CN113059976B - Front and rear axle synergistic suspension system - Google Patents
Front and rear axle synergistic suspension system Download PDFInfo
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- CN113059976B CN113059976B CN202110459930.3A CN202110459930A CN113059976B CN 113059976 B CN113059976 B CN 113059976B CN 202110459930 A CN202110459930 A CN 202110459930A CN 113059976 B CN113059976 B CN 113059976B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
Abstract
The invention discloses a front-rear axle synergistic suspension system in the technical field of vehicle engineering, which comprises two front suspension vibration absorbers, two rear suspension vibration absorbers and a vehicle speed sensor for detecting the running speed of a vehicle, wherein the vibration control method for the suspension comprises the following steps of: if the vehicle is traveling at a forward speed V t Exceeding V 1 Or the running speed of the automobile is lower than V 1 When the vibration of the vehicle body is small, the energy recovery vibration reduction end converts the vibration energy into electric energy for storage; otherwise, turning to the next step; when the vehicle is running at speed V 0 <V t <V 1 The vehicle body vibrates greatly, the front suspension vibration damper collects road surface information, and the rear suspension vibration damper acts according to the road surface information; otherwise, turning to the next step; the vehicle is below V 0 The vehicle body vibrates greatly, the rear suspension vibration absorber collects road surface information, and the front suspension vibration absorber acts according to the road surface information; the invention indirectly identifies the road surface information and reduces the information redundancy.
Description
Technical Field
The invention belongs to the technical field of vehicle engineering, and particularly relates to a suspension system with a front axle and a rear axle in a synergistic effect.
Background
The comfort of driving an automobile is always the subject of research of developers, and for active suspension control, the whole-vehicle suspension control technology is the key of active suspension development. In the prior art, a control system of an electronic control suspension of a vehicle using road information and a control method using the control system are disclosed, publication number is CN 110450594A, and publication date is 2019.11.15.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provide a suspension system with a front axle and a rear axle in a synergistic effect, solve the technical problem of information redundancy in the prior art, simplify active control signals, indirectly identify road surface information and reduce information redundancy.
The purpose of the invention is realized in the following way: the utility model provides a front and back axle synergistic suspension system, including two front suspension shock absorbers, two rear suspension shock absorbers and be used for detecting the speed of a vehicle speed sensor that the vehicle was travelled, the energy recuperation damping end of front suspension shock absorber is fixed in the front portion of suspension, the motion conversion end of front suspension shock absorber can do reciprocal rectilinear movement, the energy recuperation damping end of two front suspension shock absorbers is fixed on the front axle and is set up in the position of two front wheels respectively, the energy recuperation damping end of two rear suspension shock absorbers is fixed on the rear axle and is set up in the position of two rear wheels respectively, the vibration control method to suspension when the vehicle is travelled specifically includes the following steps:
(1) The front suspension vibration damper collects road surface information, the vehicle speed sensor detects the running speed and the running direction in real time, and the threshold value of high-speed running is set as V 1 Running speed judgment threshold V for forward and backward movement 0 The running speed of the vehicle is V t ；
(2) If the vehicle is at a running speed V t Exceeding V 1 Or the running speed of the automobile is lower than V 1 When the vibration of the vehicle body is small, the energy recovery vibration reduction end converts the vibration energy into electric energy for storage; otherwise, turning to the step (3);
(3) When the vehicle is running at speed V 0 <V t <V 1 When the vehicle body vibrates greatly, the front suspension vibration absorber collects road surface information, the rear suspension vibration absorber acts according to the road surface information collected by the front suspension vibration absorber, and the motion conversion end of the rear suspension vibration absorber acts to control vibration; otherwise, turning to the step (4);
(4) The vehicle running speed is lower than V 0 When the vehicle body vibrates greatly, the rear suspension vibration absorber collects road surface information, the front suspension vibration absorber acts according to the road surface information collected by the rear suspension vibration absorber, and the motion conversion end of the front suspension vibration absorber acts to control vibration.
As a further improvement of the invention, the invention also comprises a voltage sensing module which measures the voltage formed by the vibration damper in real time and generates a power generation voltage U containing the vibration damper t Is a signal of (a).
In order to realize the judgment of the vibration of the vehicle body, in the steps (2) - (4), when the voltage signal U is t Greater than threshold voltage U 0 When the vehicle body vibrates greatly as a result of the judgment, the intervention of vibration control is needed, and when the voltage signal U is t Less than threshold voltage U 0 When the vehicle body vibration is small as a result of the judgment, the intervention vibration control is not needed.
