target relative speed comprises: obtaining a real-time relative speed between the input shaft and the output shaft; determining a relative speed difference value according to the real-time relative speed and the target relative speed; and controlling the driving member to operate according to the relative speed difference value. The relative speed difference value can be obtained according to the target damping torque, and the real-time relative speed between the input shaft and the output shaft is obtained, so that it can be known how much the real-time relative speed is away from the target relative speed. The value of the relative speed difference value is relatively accurate, the driving member is controlled according to the relative speed difference value, the real-time relative speed is obtained and transmitted simply, redundant calculation steps are reduced, calculation errors are reduced, and control accuracy and response efficiency are improved.

[0019] Optionally, the calculating the target relative speed between the input shaft and the output shaft according to the target damping torque comprises: obtaining an oil temperature of the oil; determining a viscosity of the oil according to the oil temperature; and calculating the target relative speed according to the viscosity of the oil and the target damping torque. The viscosity of the current oil is determined according to the temperature of the oil, so that the calculation accuracy of the target relative speed is improved, and the effect of the active damping is improved.

[0020] A control system of a hydraulic coupling active damper, comprising: an obtaining module, configured to obtain a required damping parameter of the vehicle; a calculating module, configured to determine a target damping torque of the output shaft according to the damping parameter, and calculate a target relative speed between the input shaft and the output shaft according to the target damping torque; and a control module, configured to control the driving member to operate according to the target relative speed, so that a real-time relative speed between the input shaft and the output shaft reaches the target relative speed.

[0021] A vehicle, comprising a memory and a processor, the memory storing a computer program, and the processor being configured to run the computer program to execute the control method of any of the hydraulic coupling active dampers described above.

[0022] A storage medium, in which a computer program is stored, wherein the computer program is configured to execute the control method of the hydraulic coupling active damper when running on a computer or a processor. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application. In the drawings:

[0024] Fig. 1 is a schematic diagram of the overall structure of an embodiment of the application;

[0025] Fig. 2 is a schematic diagram of another specific structure of the driving oil disc and the driven oil disc in the embodiment of the application;

[0026] Fig. 3 is a flow chart of the control method of the hydraulic coupling active damper in the embodiment of the application;

[0027] Fig. 4 is a structural block diagram of the control system of the hydraulic coupling active damper in the embodiment of the application;

[0028] Fig. 5 is a schematic diagram of the hydraulic coupling mechanism in the embodiment of the application;

[0029] Fig. 6 is a schematic diagram of the hydraulic coupling mechanism in the embodiment of the application;

[0030] Fig. 7 is a schematic diagram of the transmission mechanism in the embodiment of the application;

[0031] Fig. 8 is a schematic diagram of the transmission mechanism in the embodiment of the application;

[0032] Fig. 9 is a schematic diagram of the driving mechanism in the embodiment of the application.

[0033] Driving member 10, hydraulic coupling mechanism 20, driving oil disc 21, driven oil disc 22, input shaft 23, output shaft 24, speed reduction mechanism 25, driving oil cylinder 26, driven oil cylinder 27, shaft gap space 28, radial gap space 29, transmission mechanism 30, first rocker arm 31, second rocker arm 32, gear 33, rack 34, limiting member 35, screw rod 36, nut 37, driving mechanism 40, telescopic cylinder 41, telescopic container 42, oil pump 43, pipeline 44, valve 45. DETAILED DESCRIPTION

[0034] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application, so that those skilled in the art can better understand the technical solutions of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present application.

[0035] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to include only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0036] According to the embodiments of the present application, an embodiment of a hydraulic coupling active damper and a control method is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system including at least one set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that described herein.

[0037] The method embodiments can also be executed in an electronic system / device including a memory and a processor, a similar control device or a cloud. Taking the electronic system / device as an example, the electronic system / device can include one or more processors and a memory for storing data. Optionally, the above-mentioned electronic system / device can also include a communication device for communication function and a display device. Those skilled in the art can understand that the above structural description is only illustrative, and does not limit the structure of the above-mentioned electronic system / device. For example, the electronic system / device can include more or less components than the above structural description, or have a different configuration from the above structural description.

[0038] The processor can include one or more processing units. For example, the processor can include a processing system of a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural-network processing unit (NPU), a tensor processing unit (TPU), an artificial intelligent (AI) type processor, or the like. Different processing units can be independent components or integrated in one or more processors. In some examples, the electronic system can also include one or more processors.

