Suspension system and active force control method

Abstract

Provided are a suspension system and an active force control method, relating to the technical field of suspensions. The suspension system comprises a first constant flow source (401), a second constant flow source (402), a first damping valve (403), a second damping valve (404), a shock absorber (405), and a liquid container (406). The shock absorber (405) comprises a first liquid cavity (4051) and a second liquid cavity (4052) separated by a piston. The first constant flow source (401) and the second constant flow source (402) are used for outputting liquid at a constant flow rate. The liquid container (406) is used for storing or replenishing liquid flowing in the system. An outlet of the first constant flow source (401) is connected to a first end of the first damping valve (403) and the first liquid cavity (4051). A second end of the first damping valve (403) is connected to the liquid container (406), and the liquid container (406) is connected to an inlet of the first constant flow source (401). An outlet of the second constant flow source (402) is connected to a first end of the second damping valve (404) and the second liquid cavity (4052). A second end of the second damping valve (404) is connected to the liquid container (406), and the liquid container (406) is connected to an inlet of the second constant flow source (402). A suspension system having a high operating bandwidth without additionally significantly increasing unsprung mass can be implemented.

Description

Suspension system and active force control method Technical Field

[0001] This application relates to the field of suspension technology, specifically to a suspension system and a method for controlling active force. Background Technology

[0002] The suspension is a crucial system in a vehicle, responsible for its comfort, handling, and off-road capability. It typically consists of springs, shock absorbers, and related links. The suspension's operating bandwidth affects its response speed, for example, influencing the response speed of the suspension's main force control. The suspension's operating bandwidth refers to the frequency range within which the suspension system can respond to force per unit time, measured in Hertz (Hz). A larger operating bandwidth results in a faster suspension response.

[0003] Among existing suspension implementation solutions, some use linear motors as shock absorbers. This solution can achieve a large suspension operating bandwidth, such as 0–50Hz. However, the linear motor in this solution is relatively heavy, and its stator is mounted on the wheel side, significantly increasing the vehicle's unsprung mass. Increased unsprung mass is extremely detrimental to overall vehicle comfort. Therefore, how to achieve a suspension system with a high operating bandwidth without significantly increasing unsprung mass is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a suspension system and active force control method that can achieve a suspension system with a high operating bandwidth without significantly increasing the unsprung mass.

[0005] In a first aspect, this application provides a suspension system comprising a first constant current source, a second constant current source, a first damping valve, a second damping valve, a shock absorber, and a liquid container. The shock absorber includes a first liquid chamber and a second liquid chamber separated by a piston.

[0006] The first constant current source is used to output a constant first flow rate of liquid. The second constant current source is used to output a constant second flow rate of liquid. The liquid container is used to store or replenish the liquid flowing due to changes in the volume of the first or second liquid cavity caused by piston movement.

[0007] The outlet of the first constant current source is connected to the first end of the first damping valve and the first liquid cavity. The second end of the first damping valve is connected to the liquid container, and the liquid container is connected to the inlet of the first constant current source.

[0008] The outlet of the second constant current source is connected to the first end of the second damping valve and the second liquid cavity. The second end of the second damping valve is connected to the liquid container, and the liquid container is connected to the inlet of the second constant current source.

[0009] In the above scheme, two constant flow sources can stably provide a constant flow of liquid to the fluid chamber of the shock absorber, and the variable damping valve has a very fast control speed, for example, the adjustment time can be on the order of milliseconds. This allows a pressure difference to be quickly generated between the two fluid chambers in the shock absorber, thereby enabling rapid output of active force. In other words, this scheme improves the response speed of the suspension system's output of active force and achieves a larger operating bandwidth. Furthermore, compared to existing suspension schemes that use linear motors as shock absorbers, this scheme does not have the stator of the linear motor mounted on the wheel side; instead, a lighter hydraulic shock absorber is mounted on the wheel side, thus not significantly increasing the unsprung mass of the vehicle. Compared to existing schemes, it also reduces unsprung mass. Therefore, this scheme achieves a suspension system with a high operating bandwidth without significantly increasing unsprung mass.

[0010] For example, the first constant current source or the second constant current source mentioned above includes a motor and a hydraulic pump.

[0011] In the above scheme, the motor can drive the hydraulic pump to output a constant flow rate. Specifically, the motor has strong robustness against load changes; that is, when the load changes suddenly and drastically, the motor speed remains basically unchanged, and the output flow rate of the hydraulic pump also remains basically unchanged. This ensures a stable flow rate of liquid output. In other possible implementations, the first or second constant flow source can be an engine and a hydraulic pump with flow feedback. This can also output a stable flow rate of liquid.

[0012] In one possible implementation, the first damping valve or the second damping valve is a continuously damped control valve.

[0013] In the above scheme, the use of a continuous damping control valve ensures that the control speed of the damping valve meets the specific speed requirements, thereby assisting in the realization of a suspension system with a high operating bandwidth.

[0014] In one possible implementation, the liquid container is an accumulator or an oil tank that is connected to atmospheric pressure.

[0015] In the above scheme, the accumulator or the oil tank connected to atmospheric pressure can adaptively store or compensate for the liquid flowing due to changes in the system's volume chamber caused by the movement of the shock absorber piston. Furthermore, maintaining the oil tank's connection to atmospheric pressure ensures pressure safety within the system.

[0016] In one possible implementation, the liquid container is an accumulator, and the suspension system also includes a first pressure sensor for measuring the pressure of the accumulator.

[0017] In the above scheme, the pressure in the system can be detected by the first pressure sensor. For example, the initial pressure of the system can be measured for calculation of the subsequent active force output of the suspension, and the detected pressure can also be used to determine oil leakage faults and avoid safety accidents.

[0018] In one possible implementation, the pressure at the first end of the first damping valve is greater than the pressure of the liquid container, and the pressure at the first end of the second damping valve is greater than the pressure of the liquid container.

[0019] In the above scheme, this design ensures that the circulation direction of the liquid will not change, so that even at high damper speeds, the system can still quickly respond to adjust the pressure difference between the first liquid cavity and the second liquid cavity, thereby providing the corresponding target active force.

[0020] In one possible implementation, the suspension system further includes a second pressure sensor and a third pressure sensor, wherein the second pressure sensor is used to measure the pressure at the outlet of the first constant current source, and the third pressure sensor is used to measure the pressure at the outlet of the second constant current source.

[0021] In the above scheme, on the one hand, the flow rate of the constant current source can be calculated by the pressure measured by the two pressure sensors and the pressure measured by the pressure sensor between the two constant current sources; on the other hand, the main power output by the piston rod can be calculated by the pressure measured by the two pressure sensors and the pressure measured by the pressure sensor between the two constant current sources.

[0022] In one possible implementation, the first flow rate and / or the second flow rate are determined based on the vehicle's operating conditions.

[0023] The above solution also allows for adjustment of the constant flow rate output from the two constant flow sources according to different vehicle operating conditions, thus making it applicable to main power adjustment under various operating conditions. This expands the application scenarios of the suspension system.

[0024] Secondly, this application provides an active force control method applied to a controller of a suspension system, wherein the suspension system is the suspension system described in any of the first aspects above. The method includes: adjusting the valve states of a first damping valve and a second damping valve based on a target active force requested to be output by the suspension system.

[0025] In the above scheme, the suspension system, combined with any of the first aspects mentioned above, can adjust the valve states of the two damping valves by requesting the target active force, thereby quickly changing the pressure in the upper and lower chambers of the shock absorber to generate a pressure difference. The shock absorber acts as an actuator, outputting the target active force to the outside under the action of the pressure difference.

[0026] In one possible implementation, adjusting the first valve state of the first damping valve and the second valve state of the second damping valve based on a target active force includes: determining a first current of the first damping valve and a second current of the second damping valve based on the target active force; adjusting the valve state of the first damping valve based on the first current; and adjusting the valve state of the second damping valve based on the second current.

[0027] In the above scheme, the current of the two damping valves can be determined by the requested target active force, and then the corresponding current can be output to the damping valves to adjust their valve states. This allows for a rapid change in the pressure between the upper and lower chambers of the shock absorber to generate a pressure difference. The shock absorber acts as an actuator, outputting the target active force to the outside under the influence of the pressure difference. In other possible implementations, the valve state of the damping valves can also be adjusted by regulating the voltage or power of the damping valves; this application does not limit this approach.

[0028] In one possible implementation, determining the first current of the first damping valve based on the target active force includes: when the direction of the target active force is a first direction, selecting the current of the first damping valve provided by the first damping valve as the first current. The first direction is the direction from the second liquid cavity to the first liquid cavity.

[0029] In the above scheme, based on the connection structure of the aforementioned suspension system, if the direction of the requested target active force is from the second liquid cavity to the first liquid cavity, then it is necessary to rapidly reduce the pressure in the first liquid cavity and increase the pressure in the second liquid cavity. This ensures that the pressure in the second liquid cavity is greater than the pressure in the first liquid cavity, causing the pressure difference between the two cavities to push the piston of the shock absorber to compress the space of the first liquid cavity. The piston rod also moves accordingly along the aforementioned first direction, thereby outputting the target active force in the first direction. To output this target active force in the first direction, the damping required by the first damping valve can be selected first. This damping can minimally impede or even not impede the outward flow of liquid in the first liquid cavity to reduce pressure. Based on this, the first damping valve can be selected to provide minimum damping or other preset smaller damping. That is, the aforementioned first damping can be the minimum damping or other preset smaller damping. The current corresponding to the minimum damping or preset smaller damping is the aforementioned first current. This selection allows the pressure in the first liquid cavity to decrease rapidly.