In order to further realize motion conversion, the structure of front suspension shock absorber and rear suspension shock absorber is the same, the front suspension shock absorber is including fixing motor, gear box and the quick-witted case in suspension front portion, the motor is connected with the gear box, is connected with drive gear on the gear box, drive gear rotationally connects on the machine case, and the machine case is last to be connected with the drive rack in a sliding manner, drive gear and drive rack meshing, and drive rack can be in the direction of height removal, and drive rack's one end is connected with the front axle, and drive rack's the other end is connected with the suspension, energy recuperation damping end is the motor, and motion conversion end is drive rack.
To further realize the judgment of the vibration quantity of the vehicle body, the vibration speed v of the shock absorber and the generated voltage U t The following relationship is provided:
（1）；
the vibration velocity v of the damper has the following relationship with the vibration displacement x:
（2）；
wherein k is e The counter electromotive force constant of the motor is represented, i represents the internal transmission ratio of the shock absorber, ω represents the angular frequency of vibration, and t' is time; in the design, the vibration of the vehicle body can be judged by the output voltage of the shock absorber according to the formulas (1) and (2).
In order to further realize energy recovery, the energy recovery device further comprises an energy storage module, wherein the energy storage module comprises a battery, a charging switch and a discharging switch, the energy recovery vibration damping end does not act, the corresponding charging switch is opened, the discharging switch is closed, and the battery receives a voltage signal generated by a motor and stores electric energy; when the energy recovery vibration reduction end acts, all charging switches are closed, the corresponding discharging switch is opened, and the electric energy stored in the battery is output and used for forming an actuating signal.
In order to further realize vibration control, the electronic control module comprises a low-pass filter, a signal acquisition unit, a signal analysis unit, a signal generation unit and a signal amplification unit, wherein the voltage sensing module is used for carrying out filtering treatment on a measured voltage signal through the low-pass filter and then transmitting the measured voltage signal to the signal acquisition unit, a vehicle speed sensor is used for transmitting the acquired signal to the signal acquisition unit, the signal acquisition unit is used for transmitting the received signal to the signal analysis unit, the signal analysis unit is used for carrying out analysis calculation on the received signal and sending an analysis result to the signal generation unit, the signal generation unit is used for controlling the opening and closing of a charging switch and a discharging switch, and the signal amplification unit is used for amplifying a pavement information signal to form a vibration control signal.
According to the invention, the active control signal is simplified, the road surface information is indirectly identified, the information redundancy is reduced, the road surface information is collected through the front suspension vibration absorber when the automobile runs forwards through the synergistic effect of the front suspension vibration absorber and the rear suspension vibration absorber, the action of the rear suspension vibration absorber is controlled according to the road surface information collected by the front suspension vibration absorber, the road surface information is collected through the rear suspension vibration absorber when the automobile backs up, the action of the front suspension vibration absorber is controlled according to the road surface information collected by the rear suspension vibration absorber, the automobile is enabled to run more stably, and the NVH level of the automobile is improved; meanwhile, suspension vibration energy recovery is realized, the whole system is powered by utilizing the energy recovered electric energy, and the energy loss is reduced; the method can be applied to suspension vibration control operation of the vehicle.
Drawings
Fig. 1 is a block diagram of the workflow of the present invention.
Fig. 2 is a schematic diagram of information flow in the operation mode determination according to the present invention.
FIG. 3 is a schematic diagram of the flow of electrical signals in the energy recovery mode of operation of the present invention.
Fig. 4 is a schematic diagram showing the flow of electrical signals in the front suspension control rear suspension operation mode in the present invention.
Fig. 5 is a schematic diagram showing the flow of electrical signals in the rear suspension control front suspension operation mode in the present invention.
Fig. 6 is a schematic structural view of an electromagnetic shock absorber according to the present invention.