[0039] The memory can be used to store a computer program, for example, a computer program corresponding to the vehicle control method in the embodiments of the present application. The processor can implement the vehicle control method described above by running the computer program stored in the memory. The memory can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage systems, flash memories, or other non-volatile solid-state memories. In some examples, the memory can further include a memory remotely arranged with respect to the processor, which can be connected to the electronic system through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0040] Embodiment one:

[0041] Referring to FIG. 1, the hydraulic coupling active damper includes a driving member 10, a hydraulic coupling mechanism 20, and a transmission mechanism 30. The hydraulic coupling mechanism 20 includes an input shaft 23 and an output shaft 24, and the input shaft 23 is arranged opposite to the output shaft 24. The input shaft 23 is installed with a driving member near one end of the output shaft 24, and the output shaft 24 is installed with a driven member near one end of the input shaft 23. A closed containing space is formed between the driving member and the driven member, and the containing space is filled with high-viscosity oil. The high-viscosity oil can transmit torque through hydraulic transmission, so that the driving member and the driven member can transmit torque, thereby enabling the output shaft 24 and the input shaft 23 to transmit torque. At the same time, the transmission relationship between the input shaft 23 and the output shaft 24 has great flexibility when transmitting torque through the oil.

[0042] Specifically, the driving member is a driving oil disc 21, which is disc-shaped and coaxially arranged with the input shaft 23. The driven member is a driven oil disc 22, which is disc-shaped and has the same diameter as the driving oil disc 21, and is coaxially arranged with the output shaft 24. The driving oil disc 21 and the driven oil disc 22 are spaced apart by a predetermined distance, so that the driving oil disc 21 and the driven oil disc 22 form an axial gap space 28 between the sides close to each other, i.e. the sides perpendicular to the axis of the output shaft 24, which constitutes an accommodation space for accommodating oil.

[0043] In addition, the outer side of the driving oil disc 21 is integrally formed with a shell, i.e. the shell rotates with the driving oil disc 21. The shell is sealed and wrapped around the outer periphery of the driven oil disc 22, and the side of the shell away from the input shaft 23 is rotationally connected between the output shaft 24, and the shell and the output shaft 24 are sealed by a sealing ring, so that a sealed accommodation space is formed between the driving oil disc 21 and the driven oil disc 22. It can be understood that, since the shell is integrally arranged with the driving oil disc 21, the sealing between the shell and the driving oil disc 21 or the sealing between the shell and the input shaft 23 does not need to be considered, and only the sealing between the driven oil disc 22 and the shell or the sealing between the shell and the output shaft 24 needs to be considered to ensure the sealing of the accommodation space, so that the oil is not easy to leak or seep out.

[0044] Referring to FIG. 2, in other embodiments, the shell can also be rotationally connected with the driving oil disc 21, the side of the shell away from the output shaft 24 is rotationally connected between the input shaft 23, and the shell and the input shaft 23 are sealed by a sealing ring, and the shell is wrapped around the outer sides of the driving oil disc 21 and the driven oil disc 22. At this time, the shell of the fluid coupling mechanism 20 can be relatively fixed on the chassis, improving the installation stability of the fluid coupling mechanism 20.

[0045] Referring to FIG. 1, the transmission mechanism 30 includes a first rocker arm 31 and a second rocker arm 32, one end of the second rocker arm 32 is rotationally connected with the first rocker arm 31, and the end of the first rocker arm 31 away from the second rocker arm 32 is fixedly connected with the output shaft 24 of the fluid coupling mechanism 20. The driving member 10 can be but is not limited to a motor, and the output end of the motor is connected with the output shaft of the fluid coupling mechanism 20.

[0046] When the hydraulic coupling active damper of the present embodiment is used to reduce the vibration between the vehicle body and the chassis, the driving member 10 is installed on the chassis, the second rocker arm 32 is rotatably installed on the vehicle body away from the first rocker arm 31, and the input shaft 23 and the output shaft 24 are rotatably installed on the chassis. When the vehicle body vibrates relative to the chassis, the second rocker arm 32 is pushed to swing, the swing of the second rocker arm 32 causes the first rocker arm 31 to swing, and the swing of the first rocker arm 31 can drive the output shaft 24 and the driven oil disc 22 to rotate. If the motor is in an idle state at this time, the driven oil disc 22 consumes part of the energy in the process of rotating due to the action of the oil, thereby achieving the effect of reducing vibration. If the control motor drives the input shaft 23 and the driving oil disc 21 to rotate at this time, the torque can be transmitted to the driven oil disc 22 under the action of the oil, and under the transmission action of the first rocker arm 31 and the second rocker arm 32, the torque is converted into driving force or damping force acting on the vehicle body, thereby realizing active damping of the vehicle body relative to the chassis. Moreover, the torque is transmitted by oil, which can increase the flexibility of the hydraulic coupling active damper and prevent the system from being stuck. At the same time, due to the uncertainty of road excitation, the use of the hydraulic coupling active damper can reduce the impact on the motor.