[0030] In one possible implementation, determining the second current of the second damping valve based on the target active force includes: determining a second pressure based on the target active force, a first pressure, and the pressure generated by the liquid container, when the direction of the target active force is a first direction; and determining the second current based on the second pressure and the flow rate of the second damping valve. The first pressure is the pressure generated in the first liquid cavity due to controlling the first damping valve, and the second pressure is the pressure generated in the second liquid cavity due to controlling the second damping valve. The first direction is the direction from the second liquid cavity to the first liquid cavity.

[0031] For example, the first pressure is determined based on the first current, the velocity of the piston in the shock absorber, the cross-sectional area of ​​the first liquid cavity, and the first flow rate. The flow rate of the second damping valve is determined based on the velocity of the piston in the shock absorber, the cross-sectional area of ​​the second liquid cavity, and the second flow rate.

[0032] In the above scheme, after determining the first current corresponding to the first damping valve, the current of the second damping valve can be quickly calculated, and then the damping adjustment of the damping valve can be quickly realized based on the determined current to output the target active force.

[0033] In one possible implementation, determining the second current of the second damping valve based on the target active force includes: when the direction of the target active force is a second direction, selecting the current of the second damping valve provided by the second damping valve as the second current. The first direction is the direction from the first liquid cavity to the second liquid cavity.

[0034] In the above scheme, based on the connection structure of the aforementioned suspension system, if the direction of the requested target active force is from the first liquid cavity to the second liquid cavity, then it is necessary to rapidly reduce the pressure in the second liquid cavity and increase the pressure in the first liquid cavity. This ensures that the pressure in the first liquid cavity is greater than the pressure in the second liquid cavity, causing the pressure difference between the two cavities to push the piston of the shock absorber to compress the space of the second liquid cavity. The piston rod also moves accordingly along the aforementioned second direction, thereby outputting the target active force in the second direction. To output this target active force in the second direction, the damping required by the second damping valve can be selected first. This damping should minimally impede or even not impede the outward flow of liquid in the second liquid cavity to reduce pressure. Based on this, the second damping valve can be selected to provide minimum damping or other preset smaller damping. That is, the second damping can be the minimum damping or other preset smaller damping. The current corresponding to the minimum damping or preset smaller damping is the aforementioned second current. This selection allows the pressure in the second liquid cavity to decrease rapidly.

[0035] In one possible implementation, determining the first current of the first damping valve based on the target active force includes:

[0036] When the direction of the target's active force is the second direction, a fourth pressure is determined based on the target's active force, the third pressure, and the pressure generated by the liquid container. A first current is determined based on the fourth pressure and the flow rate of the first damping valve. The fourth pressure is the pressure generated in the first liquid cavity due to controlling the first damping valve, and the third pressure is the pressure generated in the second liquid cavity due to controlling the second damping valve. The first direction is the direction from the first liquid cavity to the second liquid cavity.

[0037] For example, the third pressure is determined based on the second current, the velocity of the piston in the shock absorber, the cross-sectional area of ​​the second liquid cavity, and the second flow rate. The flow rate of the first damping valve is determined based on the velocity of the piston in the shock absorber, the cross-sectional area of ​​the first liquid cavity, and the first flow rate.

[0038] In the above scheme, after determining the second current corresponding to the second damping valve, the current of the first damping valve can be quickly calculated, and then the damping adjustment of the damping valve can be quickly realized based on the determined current to output the target active force.

[0039] Thirdly, this application provides a controller, which can be a controller for a suspension system, wherein the suspension system is the suspension system described in any of the first aspects above. The controller includes a control unit for controlling the valve states of a first damping valve and a second damping valve based on a target active force requested to be output by the suspension system.

[0040] In one possible implementation, the control unit is specifically used to: determine a first current of the first damping valve and a second current of the second damping valve based on the target active force; control the valve state of the first damping valve based on the first current; and control the valve state of the second damping valve based on the second current.

[0041] In one possible implementation, the control unit is specifically used to: when the direction of the target active force is a first direction, select the current of the first damping valve as the first current when the first damping valve provides first damping. The first direction is the direction from the second liquid cavity to the first liquid cavity.

[0042] In one possible implementation, the control unit is specifically used to: determine a second pressure based on the target active force, the first pressure, and the pressure generated by the liquid container, when the direction of the target active force is a first direction; and determine a second current based on the second pressure and the flow rate of the second damping valve. The first pressure is the pressure generated in the first liquid cavity by controlling the first damping valve, and the second pressure is the pressure generated in the second liquid cavity by controlling the second damping valve. The first direction is the direction from the second liquid cavity to the first liquid cavity.

[0043] For example, the first pressure is determined based on the first current, the velocity of the piston in the shock absorber, the cross-sectional area of ​​the first liquid cavity, and the first flow rate. The flow rate of the second damping valve is determined based on the velocity of the piston in the shock absorber, the cross-sectional area of ​​the second liquid cavity, and the second flow rate.

[0044] In one possible implementation, the control unit is specifically used to: when the direction of the target active force is a second direction, select the second damping valve to provide second damping, and use the current of the second damping valve as the second current. The first direction is the direction from the first liquid cavity to the second liquid cavity.

[0045] In one possible implementation, the aforementioned control unit is specifically used for:

[0046] When the direction of the target's active force is the second direction, a fourth pressure is determined based on the target's active force, the third pressure, and the pressure generated by the liquid container. A first current is determined based on the fourth pressure and the flow rate of the first damping valve. The fourth pressure is the pressure generated in the first liquid cavity due to controlling the first damping valve, and the third pressure is the pressure generated in the second liquid cavity due to controlling the second damping valve. The first direction is the direction from the first liquid cavity to the second liquid cavity.

[0047] For example, the third pressure is determined based on the second current, the velocity of the piston in the shock absorber, the cross-sectional area of ​​the second liquid cavity, and the second flow rate. The flow rate of the first damping valve is determined based on the velocity of the piston in the shock absorber, the cross-sectional area of ​​the first liquid cavity, and the first flow rate.

[0048] Fourthly, this application provides a controller including a processor and a memory, wherein the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer programs or computer instructions stored in the memory, causing the controller to perform the methods described in any of the second aspects above.

[0049] Fifthly, this application provides a vehicle that includes the suspension system described in any of the first aspects above.

[0050] In a sixth aspect, this application provides a computer-readable storage medium storing a computer program or computer instructions that are executed by a processor to implement the method described in any of the second aspects above.

[0051] In a seventh aspect, this application provides a computer program product that, when executed by a processor, implements the method described in any of the second aspects above.

[0052] The beneficial effects corresponding to the third to seventh aspects mentioned above can be found in the descriptions of the first and second aspects mentioned above, and will not be repeated here. Attached Figure Description

[0053] Figures 1 to 3 are schematic diagrams of the existing suspension system.

[0054] Figures 4 to 8 are schematic diagrams of the suspension system provided in the embodiments of this application.

[0055] Figures 9 and 10 are schematic diagrams of the method flow provided in the embodiments of this application.

[0056] Figures 11 and 12 are schematic diagrams of the controller provided in the embodiments of this application. Detailed Implementation

[0057] In this application embodiment, "multiple" refers to two or more. In this application embodiment, "and / or" is used to describe the association relationship of related objects, indicating three relationships that can exist independently. For example, A and / or B can mean: A exists alone, B exists alone, or A and B exist simultaneously. The description methods used in this application embodiment, such as "at least one of a1, a2, ... and an (or at least one of them)," include the case where any one of a1, a2, ... and an exists alone, as well as the case where any combination of any multiple of a1, a2, ... and an exists alone. Each case can exist alone. For example, the description method of "at least one of a, b, and c" includes the cases where a, b, c, a and b combined, a and c combined, b and c combined, or a, b, and c combined.

[0058] In this application, the terms "first," "second," etc., are used to distinguish identical or similar items with substantially the same function. It should be understood that there is no logical or temporal dependency between "first," "second," and "nth," nor does it limit the quantity or order of execution. It should also be understood that although the following description uses the terms "first," "second," etc., to describe various elements, these elements should not be limited by the terms. These terms are merely used to distinguish one element from another.

[0059] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0060] The suspension is a crucial system for achieving vehicle comfort, handling stability, and off-road capability. Electro-hydraulic suspension systems, in particular, are widely used due to their high adjustment precision and fast response speed. The faster the suspension response, the larger the achievable suspension bandwidth. However, as users' demands for suspension bandwidth increase, some existing electro-hydraulic suspension systems can no longer meet these high bandwidth requirements. For example, see Figure 1 or Figure 2, which exemplarily show partial structural schematic diagrams of two existing electro-hydraulic suspension systems.

[0061] As shown in Figure 1, the suspension system may include a shock absorber 101, two variable damping valves (see variable damping valves 102 and 103 in Figure 1), two accumulators (see accumulators 104 and 105 in Figure 1), a hydraulic pump 106, and a motor 107. These components are connected via fluid lines, as shown in Figure 1. Exemplarily, the shock absorber 101 may include an upper chamber, a lower chamber, a piston, and a piston rod. The shock absorber 101 primarily utilizes the pressure difference generated by the fluid in the upper and lower chambers to push the piston, causing the piston rod to output force to reduce vibration and improve vehicle stability. The force output by the piston rod is the active force output by the suspension system, which can be called the active force. Exemplarily, the variable damping valves 102 and 103 can control the pressure difference between the upper and lower chambers of the shock absorber 101 by controlling the valve size and combining it with the speed or torque of the motor 107. This pressure difference can push the piston, causing the piston rod to output the active force. Exemplarily, accumulator 104 can be used to store liquid that the upper chamber cannot hold due to the piston movement of shock absorber 101. Accumulator 105 can be used to store liquid that the lower chamber cannot hold due to the piston movement of shock absorber 101. Exemplarily, motor 107 can be used to drive hydraulic pump 106, which converts the mechanical energy of motor 107 into hydraulic energy, thereby driving the circulating flow of liquid.