Wherein, 1 motor, 2 gear box, 3 bearings, 4 machine case, 401 connection lug, 5 drive gear, 6 drive rack, 601 rack lug, 7 pivot.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The front-rear axle cooperative suspension system as shown in fig. 1-6 comprises a voltage sensing module, two front suspension dampers, two rear suspension dampers and a vehicle speed sensor for detecting the running speed of the vehicle, wherein the energy recovery damper ends of the front suspension dampers are fixed at the front part of the suspension, the motion conversion ends of the front suspension dampers can do reciprocating linear movement, the energy recovery damper ends of the two front suspension dampers are fixed on a front wheel shaft and respectively close to the positions of the two front wheels, the energy recovery damper ends of the rear suspension dampers are fixed at the rear part of the suspension, the energy recovery damper ends of the two rear suspension dampers are fixed on a rear wheel shaft and respectively close to the positions of the two rear wheels, and the voltage sensing module measures the voltage formed by the dampers in real time and generates a power generation voltage U containing the dampers t The method for controlling vibration of the suspension during running of the vehicle specifically comprises the following steps:
(1) The front suspension vibration damper collects road surface information, the vehicle speed sensor detects the running speed and the running direction in real time, and the threshold value of high-speed running is set as V 1 Running speed judgment threshold V for forward and backward movement 0 The running speed of the vehicle is V t ；
(2) Vehicle travel speed V t Exceeding V 1 Or the running speed of the automobile is lower than V 1 When the vibration of the vehicle body is small, the energy recovery vibration reduction end converts the vibration energy into electric energy for storage; otherwise, turning to the step (3);
(3) When the vehicle is running at speed V 0 <V t <V 1 When the vehicle body vibrates greatly, the front suspension vibration absorber collects road surface information, the rear suspension vibration absorber acts according to the road surface information collected by the front suspension vibration absorber, and the motion conversion end of the rear suspension vibration absorber acts to control the vibration of the suspension; otherwise, turning to the step (4);
(4) The vehicle running speed is lower than V 0 When the vibration of the vehicle body is large, the rear suspension vibration absorber collects road surface information, and the front suspension vibration absorber receives the road surface informationThe acquired road surface information of the rear suspension vibration damper acts, and the motion conversion end of the front suspension vibration damper acts to control vibration;
wherein in the steps (2) - (4), when the voltage signal U t Greater than threshold voltage U 0 When the vehicle body vibrates greatly as a result of the judgment, the intervention of vibration control is needed, and when the voltage signal U is t Less than threshold voltage U 0 When the vehicle body vibration is small as a result of the determination, the intervention vibration control is not needed, in this embodiment, V 0 Is 0.
In order to further realize motion conversion, the structure of the front suspension damper is the same as that of the rear suspension damper, the front suspension damper comprises a motor 1, a gear box 2 and a chassis 4 which are fixed at the front part of a suspension, the motor 1 is connected with the gear box 2, the output end of the gear box 2 is connected with a rotating shaft 7, the rotating shaft 7 is rotatably connected to the chassis 4 through a bearing 3, a transmission gear 5 is connected to the rotating shaft 7 in the chassis 4, the transmission gear 5 is rotatably connected to the chassis 4, a transmission rack 6 is slidably connected to the chassis 4, the transmission gear 5 is meshed with the transmission rack 6, the transmission rack 6 can move in the height direction, one end of the transmission rack 6 extending out of the chassis 4 is fixed with a rack lifting lug 601, the transmission rack 6 is connected with a front wheel shaft through the rack lifting lug 601, one end of the chassis far away from the rack 601 is fixed with a connecting lifting lug 401, the chassis is connected with the suspension through the connecting lug 401, the energy recovery damping end is the motor 1, the motor 1 is a direct current motor, and the motion conversion end is the transmission rack 6.
To further realize the judgment of the vibration quantity of the vehicle body, the vibration speed v of the damper and the generated voltage U t The following relationship is provided:
（1）；
the vibration velocity v of the damper has the following relationship with the vibration displacement x:
（2）；
wherein k is e The counter electromotive force constant of the motor is represented, i represents the internal transmission ratio of the shock absorber, ω represents the angular frequency of vibration, and t' is time; in the design, the vibration of the vehicle body can be judged by the output voltage of the shock absorber according to the formulas (1) and (2).
In order to further realize vibration control, the device further comprises an electronic control module and an energy storage module, wherein the electronic control module comprises a low-pass filter, a signal acquisition unit, a signal analysis unit, a signal generation unit and a signal amplification unit, the voltage sensing module carries out filtering treatment on a measured voltage signal through the low-pass filter and then transmits the measured voltage signal to the signal acquisition unit, a vehicle speed sensor transmits the acquired signal to the signal acquisition unit, the signal acquisition unit transmits the received signal to the signal analysis unit, the signal analysis unit carries out analysis calculation on the received signal and transmits an analysis result to the signal generation unit, the signal amplification unit amplifies a pavement information signal to form a vibration control signal, the energy storage module comprises a battery, a charging switch and a discharging switch, the signal generation unit controls the opening and closing of the charging switch and the discharging switch, when a motion conversion end acts, the signal generation unit controls the corresponding charging switch to be opened and controls the corresponding discharging switch to be closed, and the battery receives the voltage signal generated by the motor 1 to store electric energy; the signal generating unit controls the corresponding charging switch to be closed, and when the discharging switch is opened, the electric energy stored in the battery is output and used for forming an actuating signal, and the energy recovery vibration reduction end actively acts.