[0047] In addition, a speed reduction mechanism 25 is connected between the output end of the motor and the input shaft 23 of the hydraulic coupling mechanism 20, and the speed reduction mechanism 25 is preferably a planetary gear reducer. The planetary gear reducer has the advantages of light weight and small size, which is beneficial to the layout of the vehicle chassis and reduces the weight of the vehicle chassis. At the same time, the planetary gear reducer has a large transmission ratio range, which can greatly reduce the speed and increase the torque of the output end of the motor, provide a larger resultant torque, and the gears of the planetary gear reducer mesh well, have the advantage of stable operation, and are beneficial to the accuracy and stability of driving control, thereby improving the control effect of active damping.

[0048] The driving oil disc 21 and the driven oil disc 22 can not only rotate relative to each other, but also can slide relative to each other along the axial direction by a predetermined distance. Specifically, the motor is fixed relative to the chassis, the output end of the motor is fixedly connected with the driving oil disc 21 through the planetary gear reducer, and the center position of the driving oil disc 21 is fixed relative to the chassis. The driven oil disc 22 and the shell are not only rotatably connected, but also can move relative to each other in the axial direction, and are sealingly arranged between the driven oil disc 22 and the inner side of the shell. The output shaft 24 fixedly connected with the driven oil disc 22 and the first rocker arm 31 away from the second rocker arm 32 can slide relative to each other along the axial direction by a predetermined distance, and the rotation of the output shaft 24 can drive the first rocker arm 31 to swing. For example, a square hole is formed in the end of the first rocker arm 31 away from the second rocker arm 32, and the end of the output shaft 24 is in the shape of a square bar and is arranged in the square hole. The hydraulic coupling mechanism further comprises a driving mechanism 40, which can drive the driven oil disc 22 to slide relative to the driving oil disc 21 along the axial direction, so as to adjust the distance between the driving oil disc 21 and the driven oil disc 22, thereby changing the flexibility of the hydraulic coupling mechanism 20, and further adapting to different vehicle comfort requirements.

[0049] The driving mechanism 40 includes an oil pump 43 and a valve 45, both of which are fixedly installed on the outside of the housing, i.e., can rotate with the housing. The pump port of the oil pump 43 is connected with a pipeline 44, the other end of the pipeline 44 is communicated with the accommodating space by penetrating the housing, so that the accommodating space and the pipeline 44 are filled with oil. The valve 45 is installed in the pipeline 44. The valve 45 is used to open and close the pipeline 44 to ensure the airtightness of the accommodating space. When the valve 45 is opened, the oil pump 43 is controlled to extract or input oil from or into the accommodating space through the pipeline 44. Due to the pressure difference between the inside and the outside of the driven oil disc 22, the driven oil disc 22 moves, so that the axial movement of the driven oil disc 22 relative to the driving oil disc 21 can be realized.

[0050] In other embodiments, the end of the pipeline 44 communicating with the accommodating space can also be provided with a circular ring pipe, the inside of the circular ring pipe is communicated with the inside of the pipeline 44, the circular ring pipe is coaxially arranged on the outside of the driving oil disc 21 close to the input shaft 23, and the circular ring pipe and the driving oil disc 21 can relatively rotate. The side of the circular ring pipe abutting the driving oil disc 21 is provided with a first annular opening, the driving oil disc 21 is provided with a second annular opening communicated with the accommodating space, and the first annular opening and the second annular opening are relatively sealed and rotatably arranged, so that the oil pump 43 and the valve 45 can be relatively fixed on the chassis without rotating with the driving oil disc 21. It should be noted that the pipeline 44 communicating with the accommodating space can also be connected with the driving oil disc 21 or the driven oil disc 22 through the circular ring pipe in addition to penetrating the housing, the driving oil disc 21 or the driven oil disc 22.

[0051] In other embodiments, the center position of the driven oil disc 22 can also be fixed relative to the chassis. The input shaft 23 connected with the driving oil disc 21 can move axially relative to the driven oil disc 22. The output end of the motor is fixedly connected with the input end of the planetary gear reducer, and the output end of the planetary gear reducer can drive the input shaft 23 to rotate and axially relatively slide through the square hole structure and the square strip structure. At this time, the driving mechanism 40 drives the driving oil disc 21 to slide axially relative to the driven oil disc 22, and by controlling the oil pump 43 to input or extract oil, the driving oil disc 21 can be pushed to move relative to the driven oil disc 22. Thus, the distance between the driving oil disc 21 and the driven oil disc 22 can be adjusted to change the flexibility of the fluid coupling mechanism 20, thereby adapting to different vehicle comfort requirements.

[0052] A position sensor is installed between the driving oil disc 21 and the driven oil disc 22, which can be used to detect the relative position of the driving oil disc 21 and the driven oil disc 22, and the relative angular velocity or relative rotational speed between the driving oil disc 21 and the driven oil disc 22 can be calculated according to the relative position at different times. A temperature sensor is also arranged between the driving oil disc 21 and the driven oil disc 22, which can detect the oil temperature in the containing space.