[0062] In the suspension system shown in Figure 1, due to the two accumulators, the volume is relatively large. The motor needs to reach a certain speed (or torque output) and rotate for a certain period of time before it can discharge a certain amount of fluid into the two accumulators. This creates a difference in fluid volume between the two accumulators, resulting in a pressure difference. This pressure difference then generates a pressure change in the upper and lower chambers of the shock absorber, allowing the output of active force. It is evident that in this design, the motor requires a relatively long time to reach a certain speed before it can output active force, resulting in a slow response speed. Consequently, this design has a low operating bandwidth.

[0063] As shown in Figure 2, the suspension system may include a shock absorber 201, two variable damping valves (see variable damping valves 202 and 203 shown in Figure 2), an accumulator (see accumulator 204 shown in Figure 2), a hydraulic pump 205, and a motor 206. These components are connected by pipes, as shown in Figure 2. For example, the description of the shock absorber 201 is given in the description of the shock absorber 101 shown in Figure 1 above. For example, the description of the variable damping valves 202 and 203 is given in the description of the two damping valves shown in Figure 1 above. For example, the accumulator 204 may be used to store fluid that the upper or lower chamber cannot hold due to the piston movement of the shock absorber 201. For example, the motor 206 may be used to drive the hydraulic pump 205, which converts the mechanical energy of the motor 206 into hydraulic energy, thereby driving the circulating flow of the fluid.

[0064] The suspension system shown in Figure 2 lacks an accumulator compared to the suspension system shown in Figure 1. Therefore, the solution in Figure 2 has an improved response speed compared to the solution in Figure 1. However, the solution in Figure 2 still requires the motor to output torque and accelerate for a period of time to generate active power. There is still room for improvement in response speed, i.e., there is still room for improvement in operating bandwidth.

[0065] Referring to Figure 3, an exemplary schematic diagram of a conventional suspension system is shown. As can be seen in Figure 3, this suspension system may include a linear motor 301 and a controller 302. The linear motor includes a stator and a mover. The stator is mounted to the vehicle body, and the mover is housed within the stator and connected to the wheel. The stator remains stationary, while the mover, under the control of the controller 302, can move up and down along the stator, thereby outputting active force to the vehicle body to reduce vibration and improve vehicle stability. In other words, the linear motor 301 functions as a shock absorber.

[0066] In the suspension system shown in Figure 3, the linear motor acts as a shock absorber. Since the linear motor generates force as soon as it experiences torque, its response speed is relatively fast. Compared to the solutions in Figures 1 and 2, the operating bandwidth of the suspension in Figure 3 is significantly increased. However, because the stator and mover of the linear motor are both made of metal, they are relatively heavy. The mover is also connected to the wheel, which greatly increases the weight on the wheel, i.e., increases the unsprung mass. This unsprung mass refers to the mass of the spring suspension included in the suspension. The increase in unsprung mass is extremely detrimental to the overall vehicle comfort.

[0067] As can be seen, compared to the scheme in Figure 3, the solutions in Figures 1 and 2 do not significantly increase the unsprung mass, but their operating bandwidth is low. The scheme in Figure 3 has a higher operating bandwidth than the schemes in Figures 1 and 2, but it also significantly increases the unsprung mass, which negatively impacts comfort. To achieve a suspension system with a higher operating bandwidth without significantly increasing the unsprung mass, embodiments of this application provide a suspension system and an active force control method. These are described below by example.

[0068] In one possible implementation, referring to Figure 4, a partial structural schematic diagram of a suspension system provided in an embodiment of this application is illustrated. As shown in Figure 4, the suspension system may include a first constant current source 401, a second constant current source 402, a first damping valve 403, a second damping valve 404, a shock absorber 405, and a liquid container 406. The shock absorber 405 includes a first liquid cavity 4051, a second liquid cavity 4052, a piston 4053, and a piston rod 4054. The first liquid cavity 4051 and the second liquid cavity 4052 are separated by the piston 4053. One end of the piston rod 4054 is connected to the piston 4053.

[0069] The outlet of the first constant current source 401 is connected to the first end of the first damping valve 403 and the first liquid cavity 4051 via a liquid pipeline. The second end of the first damping valve 403 is connected to the liquid container 406 via a liquid pipeline. The liquid container 406 is connected to the inlet of the first constant current source 401 via a liquid pipeline.

[0070] The outlet of the second constant current source 402 is connected to the first end of the second damping valve 404 and the second liquid cavity 4052 via a liquid pipeline. The second end of the second damping valve 404 is connected to the liquid container 406 via a liquid pipeline. The liquid container 406 is connected to the inlet of the second constant current source 402 via a liquid pipeline.

[0071] For example, in Figure 4 above, the liquid container 406, the second end of the first damping valve 403, and the second end of the second damping valve 404 can be connected together. The inlet of the first constant current source 401 and the inlet of the second constant current source 402 can be connected together.

[0072] For example, the first constant current source 401 is used to output a liquid at a first flow rate. This first flow rate is constant. The liquid output from the first constant current source 401 can have three destinations. On one hand, it can flow into the first liquid chamber 4051 of the shock absorber 405 through a pipeline. On the other hand, it can flow to the liquid container 406 for temporary storage after passing through the first damping valve 403. Furthermore, it can flow back to the inlet of the first constant current source 401 after passing through the first damping valve 403 to form a liquid loop.

[0073] For example, the second constant current source 402 is used to output liquid at a second flow rate. This second flow rate is constant. Similarly, the liquid output from the second constant current source 402 can have three destinations. On one hand, it can flow into the second liquid chamber 4052 of the shock absorber 405 through a pipeline. On the other hand, it can flow to the liquid container 406 for temporary storage after passing through the second damping valve 404. Yet another option is to flow back to the inlet of the second constant current source 402 after passing through the second damping valve 404, forming a liquid loop.

[0074] For example, in one possible implementation, the magnitude of the first flow rate constantly output by the first constant current source 401 and / or the magnitude of the second flow rate constantly output by the second constant current source 402 can be determined according to the vehicle's operating conditions. For example, the magnitude of the first flow rate constantly output by the first constant current source 401 can be different under different vehicle operating conditions. Similarly, the magnitude of the second flow rate constantly output by the second constant current source 402 can be different under different vehicle operating conditions. For example, the vehicle's operating conditions may include, but are not limited to, idling, low-speed driving, urban roads, or highways, etc., and this application embodiment does not limit this.

[0075] For example, the liquid container 406 described above can also be used to store or replenish liquid flowing due to changes in the volume of the first liquid cavity 4051 or the second liquid cavity 4052 caused by the movement of the piston 4053 of the shock absorber 405. For instance, if the piston 4053 of the shock absorber 405 moves and compresses the space of the first liquid cavity 4051, the liquid in the first liquid cavity 4051 will flow out and, after passing through the first damping valve 403, flow into the liquid container 406 for temporary storage. It is understood that in another possible implementation, the liquid in the first liquid cavity 4051, after flowing out and passing through the first damping valve 403, can participate in the circulation of the liquid circuit. As another example, if the piston 4053 of the shock absorber 405 moves and compresses the space of the second liquid cavity 4052, the liquid in the second liquid cavity 4052 will flow out and, after passing through the second damping valve 404, flow into the liquid container 406 for temporary storage. Understandably, in another possible implementation, the liquid flowing out of the second liquid cavity 4052 and passing through the second damping valve 404 can participate in the circulation of the liquid circuit.

[0076] For example, the valve sizes of the first damping valve 403 and the second damping valve 404 can be controlled by adjusting the current of the damping valves. Specifically, taking the first damping valve 403 as an example: In one possible implementation, the smaller the current of the first damping valve 403, the larger the valve size, and the less resistance to the flowing liquid, i.e., the smaller the damping of the first damping valve 403. Conversely, the larger the current of the first damping valve 403, the smaller the valve size, and the greater the resistance to the flowing liquid, i.e., the larger the damping of the first damping valve 403. In another possible implementation, the larger the current of the first damping valve 403, the larger the valve size, and the less resistance to the flowing liquid, i.e., the smaller the damping of the first damping valve 403. Conversely, the smaller the current of the first damping valve 403, the smaller the valve size, and the greater the resistance to the flowing liquid, i.e., the larger the damping of the first damping valve 403. The correspondence between the current size and the valve size is determined according to the actual design, and this application embodiment does not limit this. The same applies to the second damping valve 404, so I will not repeat the details.

[0077] For example, in some possible implementations, there exists the concept of damping softness and hardness. Softer damping means smaller damping, and harder damping means larger damping. Based on this, the minimum damping provided by the first damping valve 403 and the second damping valve 404 can be called the softest damping. The current of the damping valve corresponding to providing the softest damping can be called the softest current. That is, if the first damping valve 403 or the second damping valve 404 is provided with the corresponding softest current, the valve size is larger, and the damping of the liquid is the minimum damping provided by the damping valve, which is also the softest damping. For example, the softest current corresponding to the first damping valve 403 or the second damping valve 404 can be determined according to the design requirements of the shock absorber 405 and the characteristics of the damping valve itself. The embodiments of this application do not limit the value of the softest current.

[0078] For example, referring to FIG1, the first damping valve 403 includes a valve 4031 and a check valve 4032. The second damping valve 404 includes a valve 4041 and a check valve 4042. The liquid flow direction of the check valve 4032 is from the second end of the first damping valve 403 to the first end of the first damping valve 403. The liquid flow direction of the check valve 4042 is from the second end of the second damping valve 404 to the first end of the second damping valve 404.

[0079] For example, the first damping valve 403 or the second damping valve 404 described above can be a throttle valve, such as a continuous damping control valve, that can quickly adjust the valve size. For example, the continuous damping control valve can be a proportional valve or a magnetorheological valve. The magnetorheological valve can change the viscosity of the liquid by changing the current (or voltage) of the electromagnetic coil, thereby changing the speed of the liquid flow. This changes the flow rate of the liquid through the magnetorheological valve, which is equivalent to adjusting the size of the liquid valve.

