CN113561720B - Suspension cylinder type energy recovery system and control method thereof - Google Patents
Suspension cylinder type energy recovery system and control method thereof Download PDFInfo
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- CN113561720B CN113561720B CN202110711406.0A CN202110711406A CN113561720B CN 113561720 B CN113561720 B CN 113561720B CN 202110711406 A CN202110711406 A CN 202110711406A CN 113561720 B CN113561720 B CN 113561720B
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- 239000000725 suspension Substances 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000011084 recovery Methods 0.000 title claims abstract description 16
- 238000004146 energy storage Methods 0.000 claims abstract description 32
- 238000013016 damping Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000000149 penetrating effect Effects 0.000 claims abstract description 5
- 238000010248 power generation Methods 0.000 claims abstract description 3
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 102100029469 WD repeat and HMG-box DNA-binding protein 1 Human genes 0.000 description 1
- 101710097421 WD repeat and HMG-box DNA-binding protein 1 Proteins 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
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- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010419 fine particle Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/16—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dynamic absorbers as main damping means, i.e. spring-mass system vibrating out of phase
- B60G13/18—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dynamic absorbers as main damping means, i.e. spring-mass system vibrating out of phase combined with energy-absorbing means
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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
- B60G17/0152—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 action on a particular type of suspension unit
- B60G17/0155—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 action on a particular type of suspension unit pneumatic unit
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Abstract
The invention relates to the technical field of automotive suspensions, in particular to a suspension cylinder type energy recovery system and a control method thereof. Comprises a suspension and an energy storage tank; the suspension comprises a lower cylinder body, an upper cylinder body and a piston rod penetrating through the upper cylinder body and the lower cylinder body; an upper piston is arranged at one end of the piston rod, which is positioned on the upper cylinder body, and a lower piston is arranged at one end of the piston rod, which is positioned on the lower cylinder body; the upper cylinder body is filled with an air medium; the lower cylinder body is filled with an oil medium, and the lower piston is provided with a damping hole which is communicated with a lower rodless cavity and a lower rod cavity in the lower cylinder body; the energy storage pool comprises an energy storage cylinder body which is communicated with the upper rodless cavity of the upper cylinder body through a communication pipeline, and a pressure-sensitive motor which is arranged in the energy storage cylinder body and can move left and right to generate electric energy; the pressure-sensitive motor is a power generation device with adjustable moving direction; and a speed reducing valve with adjustable valve opening is arranged on the communication pipeline. The invention has simple structure and can actively control the suspension through the energy storage pool and the speed reducing valve.
Description
Technical Field
The invention relates to the technical field of automotive suspensions, in particular to a suspension cylinder type energy recovery system and a control method thereof.
Background
At present, as the common suspension system uses oily media in a fixed compression state, the suspension system is also an important reason for different driving experiences of different vehicle types, and the suspension damping is set to be large, so that the suspension of the vehicle is hard, the support of the chassis is strong, but the comfort of the vehicle can be greatly reduced when the vehicle is in a bumpy road surface. The damping of the suspension is set small, and the suspension of the vehicle is soft, and fine particles of the road surface are filtered in place, but the suspension has limited shock absorbing capacity when being subjected to large impact, and the vehicle body is not stable enough.
The existing suspension structure is usually used for adjusting damping and rigidity by changing the size of a damping hole and adjusting the flowing speed of oil, but the adjusting method has great limitation, firstly, the structure is complex, the adjusting difficulty is high, secondly, vibration energy is completely wasted by adjusting and releasing, the research shows that the energy consumed by automobile vibration is far greater than the energy consumed by automobile braking, if the vibration energy can be effectively recovered, the endurance mileage of an automobile can be increased by 20% -30%, and when the current suspension structure is not used for recovering the energy, the energy waste is caused.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provide a suspension cylinder type energy recovery system and a control method thereof.
The technical scheme of the invention is as follows: a suspension cylinder type energy recovery system comprises a suspension and an energy storage tank; the suspension comprises a lower cylinder body, an upper cylinder body and a piston rod penetrating through the upper cylinder body and the lower cylinder body; an upper piston is arranged at one end of the piston rod, which is positioned on the upper cylinder body, and a lower piston is arranged at one end of the piston rod, which is positioned on the lower cylinder body; the upper cylinder body is filled with an air medium; the lower cylinder body is filled with an oil medium, and the lower piston is provided with a damping hole which is communicated with a lower rodless cavity and a lower rod cavity in the lower cylinder body; the energy storage pool comprises an energy storage cylinder body which is communicated with the upper rodless cavity of the upper cylinder body through a communication pipeline, and a pressure sensing motor which is arranged in the energy storage cylinder body and can move left and right to generate electric energy; the pressure-sensitive motor is a power generation device with an adjustable moving direction; and a speed reducing valve with adjustable valve opening is arranged on the communication pipeline.