[0053] As shown in FIG. 3, the embodiment also discloses a hydraulic coupling driving damper control method, comprising the following steps:

[0054] In step S100, the required damping parameter of the vehicle is obtained.

[0055] Specifically, the required damping parameter of the vehicle can be obtained by measuring the vertical acceleration of the vehicle body or the vertical acceleration relative to the chassis, and calculating according to different comfort requirements to obtain the damping parameter. It can be understood that the damping parameter can represent the degree of active damping required by the vehicle.

[0056] In step S200, the target damping torque of the output shaft is determined according to the damping parameter.

[0057] Specifically, by the damping parameter, i.e., the degree of active damping required by the vehicle, and by force analysis of the vehicle body, the transmission mechanism 30 and the output shaft 24, etc., the torque value of the output shaft at the time when the damping parameter requirement is met, i.e., the target damping torque, can be obtained by physical calculation. In other embodiments, the corresponding relationship between the damping parameter and the target damping torque can also be obtained by multiple test measurements, and the target damping torque can be determined according to the corresponding relationship.

[0058] In step S300, the target relative speed between the input shaft and the output shaft is calculated according to the target damping torque.

[0059] Specifically, the target relative speed refers to the difference in angular speed between the input shaft and the output shaft required to achieve the target damping torque. According to the specific hydraulic transmission torque of the hydraulic coupling mechanism 20, the value of the target relative speed can be calculated by the following formula: Wherein, T is the target damping torque; Δω is the target relative speed; δ is the gap size between the opposite sides of the driving oil disc 21 and the driven oil disc 22; μ is the viscosity of the oil; d is the effective diameter of the overlapping part of the opposite sides of the driving oil disc 21 and the driven oil disc 22. In other embodiments, the target relative speed can also refer to the difference in rotational speed between the input shaft and the output shaft required to achieve the target damping torque, and the specific calculation formula can be converted by the relationship between angular speed and rotational speed.

[0060] In step S400, the driving member is controlled to operate according to the target relative speed, so that the real-time relative speed between the input shaft and the output shaft reaches the target relative speed.

[0061] Specifically, the target relative speed, i.e. the required relative angular velocity value between the input shaft 23 and the output shaft 24, is achieved by controlling the rotation speed of the driving member 10, i.e. the motor, to a preset value, adjusting the current rotation speed of the input shaft 23, and adjusting the relative angular velocity value between the input shaft 23 and the output shaft 24 to the target relative speed, so as to achieve the provision of the target damping torque and provide the required damping parameter for the vehicle. It should be noted that if a speed reduction mechanism 25 is further arranged between the output end of the driving member 10 and the input shaft 23 of the hydraulic coupling mechanism 20, the speed reduction transmission ratio of the speed reduction mechanism 25 needs to be obtained to convert the rotation speed of the output end of the driving member 10 into the rotation speed of the input shaft 23.

[0062] The control method of the hydraulic coupling active damper of the embodiment of the present application only needs to control the operation of the driving member, i.e. the rotation speed of the output end of the motor, to provide the active force or damping force according to the required damping parameter, so as to achieve the active damping control of the vehicle. The control method is easy to implement and stable and reliable.

[0063] Optionally, in step S400, the driving member is controlled to operate according to the target relative speed, including: obtaining the real-time relative speed between the input shaft and the output shaft; determining a relative speed difference value according to the real-time relative speed and the target relative speed; and controlling the driving member to operate according to the relative speed difference value.

[0064] Specifically, the real-time relative speed between the input shaft and the output shaft can be obtained by measuring the real-time relative speed between the driving oil disc 21 and the driven oil disc 22, and the real-time relative speed between the driving oil disc 21 and the driven oil disc 22 can be obtained by arranging a position sensor between the driving oil disc 21 and the driven oil disc 22 and measuring and calculating the position sensor. Since the target relative speed calculated according to the target damping torque represents the difference between the required driving oil disc 21 speed and the required driven oil disc 22 speed, the real-time relative speed between the driving oil disc 21 and the driven oil disc 22 corresponds to the target relative speed in physical meaning, and therefore the accuracy of the relative speed difference value is relatively high. The driving member is controlled according to the high-accuracy relative speed difference value, so as to improve the control accuracy of the active damping. Generally, when the driving member is a motor, the controller of the motor itself also includes a sensor for measuring the position or rotation speed of the output end of the motor. According to the position or rotation speed and the real-time relative speed, the required rotation speed of the motor can be calculated and obtained, so as to facilitate the control of the motor. In other embodiments, the real-time rotation speed of the driven oil disc 22 can also be measured by a position sensor, so as to obtain the required rotation speed of the driving oil disc 21 according to the target relative speed, control the output end of the driving member to reach the corresponding rotation speed according to the required rotation speed, and achieve the active damping control of the vehicle.