[0080] For example, the shock absorber 405 mainly utilizes the pressure difference generated by the liquids in the first liquid cavity 4051 and the second liquid cavity 4052 to drive the piston 4053. This causes the piston rod 4054 to output active force to reduce vibration. In this embodiment, since the first constant flow source 401 and the second constant flow source 402 output liquid at a constant flow rate, it is only necessary to control the valve size of the first damping valve 403 and the second damping valve 404 to make the liquid in the first liquid cavity 4051 and the second liquid cavity 4052 flow rapidly. This changes the force in the first liquid cavity 4051 and the second liquid cavity 4052, causing a pressure difference between them. This pushes the piston 4053, causing the piston rod 4054 to output active force.

[0081] In one possible implementation, as shown in Figure 4, the shock absorber 405 may further include a first safety valve 4055 and a second safety valve 4056. The first safety valve 4055 and the second safety valve 4056 are disposed within the piston 4053. Both the first safety valve 4055 and the second safety valve 4056 are one-way valves. Exemplarily, the liquid flow direction of the first safety valve 4055 is from the second liquid chamber 4052 to the first liquid chamber 4051. The liquid flow direction of the second safety valve 4056 is from the first liquid chamber 4051 to the second liquid chamber 4052. These two safety valves can be used to prevent excessive force in the first liquid chamber 4051 or the second liquid chamber 4052 from causing an explosion, thereby improving system safety. For example, when the pressure difference between the first liquid cavity 4051 and the second liquid cavity 4052 exceeds the safety threshold, the first safety valve 4055 and / or the second safety valve 4056 will connect the two liquid cavities to reduce the pressure difference and protect the system.

[0082] In one possible implementation, the first constant current source 401 may include a motor and a hydraulic pump. The motor can drive the hydraulic pump to output a constant flow rate. Specifically, the motor has strong robustness against load changes; that is, when the load changes suddenly and drastically, the motor speed remains basically unchanged, and the output flow rate of the hydraulic pump also remains basically unchanged.

[0083] Alternatively, in another possible implementation, the first constant flow source 401 may include a power source and a hydraulic pump with flow feedback. For example, the power source may be an engine. The engine may include, but is not limited to, a diesel engine or a gasoline engine. In this implementation, the power source can drive the hydraulic pump and detect the fluid flow rate output by the hydraulic pump in real time. Then, based on the detected fluid flow rate, the rotational speed of the power source is adjusted in real time to ensure that the hydraulic pump can output a constant fluid flow rate. In one possible implementation, the fluid flow rate output by the hydraulic pump can be detected by setting a fluid flow sensor at the outlet of the hydraulic pump. Then, the detection result is fed back to the control module of the power source. The control module adjusts the rotational speed of the power source in real time based on the detection result to ensure that the hydraulic pump can output a constant fluid flow rate. Alternatively, in another possible implementation, a pressure sensor can be set at both the inlet and outlet of the hydraulic pump. Then, the pressure of the fluid at the inlet and outlet of the hydraulic pump can be measured by these two pressure sensors. The pressure difference between the inlet and outlet of the hydraulic pump can be calculated, and combined with the diameter and length of the pipes in the hydraulic pump, the flow rate at the outlet can be calculated. For example, this calculation process can be implemented by the control module of the power source. Then, the control module adjusts the rotational speed of the power source in real time based on the detection result to ensure that the hydraulic pump can output a constant fluid flow rate. In the aforementioned method of realizing the first constant flow source 401 through a power source and a hydraulic pump with flow feedback, the required rotational speed of the power source is relatively low, thereby saving on the cost of the power source.

[0084] Alternatively, in another possible implementation, the first constant current source 401 described above can be a constant current source pump, etc. It is understood that the aforementioned implementations of the constant current source are merely examples and do not constitute a limitation on the embodiments of this application.

[0085] For example, similarly, the second constant current source 402 described above may include a motor and a hydraulic pump. Alternatively, the second constant current source 402 may include a power source and a hydraulic pump with flow feedback. Alternatively, the second constant current source 402 may be a constant current source pump, etc. For specific implementation details, please refer to the aforementioned description of the first constant current source 401, which will not be repeated here.

[0086] In one possible implementation, the liquid container 406 may be, for example, an energy accumulator. Exemplarily, if the liquid container 406 is an energy accumulator, the suspension system may further include a first pressure sensor. For ease of understanding, please refer to FIG5. The pressure sensor 407 shown in FIG5 may be this first pressure sensor. This first pressure sensor 407 may be located at the inlet of the first constant current source 401 and the second constant current source 402, or it may be considered as being located at the outlet of the liquid container 406, i.e., the energy accumulator.

[0087] The first pressure sensor 407 can be used to measure the pressure of the accumulator. Exemplarily, before the first constant current source 401 and the second constant current source 402 drive the fluid circulation in the suspension system, the pressure measured by the first pressure sensor 407 is the initial pressure of the suspension system. Exemplarily, in some possible implementations, this initial pressure can be used to determine whether the suspension system is leaking oil. For example, when the system experiences a severe oil leak, the initial pressure will drop significantly. In other possible implementations, the initial pressure can also be used to calculate the initial active force output by the suspension, and the calculated initial active force can be used by the upper-level control algorithm to eliminate static forces, etc.

[0088] In another possible implementation, the liquid container 406 can be an oil tank with atmospheric pressure communication. For example, a partial structural schematic diagram of a suspension system provided in this embodiment can be seen in Figure 6.

[0089] In Figure 6, the suspension system can similarly include a first constant current source 401, a second constant current source 402, a first damping valve 403, a second damping valve 404, a shock absorber 405, and a liquid container 406. The shock absorber 405 includes a first liquid chamber 4051, a second liquid chamber 4052, a piston 4053, and a piston rod 4054. The first liquid chamber 4051 and the second liquid chamber 4052 are separated by the piston 4053. One end of the piston rod 4054 is connected to the piston 4053. Similarly, the outlet of the first constant current source 401 is connected to the first end of the first damping valve 403 and the first liquid chamber 4051 via a liquid pipeline. The second end of the first damping valve 403 is connected to the liquid container 406 via a liquid pipeline. The liquid container 406 is connected to the inlet of the first constant current source 401 via a liquid pipeline. The outlet of the second constant current source 402 is connected to the first end of the second damping valve 404 and the second liquid cavity 4052 via a liquid pipeline. The second end of the second damping valve 404 is connected to the liquid container 406 via a liquid pipeline. The liquid container 406 is connected to the inlet of the second constant current source 402 via a liquid pipeline. A detailed description of each device can be found in Figure 4 above, and will not be repeated here.

[0090] The difference between Figure 6 and Figure 4 is that in Figure 6, the liquid container 406 is an oil tank open to atmospheric pressure. This oil tank includes a vent 4061. This vent 4061 allows communication with the atmosphere, ensuring that the pressure in the oil tank remains consistent with atmospheric pressure. Furthermore, the second end of the first damping valve 403 is connected to a port (referred to as the first port) in the oil tank via a liquid line. The second port (referred to as the second port) in the oil tank is connected to the inlet of the first constant current source 401 via a liquid line. The second end of the second damping valve 404 is connected to a port (referred to as the third port) in the oil tank via a liquid line. The fourth port (referred to as the fourth port) in the oil tank is connected to the inlet of the second constant current source 402 via a liquid line.

[0091] Based on the connection method shown in Figure 6, the first constant current source 401 can draw liquid from the liquid container 406 (i.e., the oil tank) and output liquid at a constant flow rate. A portion of the liquid can flow back to the liquid container 406 (i.e., the oil tank) through the first damping valve 403, forming a liquid circuit L3. Similarly, the second constant current source 402 can draw liquid from the liquid container 406 (i.e., the oil tank) and output liquid at a constant flow rate. A portion of the liquid can flow back to the liquid container 406 (i.e., the oil tank) through the second damping valve 404, forming a liquid circuit L4.

[0092] In another possible implementation, the connection relationship in Figure 6 can be modified, for example, as shown in Figure 7. In Figure 7, the second end of the first damping valve 403 is directly connected to the inlet of the first constant flow source 401 via a liquid pipeline. A tee port 408 is then provided on this liquid pipeline to connect to one port of the liquid container 406, i.e., the aforementioned oil tank. Similarly, the second end of the second damping valve 404 is directly connected to the inlet of the second constant flow source 402 via a liquid pipeline. A tee port 409 is then provided on this liquid pipeline to connect to one port of the liquid container 406, i.e., the aforementioned oil tank. This connection method can also form the aforementioned liquid circuits L3 and L4.

[0093] It is understood that the structural connection relationships of the suspension systems shown in Figures 4 to 7 are merely examples and do not constitute a limitation on the embodiments of this application. In specific implementations, various modifications can be made to the connection relationships, or other components can be added, etc., and the embodiments of this application do not impose any limitations on this.

[0094] For example, the suspension system described above may be a fully active electro-hydraulic suspension system or a semi-active electro-hydraulic suspension system. This application embodiment does not limit whether the control method of the suspension system is fully active or semi-active.