For further convenience of description, the two front suspension vibration absorbers are respectively named as a left front electromagnetic vibration absorber and a right front electromagnetic vibration absorber, the two rear suspension vibration absorbers are respectively named as a left rear electromagnetic vibration absorber and a right rear electromagnetic vibration absorber, the voltage sensing module comprises a left front voltage sensor corresponding to the left front electromagnetic vibration absorber, a right front voltage sensor corresponding to the right front electromagnetic vibration absorber, a left rear voltage sensor corresponding to the left rear electromagnetic vibration absorber and a right rear voltage sensor corresponding to the right rear electromagnetic vibration absorber, 4 charging switches and 4 discharging switches are respectively arranged, wherein the 4 charging switches are respectively a left front charging switch corresponding to the left front electromagnetic vibration absorber, a right front charging switch corresponding to the right front electromagnetic vibration absorber, a left rear charging switch corresponding to the left rear electromagnetic vibration absorber and a right rear charging switch corresponding to the right rear electromagnetic vibration absorber, and the signal amplifying unit comprises a front-rear-control left signal amplifier, a front-rear-control right signal amplifier, a front-rear-control left signal amplifier and a front-rear-control right signal amplifier, and the front-rear-control signal amplifier are respectively, and the front-rear-control signal amplifiers are respectively used for acquiring information of the front vibration signals of the front suspension vibration absorbers and vibration absorbers; the front control rear sampling left signal amplifier and the front control rear sampling right signal amplifier are used for the rear suspension vibration absorber to collect road surface information, and the road surface information signals collected by the rear suspension vibration absorber are amplified when the front suspension vibration absorber is in vibration control; the 4 discharging switches are respectively a front-picking rear-control left discharging switch for controlling the battery to be communicated with the front-picking rear-control left signal amplifier, a front-picking rear-control right discharging switch for controlling the battery to be communicated with the front-picking rear-control right signal amplifier, a front-picking rear-left discharging switch for controlling the battery to be communicated with the front-picking rear-control left signal amplifier, and a front-picking rear-right discharging switch for controlling the battery to be communicated with the front-picking rear-control left discharging switch and the front-picking rear-control right discharging switch, when the signal generating unit controls the front-picking rear-left discharging switch and the front-picking rear-control right discharging switch to be opened, the battery supplies power for the front-picking rear-control left signal amplifier and the front-picking rear-control right signal amplifier, and the front-picking rear-control right signal amplifier respectively receives and amplifies electric signals generated by the left front electromagnetic shock absorber and the right front electromagnetic shock absorber, and the amplified signals are directly used for driving the corresponding rear suspension shock absorber, namely the left electromagnetic shock absorber and the right electromagnetic shock absorber generate actions; when the signal generating unit controls the front-control rear-sampling left discharging switch and the front-control rear-sampling right discharging switch to be turned on, the battery supplies power to the front-control rear-sampling left signal amplifier and the front-control rear-sampling right signal amplifier, and the front-control rear-sampling left signal amplifier and the front-control rear-sampling right signal amplifier respectively receive and amplify electric signals generated by the left rear electromagnetic shock absorber and the right rear electromagnetic shock absorber, and the amplified signals are directly used for driving the corresponding front suspension shock absorbers, so that the left front electromagnetic shock absorber and the right front electromagnetic shock absorber act.
According to the invention, the active control signal is simplified, the road surface information is indirectly identified, the information redundancy is reduced, the road surface information is collected through the front suspension vibration absorber when the automobile runs forwards through the synergistic effect of the front suspension vibration absorber and the rear suspension vibration absorber, the action of the rear suspension vibration absorber is controlled according to the road surface information collected by the front suspension vibration absorber, the road surface information is collected through the rear suspension vibration absorber when the automobile backs up, the action of the front suspension vibration absorber is controlled according to the road surface information collected by the rear suspension vibration absorber, the automobile is enabled to run more stably, and the NVH level of the automobile is improved; meanwhile, suspension vibration energy recovery is realized, the whole system is powered by utilizing the energy recovered electric energy, and the energy loss is reduced; the method can be applied to suspension vibration control operation of the vehicle.
The invention is not limited to the above embodiments, and based on the technical solution disclosed in the invention, a person skilled in the art may make some substitutions and modifications to some technical features thereof without creative effort according to the technical content disclosed, and all the substitutions and modifications are within the protection scope of the invention.