[0065] Optionally, in step S300, calculating the target relative speed between the input shaft and the output shaft according to the target damping torque further comprises step S301: obtaining an oil temperature of the oil; determining a viscosity of the oil according to the oil temperature, and calculating the target relative speed according to the viscosity of the oil and the target damping torque.

[0066] Specifically, under the frequent vibration of the vehicle body and the chassis, the temperature of the oil can change greatly, thereby affecting the viscosity of the oil itself. Therefore, by measuring the temperature of the oil, the viscosity of the current oil is determined according to the current temperature of the oil, the influence of the oil temperature is reduced by calculating in real time, and the accuracy of the calculation is improved, thereby improving the accuracy of the active damping control.

[0067] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute the method of each embodiment of the present application.

[0068] In the present embodiment, a control system of a hydrodynamic coupling active damper is also provided, which is used to realize the above embodiments and preferred embodiments, and will not be described again. As used below, the term "module" is a combination of software and / or hardware that can realize a predetermined function. Although the devices described in the following embodiments are preferably realized in software, hardware or a combination of software and hardware is also possible and is conceived.

[0069] As shown in FIG. 4, a control system of a hydrodynamic coupling active damper comprises:

[0070] The obtaining module 600 is used to execute the above step S100, and specifically, the obtaining module is used to: obtain the damping parameters required by the vehicle;

[0071] The calculating module 700 is used to execute the above steps S200 and S300, and specifically, the calculating module is used to: determine the target damping torque of the output shaft according to the damping parameters; and calculate the target relative speed between the input shaft and the output shaft according to the target damping torque;

[0072] The control module 800 is configured to execute the step S400, and specifically, the control module is configured to control the driving member to operate according to the target relative speed, so that the real-time relative speed between the input shaft and the output shaft reaches the target relative speed.

[0073] Optionally, the acquisition module 600 is further configured to acquire a real-time relative speed between the input shaft and the output shaft, and the calculation module 700 is further configured to determine a relative speed difference value according to the real-time relative speed and the target relative speed, and the control module 800 is further configured to control the driving member to operate according to the relative speed difference value.

[0074] Optionally, the acquisition module 600 is further configured to acquire an oil temperature of the oil, and the calculation module 700 is further configured to determine a viscosity of the oil according to the oil temperature, and the calculation module 700 is further configured to calculate the target relative speed according to the viscosity of the oil and the target damping torque.

[0075] Optionally, specific examples in the present embodiment can refer to the examples described in the above embodiments and optional implementation manners, and the present embodiment will not be described here again.

[0076] The embodiments of the present application further provide a vehicle comprising a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the control method of the hydrodynamic coupling active damper in any of the above embodiments.

[0077] Optionally, in the present embodiment, the processor in the vehicle can be configured to execute the computer program to perform the steps of the control method in the above embodiments:

[0078] Step S100: acquiring a damping parameter required by the vehicle;

[0079] Step S200: determining a target damping torque of the output shaft according to the damping parameter;

[0080] Step S300: calculating a target relative speed between the input shaft and the output shaft according to the target damping torque;

[0081] Step S400: controlling the driving member to operate according to the target relative speed, so that the real-time relative speed between the input shaft and the output shaft reaches the target relative speed.

[0082] Optionally, specific examples in the present embodiment can refer to the examples described in the above embodiments and optional implementation manners, and the present embodiment will not be described here again.

[0083] The embodiments of the present application further provide a storage medium, and the storage medium stores a computer program, wherein the computer program is configured to execute the control method of the hydrodynamic coupling active damper in any of the above embodiments when running on a computer or a processor.

[0084] Optionally, in the embodiment, the computer program described above can be configured to store a computer program for executing the steps of the control method in the foregoing embodiments:

[0085] Step S100: obtaining a damping parameter required by the vehicle;

[0086] Step S200: determining a target damping torque of the output shaft according to the damping parameter;

[0087] Step S300: calculating a target relative speed between the input shaft and the output shaft according to the target damping torque;

[0088] Step S400: controlling the driving member to operate according to the target relative speed, so that a real-time relative speed between the input shaft and the output shaft reaches the target relative speed.

[0089] Optionally, specific examples in the embodiment can refer to the examples described in the foregoing embodiments and optional implementation manners, which will not be described herein again.