[0095] In one possible implementation, in the suspension system shown in any of Figures 4 to 7 above, during system operation, the pressure at the first end of the first damping valve 403 is greater than the pressure of the liquid container 406. Similarly, the pressure at the first end of the second damping valve 404 is greater than the pressure of the liquid container 406. To achieve this, the first constant flow rate output by the first constant flow source 401 can be designed to be greater than or equal to the first target flow rate. The first target flow rate is the flow rate of liquid output by the first constant flow source 401 during the process of the piston 4053 in the shock absorber 405 compressing the space of the second liquid cavity 4052 at its maximum moving speed. The maximum moving speed at which the piston 4053 compresses the space of the second liquid cavity 4052 is specifically determined according to the actual suspension design, and this application embodiment does not limit this. Similarly, the second constant flow rate output by the second constant flow source 402 can be designed to be greater than or equal to the second target flow rate. The second target flow rate is the flow rate of liquid output from the second constant flow source 402 during the process where the piston 4053 in the shock absorber 405 compresses the space of the first liquid cavity 4051 at its maximum moving speed. The maximum moving speed at which the piston 4053 compresses the space of the first liquid cavity 4051 is specifically determined according to the actual suspension design, and this embodiment does not impose any limitations on it. This design ensures that the circulation direction of the liquid does not change, thereby enabling the system to quickly respond and adjust the pressure difference between the first liquid cavity 4051 and the second liquid cavity 4052 even when the piston 4053 of the shock absorber 405 is moving at high speed, thereby providing the corresponding target driving force.

[0096] In one possible implementation, the suspension system shown in any of Figures 4 to 7 further includes a second pressure sensor and a third pressure sensor. For ease of understanding, Figure 8 can be referred to as an example. Figure 8 is illustrated in conjunction with Figure 5; Figures 4, 6, and 7 are similar and will not be repeated. In Figure 8, the pressure sensor 410 located at the outlet of the first constant current source is the second pressure sensor. The pressure sensor 411 located at the outlet of the second constant current source 402 is the third pressure sensor. The second pressure sensor is used to measure the pressure at the outlet of the first constant current source 401. The third pressure sensor is used to measure the pressure at the outlet of the second constant current source 402. With the second and third pressure sensors, in one possible implementation, the flow rate of the constant current source can be calculated by combining the pressure measured by the two pressure sensors with the pressure measured by the first pressure sensor 407 between the two constant current sources. In another possible implementation, the main force output by the piston rod can be calculated by combining the pressure measured by the two pressure sensors with the pressure measured by the first pressure sensor 407 between the two constant current sources. The specific calculation process is not detailed in this embodiment.

[0097] In conjunction with the suspension system provided in the embodiments of this application described above, this application also provides an active power control method. To facilitate understanding of the implementation process of the active power control method described later, the calculation formula (1) for the output active power in this suspension system is first introduced as an example. The calculation formula (1) is as follows: F=S2*P(i2,Q V2 (V dmp *S2,Q2))-S1*P(i1,Q V1 (V dmp *S1,Q1))+(S2-S1)*P0=F V2 -F V1 +F P0 .

[0098] The meanings of the mathematical symbols in the above calculation formula (1) are as follows.

[0099] F represents the main power output from the suspension system.

[0100] F V1 This represents the force generated in the first liquid cavity 4051. This F V1 =S1*P(i1,Q) V1 (V dmp *S1,Q1)). P(i1,Q) V1 (V dmp *S1,Q1)) represents the pressure generated by the liquid in the first liquid cavity 4051. This pressure, along with i1 and Q, can be seen... V1 Relevant. Specifically, if i1 and Q are known... V1 Then, the P(i1,Q) can be obtained by looking up the table. V1 (V dmp *S1,Q1). Alternatively, since S1 is fixed, if i1 and Q are known... V1 Then the F can be obtained by looking up the table. V1 i1 represents the current of the first damping valve 403. Q V1 This indicates the liquid flow rate of the first damping valve 403. Q V1 With V dmp *S1 is related to Q1. Specifically, Q... V1 =V dmp *S1+Q1. Where, V dmp This represents the moving speed of the piston 4053 within the shock absorber 405. S1 represents the cross-sectional area of ​​the first liquid cavity 4051. Q1 represents the constant flow rate output by the first constant current source 401. Based on this F... V1 =S1*P(i1,Q) V1 (V dmpAs can be seen from *S1,Q1), the current i1 of the first damping valve 403 can be adjusted to regulate P(i1,Q). V1 (V dmp *S1,Q1)) and the F V1 Based on this, the P(i1,Q) V1 (V dmp *S1,Q1)) can be referred to as the pressure generated in the first liquid cavity 4051 by controlling the first damping valve 403. This F V1 This can be described as the force generated by controlling the first damping valve 403 in the aforementioned first liquid cavity 4051.

[0101] F V2 This represents the force generated by the liquid in the second liquid cavity 4052. This F V2 =S2*P(i2,Q) V2 (V dmp *S2,Q2)). P(i2,Q) V2 (V dmp *S2,Q2)) represents the pressure generated by the liquid in the second liquid cavity 4052. This pressure, along with i2 and Q, can be seen... V2 Relevant. Specifically, if i2 and Q are known... V2 Then, the P(i2,Q) can be obtained by looking up the table. V2 (V dmp *S2,Q2). Alternatively, since S2 is fixed, if i2 and Q are known... V2 Then the F can be obtained by looking up the table. V2 i2 represents the current in the second damping valve 404. Q... V2 This indicates the liquid flow rate of the second damping valve 404. The Q... V2 With V dmp *S2 and Q2 are related. Specifically, Q... V2 =V dmp *S2+Q2. Where S2 represents the cross-sectional area of ​​the second liquid cavity 4052. Q2 represents the constant flow rate output by the second constant flow source 402. Based on this F... V2 =S2*P(i2,Q) V2 (V dmp As can be seen from *S2,Q2), P(i2,Q) can be adjusted by regulating the current i2 of the second damping valve 404. V2 (V dmp *S2,Q2)) and the F V2 Based on this, the P(i2,Q) V2 (V dmp *S2,Q2)) can be referred to as the pressure generated in the second liquid cavity 4052 by controlling the second damping valve 404. This FV2 This can be described as the force generated by controlling the second damping valve 404 in the aforementioned second liquid cavity 4052.

[0102] F P0 This represents the force generated by the liquid within the liquid container 406. This F P0 = (S2-S1)*P0. (S2-S1) represents the cross-sectional area of ​​piston rod 4054. P0 represents the pressure in liquid container 406.

[0103] It is understood that the calculation formula (1) for the main force output by the suspension system described above is merely an example and does not constitute a limitation on the embodiments of this application. In specific implementations, the calculation formula (1) can be modified. For example, it can be modified to F = F V1 -F V2 -F P0 Wait, the embodiments of this application are mainly described using the above calculation formula (1) as an example.

[0104] For example, based on the above calculation formula (1), it can be seen that the valve states of the first damping valve 403 and the second damping valve 404 can be controlled by adjusting the current i1 of the first damping valve 403 and the current i2 of the second damping valve 404, thereby controlling the main power output of the shock absorber 405. The valve state refers to the size of the valve. Specifically, the larger the valve, the smaller the damping; conversely, the smaller the valve, the larger the damping. In another possible implementation, since the current i1 of the first damping valve 403 corresponds to the voltage applied to the first damping valve 403, the valve state of the first damping valve 403 can also be adjusted by adjusting the voltage applied to the first damping valve 403. Similarly, since the current i2 of the second damping valve 404 corresponds to the voltage applied to the second damping valve 404, the valve state of the first damping valve 403 can also be adjusted by adjusting the voltage applied to the second damping valve 404. This application mainly uses the example of adjusting the current of the damping valve to adjust the valve state of the damping valve.

[0105] The execution entity of the above method is the target controller of the suspension system. Exemplarily, the target controller can be a shock absorber controller of the suspension. Alternatively, executively, the target controller can be a controller used alone to control the entire suspension system. Alternatively, executively, the target controller can be integrated into the vehicle's domain controller. For example, it can be integrated into the vehicle's chassis domain controller, intelligent driving domain controller, central domain controller, cockpit domain controller, or area access controller. Alternatively, executively, the target controller can be a combination of two or more of the controllers listed above, etc. It is understood that the specific implementation of the controller is selected according to actual application requirements, and the embodiments of this application do not limit this.

[0106] In specific implementations, the active force control method provided in this application embodiment may include, but is not limited to, the following steps: controlling the valve state of the first damping valve 403 and adjusting the valve state of the second damping valve 404 based on the target active force output by the requested suspension system. The implementation process of the active force control method provided in this application embodiment will be exemplarily described below using the example of adjusting the current of the damping valve to adjust its valve state. Referring to Figure 9, the above active force control method may include, but is not limited to, the following steps S901 and S902.

[0107] S901, the target controller determines the first current of the first damping valve 403 and the second current of the second damping valve 404 based on the target active force output by the requested suspension system.

[0108] For example, the aforementioned target driving force may be the expected driving force that the target controller requests to output, or it may be the expected target driving force that other controllers send information to the target controller to request to output. This application embodiment does not limit this.

[0109] In this embodiment, the direction of the main force output by the suspension system includes a first direction and a second direction. The first direction is the direction of the main force output by the piston rod 4054 when the pressure in the second liquid cavity 4052 of the shock absorber 405 is greater than the pressure in the first liquid cavity 4051, and the pressure difference between the two cavities drives the piston 4053 to compress the first liquid cavity 4051. Alternatively, the first direction is the direction from the second liquid cavity 4052 to the first liquid cavity 4051. The second direction is the direction of the main force output by the piston rod 4054 when the pressure in the first liquid cavity 4051 of the shock absorber 405 is greater than the pressure in the second liquid cavity 4052, and the pressure difference between the two cavities drives the piston 4053 to compress the second liquid cavity 4052. Alternatively, the second direction is the direction from the first liquid cavity 4051 to the second liquid cavity 4052. Therefore, the direction of the target main force can be either the first direction or the second direction.

[0110] In some possible implementations, if the active force is calculated according to the above calculation formula (1), the active force in the first direction is a positive force, or a force greater than zero. The active force in the second direction is a negative force, or a force less than zero. It is understood that in other possible implementations, the active force in the second direction can be defined as a positive force, or a force greater than zero. The active force in the first direction can be defined as a negative force, or a force less than zero. The sign of the active force can be defined according to the needs of the actual application, and this application embodiment does not limit this.