Claims (4)
1. The suspension system with the cooperative action of the front axle and the rear axle is characterized by comprising a voltage sensing module, two front suspension vibration dampers, two rear suspension vibration dampers and a vehicle speed sensor for detecting the running speed of a vehicle, wherein the voltage sensing module is used for measuring the voltage formed by the vibration dampers in real time and generating a power generation voltage U containing the vibration dampers t The energy recovery vibration reduction ends of the front suspension vibration absorbers are fixed at the front part of the suspension, the motion conversion ends of the front suspension vibration absorbers can do reciprocating linear motion, the energy recovery vibration reduction ends of the two front suspension vibration absorbers are fixed on a front wheel shaft and respectively close to the positions of the two front wheels, the energy recovery vibration reduction ends of the two rear suspension vibration absorbers are fixed on a rear wheel shaft and respectively close to the positions of the two rear wheels, and the vibration control method for the suspension during vehicle running specifically comprises the following steps:
(1) The front suspension vibration damper collects road surface information, the vehicle speed sensor detects the running speed and the running direction in real time, and the threshold value of high-speed running is set as V 1 Running speed judgment threshold V for forward and backward movement 0 Speed of travel of vehicleIs V (V) t ；
(2) If the vehicle is at a running speed V t Exceeding V 1 Or the running speed of the automobile is lower than V 1 When the vibration of the vehicle body is small, the energy recovery vibration reduction end converts the vibration energy into electric energy for storage; otherwise, turning to the step (3);
(3) When the vehicle is running at speed V 0 <V t <V 1 When the vehicle body vibrates greatly, the front suspension vibration absorber collects road surface information, and the rear suspension vibration absorber acts according to the road surface information collected by the front suspension vibration absorber to control vibration; otherwise, turning to the step (4);
(4) The vehicle running speed is lower than V 0 When the vehicle body vibrates greatly, the rear suspension vibration absorber collects road surface information, the front suspension vibration absorber acts according to the road surface information collected by the rear suspension vibration absorber, and the motion conversion end of the front suspension vibration absorber acts to control vibration;
in the steps (2) - (4), when the voltage signal U t Greater than threshold voltage U 0 When the vehicle body vibrates greatly as a result of the judgment, the intervention of vibration control is needed, and when the voltage signal U is t Less than threshold voltage U 0 When the vehicle body vibration is smaller as a judgment result, the intervention vibration control is not needed; vibration velocity v of the damper and voltage U generated by the same t There is a relationship that is such that,
（1）；
the vibration velocity v of the damper has the following relation with the vibration displacement x,
（2）；
wherein k is e The back emf constant of the motor, i represents the internal transmission ratio of the damper, ω represents the angular frequency of the vibration, and t' is time.
2. The suspension system of claim 1, wherein the front suspension damper and the rear suspension damper are identical in structure, the front suspension damper comprises a motor, a gear box and a chassis fixed at the front part of the suspension, the motor is connected with the gear box, a transmission gear is connected to the gear box, the transmission gear is rotatably connected to the chassis, a transmission rack is slidably connected to the chassis, the transmission gear is meshed with the transmission rack, the transmission rack can move in the height direction, one end of the transmission rack is connected with the front axle, the other end of the transmission rack is connected with the suspension, the energy recovery damping end is the motor, and the motion conversion end is the transmission rack.
3. The suspension system of claim 1 or 2, further comprising an energy storage module, wherein the energy storage module comprises a battery, a charging switch and a discharging switch, the energy recovery vibration reduction end is not operated, the corresponding charging switch is opened, the discharging switch is closed, and the battery receives a voltage signal generated by a motor for storing electric energy; when the energy recovery vibration reduction end acts, all charging switches are closed, the corresponding discharging switch is opened, and the electric energy stored in the battery is output and used for forming an actuating signal.
4. A front-rear axle synergistic suspension system as claimed in claim 1 or claim 2, wherein: the road surface information signal processing device comprises a vehicle speed sensor, an electronic control module and a signal analysis module, wherein the electronic control module comprises a low-pass filter, a signal acquisition unit, a signal analysis unit, a signal generation unit and a signal amplification unit, the voltage sensor transmits a measured voltage signal to the signal acquisition unit after being subjected to filtering treatment by the low-pass filter, the vehicle speed sensor transmits a acquired signal to the signal acquisition unit, the signal acquisition unit transmits a received signal to the signal analysis unit, the signal analysis unit analyzes and calculates the received signal and transmits an analysis result to the signal generation unit, the signal generation unit controls the opening and closing of a charging switch and a discharging switch, and the signal amplification unit amplifies the road surface information signal to form a vibration control signal.
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