[0090] Embodiment Two:

[0091] As shown in FIG. 5, the hydraulic coupling active damper in the embodiment is different from that in Embodiment One in that the driving member and the driven member are different. In the embodiment, the driving member is a driving oil cylinder 26, which is in a cylindrical structure. The driving oil cylinder 26 is coaxially connected to the input shaft 23 at one end. The driven member is a driven oil cylinder 27, which is in a cylindrical structure. The driven oil cylinder 27 is coaxially connected to the output shaft 24 at one end. The driving oil cylinder 26 is sleeved on the outer periphery of the driven oil cylinder 27. The end of the driven oil cylinder 27 away from the output shaft 24 abuts against the inner end side of the driving oil cylinder 26. The end of the driving oil cylinder 26 away from the input shaft 23 is sealingly and rotatably connected to the output shaft 24. The outer side wall of the driven oil cylinder 27 and the inner side wall of the driving oil cylinder 26 are both perpendicular to the axis of the output shaft 24. The outer diameter of the driven oil cylinder 27 is smaller than the inner diameter of the driving oil cylinder 26, so that a circular annular radial gap space 29 is formed between the outer side wall of the driven oil cylinder 27 and the inner side wall of the driving oil cylinder 26. The radial gap space 29 constitutes an accommodation space for accommodating oil. When the input shaft 23 and the output shaft 24 rotate relative to each other, the driving oil cylinder 26 and the driven oil cylinder 27 rotate relative to each other, and the torque is transmitted through the oil in the radial gap space 29.

[0092] In addition, the control method of the hydraulic coupling active damper in the embodiment is different from that in Embodiment One in that the calculation formula in step S300 is different. In the embodiment, when step S300 calculates the target relative speed between the input shaft and the output shaft according to the target damping torque, the value of the target relative speed is calculated by the following formula: Wherein, T is the target damping torque; Δn is the relative rotation speed; δ is the gap size between the inner wall of the driving oil cylinder 26 and the outer wall of the driven oil cylinder 27; μ is the viscosity of the oil; r is the radius of the outer wall of the driven oil cylinder 27, L is the length of the overlapping part of the outer wall of the driven oil cylinder 27 and the inner wall of the driven oil cylinder 27 in the axial direction, and the relative rotation speed can be converted into the target relative speed through the relationship between the angular velocity and the rotation speed.

[0093] Embodiment Three

[0094] As shown in FIG. 6, the hydraulic coupling driving damper in the embodiment is different from the hydraulic coupling driving dampers in Embodiments One and Two in that the driving part and the driven part are different. The driving part in the embodiment includes the driving oil disc 21 and the driving oil cylinder 26, and the driving oil cylinder 26 is coaxially fixed at one end of the driving oil disc 21 away from the input shaft 23. The driven part includes the driven oil disc 22 and the driven oil cylinder 27, and the driven oil disc 22 is coaxially fixed at one end of the driven oil disc 22 away from the output shaft 24. The driving oil cylinder 26 and the driven oil cylinder 27 can each be provided with one or multiple cylinders with different radii, and the driving oil cylinder 26 and the driven oil cylinder 27 are arranged in an alternating and staggered manner.

[0095] The driving oil disc 21 and the driven oil cylinder 27 away from the driven oil disc 22 and the driven oil disc 22 and the driving oil cylinder 26 away from the driving oil disc 21 are spaced apart by a predetermined distance, so that the driving oil disc 21 and the driven oil cylinder 27 away from the driven oil disc 22 and the driven oil disc 22 and the driving oil cylinder 26 away from the driving oil disc 21 each form an axial gap space 28. A circular annular radial gap space 29 is formed between the side wall of the driven oil cylinder 27 and the side wall of the adjacent driving oil cylinder 26. When the input shaft 23 and the output shaft 24 rotate relative to each other, the driving oil disc 21 and the driven oil disc 22 rotate relative to each other, and the driving oil cylinder 26 and the driven oil cylinder 27 also rotate relative to each other, and the torque is transmitted through the oil in the axial gap space 28 and the radial gap space 29.

[0096] In addition, the formula used in the step S300 of the control method of the hydraulic coupling driving damper in the embodiment is different from the formula used in the step S300 of the control method of the hydraulic coupling driving damper in Embodiments One and Two when calculating the target relative speed.

[0097] Embodiment Four

[0098] As shown in Fig. 7, the hydraulic coupling active damper in the embodiment is different from the first embodiment in the transmission mechanism 30. In the embodiment, the transmission mechanism 30 comprises a gear 33 and a rack 34. The gear 33 is installed on the output shaft 24, and the axis of the gear 33 coincides with the axis of the output shaft 24. One end of the rack 34 is fixedly installed on the vehicle body, and the rack 34 is in meshing connection with the gear 33, so that the vibration of the vehicle body relative to the chassis can be transmitted to the output shaft 24 through the rack 34 and the gear 33, realizing the transmission connection between the vehicle body and the output shaft. It should be noted that during the vibration of the vehicle body relative to the chassis, the rack 34 and the gear 33 are in the state of meshing connection. In other embodiments, in order to improve the flexibility of the relative movement between the vehicle body and the chassis, one end of the rack 34 can be rotatably connected with the vehicle body, and the rotation axis of the rack 34 relative to the vehicle body is parallel to the axis of the gear 33. A limiting piece 35 is rotatably installed at the end of the output shaft 24. The middle part of the limiting piece 35 is a cylindrical structure which abuts against the side of the rack 34 away from the gear 33, so as to limit the rack 34 from disengaging from the gear 33, and ensure the meshing connection between the gear 33 and the rack 34. The end of the rack 34 away from the vehicle body further forms a limiting block, and the width of the limiting block is greater than the distance between the cylindrical structure and the gear 33, so as to prevent the rack 34 from disengaging from the range between the cylindrical structure and the gear 33, and prevent the rack 34 and the gear 33 from disengaging from the meshing relationship. It should be noted that in other embodiments, the transmission mechanism 30 can also be other connection structures which can realize the conversion between the vibration motion and the rotary motion, and is not limited to the specific structures described in the first embodiment and the embodiment.