[0111] For example, in this embodiment of the application, during the operation of the suspension system, the first constant current source 401 and the second constant current source 402 continuously output liquid at a constant flow rate to drive the liquid to circulate in the system. Based on this, the magnitude and direction of the target active force output by the shock absorber 405 can be controlled simply by adjusting the current of the first damping valve 403 and the second damping valve 404. If the direction of the target active force is different, the current of the first damping valve 403 and the current of the second damping valve 404 will also be different, and the determination method will also be different. This will be described exemplarily below.

[0112] In one possible implementation, if the direction of the target active force is the first direction, then in one possible implementation, the current of the first damping valve 403 when it provides the first damping can be selected as the first current. For example, the first damping can be the minimum damping that the first damping valve 403 can provide. The current of the first damping valve 403 when it provides the minimum damping is the softest current of the first damping valve 403. For an explanation of the softest current, please refer to the description of the first damping valve 403 and the second damping valve 404 in Figure 4 above, which will not be repeated here. Alternatively, the first damping can be any preset damping. The current of the first damping valve 403 when it provides the preset damping is the first current. For example, the preset damping can be obtained based on experience or pre-calibration, and this embodiment does not limit this. It is understood that the preset damping is within the damping range that the first damping valve 403 can provide. Similarly, the current corresponding to the preset damping is within the current range acceptable to the first damping valve 403. For example, in conjunction with the above calculation formula (1), the first current is, for example, i1 in the calculation formula (1).

[0113] For example, after obtaining the first current i1 of the first damping valve 403, a second pressure can be further determined based on the target active force, the first pressure, and the pressure generated by the liquid container 406. Then, the second current is determined based on the second pressure and the flow rate of the second damping valve 404. The first pressure is the pressure generated in the first liquid cavity 4051 due to controlling the first damping valve 403, for example, P(i1,Q) in the calculation formula (1). V1 (V dmp *S1,Q1)). This second pressure is the pressure generated in the second liquid cavity 4052 by controlling the second damping valve 404, for example, P(i2,Q) in the above calculation formula (1). V2 (V dmp *S2,Q2)). The pressure generated by the liquid container 406 is, for example, P0 in the above calculation formula (1). The following is an exemplary description of the process for determining the second pressure.

[0114] For example, based on the above calculation formula (1), it can be seen that as long as the target active force F and the first pressure P(i1,Q) are known, V1 (V dmp The second pressure P(i2,Q1) can be calculated from the pressure P0 generated by the liquid container 406, the cross-sectional area S1 of the first liquid cavity 4051, and the cross-sectional area S2 of the second liquid cavity 4052. V2 (V dmp *S2,Q2)). The target active force F is known, and the cross-sectional area S1 of the first liquid cavity 4051 and the cross-sectional area S2 of the second liquid cavity 4052 are fixed and known. Furthermore, regarding the pressure P0 generated by the liquid container 406, for the suspension system shown in Figure 5, the pressure P0 of the liquid container 406 can be measured by the first pressure sensor 407. For the suspension system shown in Figure 6 or Figure 7, the pressure P0 of the liquid container 406 is equal to atmospheric pressure. Therefore, it is also necessary to determine the first pressure P(i1,Q). V1 (V dmp *S1,Q1)). Examples are provided below.

[0115] For example, based on the above calculation formula (1), it can be seen that the first pressure P(i1,Q) is... V1 (V dmp *S1,Q1)) Based on the first current i1 and the movement speed V of the piston 4053 in the shock absorber 405, as described above, dmp The cross-sectional area S1 of the first liquid cavity 4051 and the first flow rate Q1 of the constant output of the first constant current source 401 are determined. Specifically, this can be initially based on the movement speed V of the piston 4053 in the shock absorber 405. dmp The cross-sectional area S1 of the first liquid cavity 4051 and the first constant flow rate Q1 output by the first constant flow source 401 determine the liquid flow rate Q of the first damping valve 403. V1 The Q V1 =V dmp *S1+Q1. This V dmp It can be the real-time movement speed of the piston 4053 in the shock absorber 405, which can be detected by a corresponding sensor. This application embodiment will not elaborate on this.

[0116] Then, in one possible implementation, Q is pre-calibrated. V1 i1 and P(i1,Q) V1 (V dmp A mapping table between *S1,Q1). Based on this Q... V1 The first pressure P(i1,Q) can be obtained by looking up the table with the first current i1. V1 (V dmp*S1,Q1). Alternatively, in another possible implementation, since S1 is fixed, Q can be pre-calibrated. V1 i1 and F V1 A mapping table between i1 and Q. This can be directly based on i1 and Q. V1 The F can be obtained by looking up the table. V1 And because of this F V1 =S1*P(i1,Q) V1 (V dmp Therefore, the first pressure P(i1,Q1) can be calculated. V1 (V dmp *S1,Q1)).

[0117] Based on the above description, the target active force F and the first pressure P(i1,Q) were obtained. V1 (V dmp After substituting the pressure P0 generated by the liquid container 406, the cross-sectional area S1 of the first liquid cavity 4051, and the cross-sectional area S2 of the second liquid cavity 4052 into the above calculation formula (1), the second pressure P(i2,Q) can be calculated. V2 (V dmp *S2,Q2)).

[0118] For example, the second pressure P(i2,Q) is obtained based on the above implementation. V2 (V dmp After *S2,Q2)), then according to the second pressure P(i2,Q) V2 (V dmp The second current is determined by *S2,Q2)) and the flow rate of the second damping valve 404. For example, in conjunction with the above calculation formula (1), this second current is, for example, i2 in calculation formula (1). The flow rate of the second damping valve 404 is, for example, Q in calculation formula (1). V2 For example, based on the above calculation formula (1), it can be seen that the flow rate Q of the second damping valve 404 is... V2 Based on the aforementioned piston 4053's movement speed V dmp The cross-sectional area S2 of the second liquid cavity and the second flow rate Q2 of the second constant flow source are determined. Specifically, Q... V2 =V dmp *S2+Q2.

[0119] Based on the above description, the second pressure P(i2,Q) is obtained. V2 (V dmp *S2,Q2)) and the flow rate Q of the second damping valve 404 V2 Then, the second current i2 can be determined by looking up a table in reverse. For example, in one possible implementation, Q is pre-calibrated. V2i2 and P(i2,Q) V2 (V dmp The mapping table between *S2,Q2)) is also obtained. The second pressure P(i2,Q) has already been obtained. V2 (V dmp *S2,Q2)) and the flow rate Q of the second damping valve 404 V2 Then, the second current i2 can be determined by looking up a table in reverse. Alternatively, in another possible implementation, since S2 is fixed, Q can be pre-calibrated. V2 i2 and F V2 The mapping table between them. Based on the above calculation formula (1), it can be seen that F V2 =S2*P(i2,Q) V2 (V dmp *S2,Q2)) can be used to calculate F V2 Then, it can be directly based on this F. V2 and Q V2 The second current i2 is obtained by looking up the table in reverse.

[0120] Based on the above description, it can be determined that when the direction of the target active force is the first direction, the first current of the first damping valve and the second current of the second damping valve are determined.

[0121] In one possible implementation, if the direction of the target active force is the second direction, then in one possible embodiment, the current of the second damping valve 404 when it provides the second damping can be selected as the second current. For example, the second damping can be the minimum damping that the second damping valve 404 can provide. The current of the second damping valve 404 when it provides the minimum damping is the softest current of the second damping valve 404. For an explanation of the softest current, please refer to the description of the second damping valve 404 and the first damping valve 403 in Figure 4 above, which will not be repeated here. Alternatively, the second damping can be any preset damping. The current of the second damping valve 404 when it provides the preset damping is the second current. For example, the preset damping can be obtained based on experience or pre-calibration, and this embodiment does not limit this. It is understood that the preset damping is within the damping range that the second damping valve 404 can provide. Similarly, the current corresponding to the preset damping is within the current range acceptable to the second damping valve 404. For example, in conjunction with the above calculation formula (1), the second current is, for example, i2 in the calculation formula (1).

[0122] For example, after obtaining the second current i2 of the second damping valve 404, a fourth pressure can be determined based on the target active force, the third pressure, and the pressure generated by the liquid container 406. Then, the first current is determined based on the fourth pressure and the flow rate of the first damping valve 403. The third pressure is the pressure generated in the first liquid cavity 4051 due to controlling the second damping valve 404, for example, P(i2,Q) in the calculation formula (1). V2 (V dmp *S2,Q2)). This fourth pressure is the pressure generated by controlling the first damping valve 403 in the second liquid cavity 4052, for example, P(i1,Q) in the above calculation formula (1). V1 (V dmp *S1,Q1)). The pressure generated by the liquid container 406 is, for example, P0 in the above calculation formula (1). The following is an exemplary description of the process for determining the fourth pressure.

[0123] For example, based on the above calculation formula (1), it can be seen that as long as the target active force F and the third pressure P(i2,Q) are known, V2 (V dmp The fourth pressure P(i1,Q2) can be calculated from the pressure P0 generated by the liquid container 406, the cross-sectional area S1 of the first liquid cavity 4051, and the cross-sectional area S2 of the second liquid cavity 4052. V1 (V dmp *S1,Q1). The target active force F is known, and the cross-sectional area S1 of the first liquid cavity 4051 and the cross-sectional area S2 of the second liquid cavity 4052 are fixed and known.

[0124] Furthermore, regarding the pressure P0 generated by the liquid container 406, for the suspension system shown in Figure 5, the pressure P0 of the liquid container 406 can be measured by the first pressure sensor 407. For the suspension system shown in Figure 6 or Figure 7, the pressure P0 of the liquid container 406 is equal to atmospheric pressure. Therefore, it is also necessary to determine the third pressure P(i2,Q). V2 (V dmp *S2,Q2)). Examples are provided below.