[0099] Embodiment five:

[0100] As shown in Fig. 8, the hydraulic coupling active damper in the embodiment is different from the first embodiment and the fourth embodiment in the transmission mechanism 30. The transmission mechanism 30 in the embodiment comprises a screw rod 36 and a nut 37, the nut 37 is sleeved on the outer circumferential side of the screw rod 36, a plurality of balls are arranged between the nut 37 and the screw rod 36, the outer circumference of the screw rod 36 is formed with a helical first sliding channel, the inner side of the nut 37 is provided with a helical second sliding channel, the first sliding channel and the second sliding channel can guide the sliding of the balls, and a circulation loop is further formed in the nut 37 for the circulation sliding of the balls, so that when the screw rod 36 is rotated, the nut 37 can be driven to slide along the axial direction. The nut 37 is connected with the vehicle body, and one end of the screw rod 36 is coaxially connected with the output shaft 24. By controlling the motor to drive the input shaft 23 and the driving oil disc 21 to rotate, under the action of the oil, the torque can be transmitted to the driven oil disc 22, and under the transmission action of the screw rod 36 and the nut 37, the torque is converted into the driving force or the damping force acting on the vehicle body, so as to realize the active damping of the vehicle body relative to the chassis. It should be noted that in other embodiments, the transmission mechanism 30 can also be other connection structures that can realize the conversion between vibration motion and rotary motion, and is not limited to the specific structures described in the first embodiment, the fourth embodiment and the present embodiment.

[0101] Embodiment six:

[0102] As shown in Fig. 9, the hydraulic coupling active damper in the embodiment is different from the first embodiment in the driving mechanism 40. The driving mechanism 40 in the embodiment comprises a telescopic cylinder 41 and a telescopic container 42. The telescopic cylinder 41 is installed on the chassis, and the output end of the telescopic cylinder 41 is connected with the driven oil disc 22. The telescopic cylinder 41 can be one of a hydraulic cylinder, a pneumatic cylinder or an electric telescopic cylinder. The telescopic container 42 is provided with a telescopic space that can be contracted or expanded. For example, the telescopic container 42 can be a rubber bag with elastic deformation ability. The space in the rubber bag is in communication with the containing space, and both the space in the rubber bag and the containing space are filled with oil. By driving the telescopic cylinder 41, the driven oil disc 22 can be driven to move along the axial direction relative to the driving oil disc 21, so as to adjust the distance between the driving oil disc 21 and the driven oil disc 22, change the flexibility of the hydraulic coupling mechanism 20, and adapt to different vehicle comfort requirements. It should be noted that the rubber bag can be fixed on the outside of the driving oil disc 21, or the rubber bag can be fixed on the chassis by arranging a circular ring pipe in communication with the inside of the rubber bag and relatively rotatingly connecting the circular ring pipe with the driving oil disc 21.

[0103] In the above embodiments of the present application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0104] In some embodiments of the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned system embodiments are only illustrative, for example, the division of the modules can be a logical function division, and actual implementation can have another division mode, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed modules can be through some interface, indirect coupling or communication connection between modules, which can be electrical or other forms.

[0105] The modules described as separate components can or can not be physically separated, and the components shown as modules can or can not be physical modules, that is, they can be located in one place or distributed to multiple modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment.

[0106] In addition, the functional modules in each embodiment of the present application can be integrated into a processing module, or each module can exist physically, or two or more modules can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0107] The integrated module, if realized in the form of a software functional module and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various program code storage media.

[0108] The above-mentioned is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A hydraulically coupled active vibration damper for reducing vibrations between the vehicle body and chassis, characterized in that, The active damper includes: A hydraulic coupling mechanism includes an input shaft and an output shaft that are rotatably arranged relative to each other. The input shaft is connected to a driving member, and the output shaft is connected to a driven member. A receiving space is formed between the driving member and the driven member, and the receiving space contains oil for transmitting torque. The transmission mechanism has one end connected to the output shaft and the other end connected to the vehicle body. The vehicle body and the output shaft are connected by the transmission mechanism. A drive unit is mounted on the chassis and is used to drive the input shaft to rotate.