[0125] For example, based on the above calculation formula (1), it can be seen that the third pressure P(i2,Q) is... V2 (V dmp *S2,Q2)) Based on the aforementioned second current i2 and the movement speed V of piston 4053 in shock absorber 405, dmp The cross-sectional area S1 of the second liquid cavity 4052 and the second flow rate Q2 of the constant output of the second constant current source 401 are determined. Specifically, this can be determined based on the movement speed V of the piston 4053 in the shock absorber 405.dmp The cross-sectional area S2 of the second liquid cavity 4052 and the second constant flow rate Q2 output by the second constant flow source 402 determine the liquid flow rate Q of the second damping valve 404. V2 The Q V2 =V dmp *S2+Q2. This V dmp It can be the real-time movement speed of the piston 4053 in the shock absorber 405, which can be detected by a corresponding sensor. This application embodiment will not elaborate on this.

[0126] Then, in one possible implementation, Q is pre-calibrated. V2 i2 and P(i2,Q) V2 (V dmp A mapping table between *S2,Q2). Based on this Q... V2 The P(i2,Q) can be obtained by looking up the table with the second current i2. V2 (V dmp *S2,Q2). Alternatively, in another possible implementation, since S2 is fixed, Q can be pre-calibrated. V2 i2 and F V2 A mapping table between i2 and Q. This can be directly based on i2 and Q. V2 The F can be obtained by looking up the table. V2 And because of this F V2 =S2*P(i2,Q) V2 (V dmp Therefore, the third pressure P(i2,Q2)) can be calculated. V2 (V dmp *S2,Q2)).

[0127] Based on the above description, the target active force F and the third pressure P(i2,Q) were obtained. V2 (V dmp After substituting the pressure P0 generated by the liquid container 406, the cross-sectional area S1 of the first liquid cavity 4051, and the cross-sectional area S2 of the second liquid cavity 4052 into the above calculation formula (1), the fourth pressure P(i1,Q2) can be calculated. V1 (V dmp *S1,Q1)).

[0128] For example, the fourth pressure P(i1,Q) is obtained based on the above implementation. V1 (V dmp After *S1,Q1)), then according to the fourth pressure P(i1,Q) V1 (V dmpThe first current is determined by *S1,Q1)) and the flow rate of the first damping valve 403. For example, in conjunction with the above calculation formula (1), this first current is, for example, i1 in calculation formula (1). The flow rate of the first damping valve 403 is, for example, Q in calculation formula (1). V1 For example, based on the above calculation formula (1), it can be seen that the flow rate Q of the first damping valve 403 is... V1 Based on the aforementioned piston 4053's movement speed V dmp The cross-sectional area S1 of the first liquid cavity and the first flow rate Q1 of the first constant current source are determined. Specifically, Q... V1 =V dmp *S1+Q1.

[0129] Based on the above description, the fourth pressure P(i1,Q) is obtained. V1 (V dmp *S1,Q1)) and the flow rate Q of the first damping valve 403 V1 Then, the first current i1 can be determined by looking up a table in reverse. For example, in one possible implementation, Q is pre-calibrated. V1 i1 and P(i1,Q) V1 (V dmp The mapping table between *S1,Q1)). And the Q... V1 And the P(i1,Q) V1 (V dmp If we have *S1,Q1), then we can determine the first current i1 by looking up the table in reverse. Alternatively, in another possible implementation, since S1 is fixed, Q can be pre-calibrated. V1 i1 and F V1 The mapping table between them. Based on the above calculation formula (1), it can be seen that F V1 =S1*P(i1,Q) V1 (V dmp *S1,Q1)). That is, F can be calculated. V1 Then, it can be directly based on this F. V1 and Q V1 The first current i1 is obtained by looking up the table in reverse.

[0130] Based on the above description, it can be determined that when the direction of the target active force is the second direction, the first current of the first damping valve and the second current of the second damping valve are determined.

[0131] In another possible implementation, refer to the flowchart shown in Figure 10 for an exemplary process of determining the first current of the first damping valve and the second current of the second damping valve. In the flowchart of Figure 10, it can be first determined whether the direction of the target active force F is a first direction or a second direction. If it is the first direction, then the first current is determined to be the softest current of the first damping valve. And according to V... dmp S1 and Q1 determine Q V1 , and according to V dmp S2 and Q2 determine Q V2 Obtain i1 and Q. V1 Then based on i1 and Q V1 and F V1 The relationship between F is determined V1 Next, calculate F. P0 Based on the target's driving forces F and F' V1 and F P0 Determine F V2 Therefore, it can be based on F V2 Q V2 The relationship between i1 and i2 determines i2. Based on this, the first current i1 and the second current i2 can be determined. Similarly, if the direction of the target active force F is the second direction, then the second current is determined to be the softest current of the second damping valve. And according to V... dmp S1 and Q1 determine Q V1 , and according to V dmp S2 and Q2 determine Q V2 Obtain i2 and Q. V2 Then based on i2 and Q V2 and F V2 The relationship between F is determined V2 Next, calculate F. P0 Based on the target's driving forces F and F' V2 and F P0 Determine F V1 Therefore, it can be based on F V1 Q V1 The relationship between i1 and i2 determines i1. Based on this, the first current i1 and the second current i2 can be determined. The specific calculation process can be combined with the above calculation formula (1) and the corresponding description, which will not be repeated here. It is understood that the process shown in Figure 10 is only an example, and the order of its steps does not constitute a limitation on the embodiments of this application.

[0132] S902, the target controller controls the valve state of the first damping valve 403 based on the first current and the valve state of the second damping valve 404 based on the second current.

[0133] In specific implementation, after obtaining the first current of the first damping valve 403 and the second current of the second damping valve 404, the target controller can control the current through the first damping valve 403 to be the first current and the current through the second damping valve 404 to be the second current. This adjusts the valve states of the first damping valve 403 and the second damping valve 404, causing liquid to flow in the first liquid cavity 4051 and the second liquid cavity 4052. This changes the pressure in the first liquid cavity 4051 and the second liquid cavity 4052, creating a pressure difference between the two cavities. This pressure difference pushes the piston 4053, causing the piston rod 4054 to output the aforementioned target driving force.

[0134] In summary, this solution utilizes two constant flow sources to stably provide a constant flow of fluid to the shock absorber's fluid chamber. The variable damping valve offers rapid control, with adjustments occurring in milliseconds, quickly creating a pressure difference between the upper and lower chambers of the shock absorber, thus enabling rapid output of the driving force. This improves the suspension system's response speed and achieves a wider operating bandwidth. Furthermore, compared to existing suspension solutions using linear motors as shock absorbers, this solution eliminates the need for a linear motor stator mounted on the wheel side. Instead, it uses a lightweight hydraulic shock absorber, thus avoiding a significant increase in unsprung mass. This also reduces unsprung mass compared to existing solutions.

[0135] For example, the suspension system and active force control method provided in this application are not limited to vehicles, but can also be applied to scenarios that require both active force and vibration isolation, such as robots, vibration isolation gimbals, or actively moving vibration isolation workbenches. It is understood that this application does not limit specific application scenarios.

[0136] It is understood that the aforementioned target controller, in order to implement the corresponding methods, includes hardware structures and / or software modules for executing various functions. Based on the units and steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software-driven manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0137] This application embodiment can divide the device into functional modules according to the above method example. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0138] In the case of dividing each functional module according to its corresponding function, embodiments of this application also provide a controller for implementing any of the above methods. For example, a controller is provided that includes a unit (or means) for implementing each step in any of the above methods.

[0139] For example, please refer to Figure 11, which is a schematic diagram of the structure of a controller 1100 provided in an embodiment of this application. The controller 1100 shown in Figure 11 can be a target controller for implementing any of the methods described in Figure 9 and its possible embodiments. The controller 1100 may include a control unit 1101. Wherein:

[0140] Control unit 1101 is used to control the valve state of the first damping valve and the valve state of the second damping valve based on the target active force output by the requested suspension system.

[0141] In one possible implementation, the control unit 1101 is specifically used to: determine a first current of the first damping valve and a second current of the second damping valve based on the target active force; control the valve state of the first damping valve based on the first current; and control the valve state of the second damping valve based on the second current.

[0142] In one possible implementation, the control unit 1101 is specifically used to: when the direction of the target active force is a first direction, select the current of the first damping valve as the first current when the first damping valve provides first damping. The first direction is the direction from the second liquid cavity to the first liquid cavity.

[0143] In one possible implementation, the control unit 1101 is specifically used to: determine a second pressure based on the target active force, the first pressure, and the pressure generated by the liquid container when the direction of the target active force is a first direction; and determine a second current based on the second pressure and the flow rate of the second damping valve. The first pressure is the pressure generated in the first liquid cavity by controlling the first damping valve, and the second pressure is the pressure generated in the second liquid cavity by controlling the second damping valve. The first direction is the direction from the second liquid cavity to the first liquid cavity.

[0144] For example, the first pressure is determined based on the first current, the velocity of the piston in the shock absorber, the cross-sectional area of ​​the first liquid cavity, and the first flow rate. The flow rate of the second damping valve is determined based on the velocity of the piston in the shock absorber, the cross-sectional area of ​​the second liquid cavity, and the second flow rate.

[0145] In one possible implementation, the control unit 1101 is specifically used to: when the direction of the target active force is a second direction, select the current of the second damping valve as the second current when the second damping valve provides second damping. The first direction is the direction from the first liquid cavity to the second liquid cavity.