2. The hydraulically coupled active vibration damper according to claim 1, characterized in that: A planetary gear reducer is connected between the driving component and the input shaft.

3. The hydraulically coupled active vibration damper according to claim 1, characterized in that: The transmission mechanism includes a first rocker arm and a second rocker arm. One end of the second rocker arm is rotatably connected to the vehicle body, and the other end is rotatably connected to the first rocker arm. The end of the first rocker arm away from the second rocker arm is connected to the output shaft.

4. The hydraulically coupled active vibration damper according to claim 1, characterized in that: The transmission mechanism includes a gear and a rack that mesh with each other, the rack being connected to the vehicle body, and the gear being mounted on the output shaft.

5. The hydraulically coupled active vibration damper according to claim 1, characterized in that: The transmission mechanism includes a lead screw and a nut sleeved on the lead screw. A ball bearing and a circulation loop for the ball bearing to move are provided between the nut and the lead screw. The nut is connected to the vehicle body, and the lead screw is connected to the output shaft.

6. The hydraulically coupled active vibration damper according to claim 1, characterized in that: The accommodating space includes a shaft clearance space and / or a radial clearance space. The shaft clearance space is the gap space formed between the surfaces of the driving member and the driven member that are perpendicular to the output shaft axis. The radial clearance space is the gap space formed between the surfaces of the driving member and the driven member that are parallel to the output shaft axis.

7. The hydraulically coupled active vibration damper according to claim 6, characterized in that: The driving component is a driving oil pan, the driven component is a driven oil pan, and the shaft clearance space is formed between the driving oil pan and the driven oil pan.

8. The hydraulically coupled active vibration damper according to claim 6, characterized in that: The active component is an active oil cylinder, the driven component is a driven oil cylinder, and the radial clearance space is formed between the active oil cylinder and the driven oil cylinder.

9. The hydraulically coupled active vibration damper according to claim 1, characterized in that: The active component or the driven component can be slidably disposed relative to the output shaft along the axial direction, and the hydraulic coupling mechanism further includes a drive mechanism that can drive the active component or the driven component to slide.

10. The hydraulically coupled active vibration damper according to claim 9, characterized in that: The drive mechanism includes a telescopic cylinder and a telescopic container. The output end of the telescopic cylinder is connected to the driving member or the driven member. The telescopic container is provided with a retractable or expandable telescopic space. The telescopic space is connected to the receiving space and is filled with the oil.

11. The hydraulically coupled active vibration damper according to claim 9, characterized in that: The driving mechanism is an oil pump. The pump port of the oil pump is connected to the receiving space through a pipe. The pipe is filled with oil. The oil pump is used to extract oil from the receiving space or to input oil into the receiving space. The pipe is equipped with a valve.

12. A control method for a hydraulically coupled active vibration damper, applied to the hydraulically coupled active vibration damper according to any one of claims 1-11, characterized in that, The control method includes: Obtain the required damping parameters for the vehicle; The target damping torque of the output shaft is determined based on the damping parameters. Calculate the target relative velocity between the input shaft and the output shaft based on the target damping torque; The drive unit is controlled to operate according to the target relative speed, so that the real-time relative speed between the input shaft and the output shaft reaches the target relative speed.

13. The control method for a hydraulically coupled active vibration damper according to claim 12, characterized in that, The step of controlling the operation of the drive unit based on the target relative velocity includes: Obtain the real-time relative velocity between the input axis and the output axis; The relative velocity difference is determined based on the real-time relative velocity and the target relative velocity; The drive unit is controlled to operate based on the relative speed difference.

14. The control method for a hydraulically coupled active vibration damper according to claim 12, characterized in that, The calculation of the target relative velocity between the input shaft and the output shaft based on the target damping torque includes: Obtain the temperature of the oil; The viscosity of the oil is determined based on the oil temperature; The target relative velocity is calculated based on the oil viscosity and the target damping torque.

15. A control system for a hydraulically coupled active vibration damper, characterized in that, include: The acquisition module is used to: acquire the damping parameters required by the vehicle; The calculation module is used to: determine the target damping torque of the output shaft based on the damping parameters; Calculate the target relative velocity between the input shaft and the output shaft based on the target damping torque; The control module is used to: control the operation of the drive component according to the target relative speed, so that the real-time relative speed between the input shaft and the output shaft reaches the target relative speed.

16. A vehicle comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the control method of a hydraulically coupled active damper as described in any one of claims 12 to 14.

17. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute, when run on a computer or processor, the control method of a hydraulically coupled active vibration damper as described in any one of claims 12 to 14.

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