[0146] In one possible implementation, the control unit 1101 is specifically used for:

[0147] When the direction of the target's active force is the second direction, a fourth pressure is determined based on the target's active force, the third pressure, and the pressure generated by the liquid container. A first current is determined based on the fourth pressure and the flow rate of the first damping valve. The fourth pressure is the pressure generated in the first liquid cavity due to controlling the first damping valve, and the third pressure is the pressure generated in the second liquid cavity due to controlling the second damping valve. The first direction is the direction from the first liquid cavity to the second liquid cavity.

[0148] For example, the third pressure is determined based on the second current, the velocity of the piston in the shock absorber, the cross-sectional area of ​​the second liquid cavity, and the second flow rate. The flow rate of the first damping valve is determined based on the velocity of the piston in the shock absorber, the cross-sectional area of ​​the first liquid cavity, and the first flow rate.

[0149] The specific operation and beneficial effects of each unit in the controller 1100 shown in Figure 11 can be found in the descriptions in Figure 9 and its possible embodiments above, and will not be repeated here.

[0150] It should be understood that the division of the units in the controller described above is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the controller can be implemented by a processor calling software; for example, the controller includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the controller. The processor can be, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory can be internal to the controller or external to it. Alternatively, the units in the controller can be implemented as hardware circuits. The functionality of some or all units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through a configuration file, thereby achieving the functionality of some or all of the above units. All units of the controller can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remaining parts implemented through hardware circuits.

[0151] In this application embodiment, a processor is a circuit with data processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships of hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a Neural Network Processing Unit (NPU), Tensor Processing Unit (TPU), or Deep Learning Processing Unit (DPU).

[0152] As can be seen, each unit in the controller above can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor types.

[0153] Furthermore, the units in the above controller can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the controller. The at least one processor can be of different types, such as CPU and FPGA, CPU and AI processor, CPU and GPU, etc.

[0154] For example, referring to Figure 12, which is a schematic diagram of the structure of a possible physical entity of the controller provided in this application. The controller 1200 shown in Figure 12 can be the target controller in the method described in the above embodiments. The controller 1200 includes: a processor 1201, a memory 1202, and a communication interface 1203. The processor 1201, the communication interface 1203, and the memory 1202 can be interconnected or interconnected via a bus 1204.

[0155] For example, memory 1202 is used to store computer programs and data of controller 1200. Memory 1202 may include, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0156] The software or program code required for all or part of the functions of the controller in the above method embodiments is stored in memory 1202.

[0157] In one possible implementation, if the software or program code required for some functions is stored in the memory 1202, the processor 1201, in addition to calling the program code in the memory 1202 to implement some functions, can also cooperate with other components to complete other functions described in the method embodiment. For example, it can cooperate with the communication interface 1203 to implement the function of receiving or sending data.

[0158] The number of communication interfaces 1203 can be multiple, used to support the controller 1200 in communication, such as receiving or sending data or signals.

[0159] For example, processor 1201 may be a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor types, as described above. Processor 1201 may be used to read the program stored in memory 1202 and execute the operations performed by the target controller in FIG9 and its possible embodiments.

[0160] The specific operation and beneficial effects of each unit in the controller 1200 shown in Figure 12 can be found in the descriptions in Figure 9 and its possible method embodiments above, and will not be repeated here.

[0161] This application also provides a vehicle that includes the suspension system described in any of the above embodiments.

[0162] This application also provides a vehicle that includes the target controller described in any of the above embodiments.

[0163] This application also provides a chip including a processor and a memory. The memory stores computer programs or computer instructions, and the processor executes the computer programs or computer instructions stored in the memory, causing the chip to perform the operations performed by the target controller in FIG9 and its possible embodiments.

[0164] This application also provides a computer-readable storage medium storing a computer program or computer instructions, which are executed by a processor to implement the method implemented by the target controller in FIG9 and its possible embodiments. Exemplarily, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0165] This application also provides a computer program product. When the computer program product is read and executed by a computer, the method implemented by the controller of the first vehicle in FIG9 and its possible embodiments will be executed. Exemplarily, the computer program product includes, but is not limited to, a computer program, code, or electronic (digital) signals used to transmit computer program instruction codes that can implement the method when the computer runs.

[0166] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0167] It should also be understood that the term “comprising” (also referred to as “includes”, “including”, “comprises” and / or “comprising”) as used in this specification specifies the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0168] It should also be understood that the phrases "an embodiment," "an embodiment," and "a possible implementation" used throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment or implementation is included in at least one embodiment of this application. Therefore, the phrases "in an embodiment," "an embodiment," or "a possible implementation" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A suspension system characterized by, The suspension system includes a first constant current source, a second constant current source, a first damping valve, a second damping valve, a shock absorber, and a liquid container; the shock absorber includes a first liquid chamber and a second liquid chamber separated by a piston; The first constant current source is used to output a liquid with a constant first flow rate; the second constant current source is used to output a liquid with a constant second flow rate; the liquid container is used to store or replenish the liquid flowing due to the change in volume of the first or second liquid cavity caused by the piston movement. The outlet of the first constant current source is connected to the first end of the first damping valve and the first liquid cavity; the second end of the first damping valve is connected to the liquid container, and the liquid container is connected to the inlet of the first constant current source. The outlet of the second constant current source is connected to the first end of the second damping valve and the second liquid cavity; the second end of the second damping valve is connected to the liquid container, and the liquid container is connected to the inlet of the second constant current source.

2. The suspension system of claim 1, wherein, The first constant current source or the second constant current source includes a motor and a hydraulic pump.

3. The suspension system according to claim 1 or 2, characterized in that, The first damping valve or the second damping valve is a continuous damping control valve.

4. The suspension system according to any one of claims 1-3, characterized in that, The liquid container is an accumulator or an oil tank that is connected to atmospheric pressure.

5. The suspension system of claim 4, wherein, The liquid container is an energy accumulator, and the suspension system also includes a first pressure sensor for measuring the pressure of the energy accumulator.

6. The suspension system of any one of claims 1-5, wherein, The pressure at the first end of the first damping valve is greater than the pressure of the liquid container, and the pressure at the first end of the second damping valve is greater than the pressure of the liquid container.

7. The suspension system of any of claims 1-6, wherein, The suspension system also includes a second pressure sensor and a third pressure sensor. The second pressure sensor is used to measure the pressure at the outlet of the first constant current source, and the third pressure sensor is used to measure the pressure at the outlet of the second constant current source.

8. The suspension system of any of claims 1-7, wherein, The first flow rate and / or the second flow rate are determined based on the vehicle's operating conditions.

9. A master force control method characterized by, The method is applied to a controller of a suspension system, wherein the suspension system is the suspension system according to any one of claims 1-8; the method includes: Based on the target active force output by the suspension system, the valve states of the first damping valve and the second damping valve are controlled.

10. The method of claim 9, wherein, Adjusting the first valve state of the first damping valve and the second valve state of the second damping valve based on the target active force includes: The first current of the first damping valve and the second current of the second damping valve are determined based on the target active force; The valve state of the first damping valve is adjusted based on the first current, and the valve state of the second damping valve is adjusted based on the second current.

11. The method of claim 10, wherein, Determining the first current of the first damping valve based on the target active force includes: When the direction of the target active force is a first direction, the current of the first damping valve is selected as the first current when the first damping valve provides the first damping; the first direction is the direction from the second liquid cavity to the first liquid cavity.

12. The method according to claim 10 or 11, characterized in that Determining the second current of the second damping valve based on the target active force includes: When the direction of the target active force is a first direction, a second pressure is determined based on the target active force, the first pressure, and the pressure generated by the liquid container; the first pressure is the pressure generated in the first liquid cavity due to controlling the first damping valve, and the second pressure is the pressure generated in the second liquid cavity due to controlling the second damping valve; the first direction is the direction from the second liquid cavity to the first liquid cavity; The second current is determined based on the second pressure and the flow rate of the second damping valve.

13. The method of claim 12, wherein, The first pressure is determined based on the first current, the movement speed of the piston in the shock absorber, the cross-sectional area of ​​the first liquid cavity, and the first flow rate; The flow rate of the second damping valve is determined based on the movement speed of the piston in the shock absorber, the cross-sectional area of ​​the second liquid cavity, and the second flow rate.

14. The method of claim 10, wherein, Determining the second current of the second damping valve based on the target active force includes: When the direction of the target active force is the second direction, the current of the second damping valve is taken as the second current when the second damping valve provides the second damping; the first direction is the direction from the first liquid cavity to the second liquid cavity.

15. The method according to claim 10 or 14, characterized in that, Determining the first current of the first damping valve based on the target active force includes: When the direction of the target active force is the second direction, a fourth pressure is determined based on the target active force, the third pressure, and the pressure generated by the liquid container; the fourth pressure is the pressure generated by controlling the first damping valve in the first liquid cavity, and the third pressure is the pressure generated by controlling the second damping valve in the second liquid cavity; the first direction is the direction from the first liquid cavity to the second liquid cavity; The first current is determined based on the fourth pressure and the flow rate of the first damping valve.

16. The method of claim 15, wherein, The third pressure is determined based on the second current, the movement speed of the piston in the shock absorber, the cross-sectional area of ​​the second liquid cavity, and the second flow rate; The flow rate of the first damping valve is determined based on the movement speed of the piston in the shock absorber, the cross-sectional area of ​​the first liquid cavity, and the first flow rate.

17. A controller characterized by comprising: The controller includes a functional unit for performing the method according to any one of claims 9-16.

18. A controller characterized by comprising: The controller includes a processor and a memory, wherein the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer programs or computer instructions stored in the memory, causing the controller to perform the method described in any one of claims 9-16.

19. A vehicle characterized by comprising: The vehicle includes the suspension system described in any one of claims 1-8.

20. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or computer instructions that are executed by a processor to implement the method described in any one of claims 9-16.

21. A computer program product, characterised in that, When the computer program product is executed by a processor, the method described in any one of claims 9-16 will be implemented.

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