Further, a first spring capable of buffering vertical vibration is arranged in the lower rod cavity of the lower cylinder body.
Further, a second spring capable of buffering vertical vibration is arranged in the upper rodless cavity of the upper cylinder body.
Further the vehicle has a suspension cylinder type energy recovery system.
A control method of a suspension cylinder type energy recovery system comprises the steps of obtaining an optimal vibration frequency at a current vehicle speed according to the vehicle speed, collecting pressure in an energy storage pool, calculating an actual vibration frequency of a suspension by combining the vehicle speed, comparing the optimal vibration frequency with the actual vibration frequency, selecting corresponding control measures according to comparison results, and adjusting the vibration frequency of the suspension by controlling the moving direction of a pressure-sensitive motor and a speed reducing valve until the actual vibration frequency of the suspension is equal to the optimal vibration frequency.
The method for selecting the corresponding control measures according to the comparison result further comprises the following steps: when the actual vibration frequency is smaller than the optimal vibration frequency and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the optimal vibration frequency is smaller than or equal to a first set value, the pressure-sensitive motor is controlled to move only to the side close to the speed reducing valve, the speed reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally increased.
The method for selecting the corresponding control measures according to the comparison result further comprises the following steps: when the actual vibration frequency is larger than the optimal vibration frequency, and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is larger than or equal to a second set value, the pressure-sensitive motor is controlled to move only to the side deviating from the speed reducing valve, the speed reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally reduced.
The method for selecting the corresponding control measures according to the comparison result further comprises the following steps: when the ratio of the absolute value of the difference value of the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a third set value and is larger than a fourth set value, the control pressure sensing motor can move to one side of the speed reducing valve or move to one side away from the speed reducing valve, the valve opening of the speed reducing valve is controlled, and the volume of the upper rodless cavity of the upper cylinder body is adjusted.
The method for selecting the corresponding control measures according to the comparison result further comprises the following steps: and when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a fourth set value, controlling the speed reducing valve to be closed.
The method for selecting the corresponding control measures according to the comparison result further comprises the following steps: when the ratio of the absolute value of the difference between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is smaller than the first set value and larger than the third set value, the speed reducing valve and the pressure-sensitive motor are adjusted at the last moment.
According to the invention, the energy storage pool and the speed reducing valve which can be regulated and controlled are used for regulating and controlling, the actual vibration frequency of the suspension is regulated to be consistent with the optimal vibration frequency, the corresponding regulation is carried out according to the vibration condition of the road suspension, the adaptability of the vehicle to various running conditions is increased, meanwhile, the riding comfort, the steering stability and other performances are greatly improved, the energy storage pool can recover the vibration energy through the pressure sensing motor, and the vibration of the suspension can be further restrained in the energy recovery process.
Drawings
Fig. 1: the structure of the invention is schematically shown;
wherein: 1-a lower cylinder; 2-an upper cylinder; 3-a piston rod; 4-lower piston; 5-upper piston; 6-lower rodless cavity; 7-a rod cavity is arranged below; 8-upper rodless cavity; 9-a rod cavity is arranged on the upper part; 10-a first spring; 11-a second spring; 12-connecting channels; 13-an energy storage cylinder; 14-a pressure-sensitive motor; 15-a speed reducing valve.
Detailed Description
Embodiments of the present invention are described in detail below, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
The invention will now be described in further detail with reference to the drawings and to specific examples.
As shown in fig. 1, the suspension structure of the embodiment includes two cylinders, namely a lower cylinder 1 and an upper cylinder 2 which are arranged in an up-down overlapping manner, the two cylinders are connected into a whole through a piston rod 3, the lower end of the piston rod 3 is arranged in the lower cylinder 1 in a penetrating manner, a lower piston 4 is arranged at the end part of the piston rod, the upper end of the piston rod 3 is arranged in the upper cylinder 2 in a penetrating manner, and an upper piston 5 is arranged at the end part of the piston rod. In this embodiment, the lower cylinder 1 is filled with an oil medium, the upper cylinder 2 is filled with a gas medium, the lower piston 4 is provided with a damping hole communicated with the lower rodless cavity 6 and the lower rod cavity 7 in the lower cylinder 1, and when the oil medium flows between the lower rodless cavity 6 and the lower rod cavity 7 through the damping hole, a damping effect is generated. When the suspension bears vertical vibration, the upper piston 4 moves vertically, the volumes of the upper rod cavity 9 and the upper rodless cavity 8 are changed, and when the vibration is transmitted to the lower piston 4 through the piston rod 3, the volumes of the lower rod cavity 7 and the lower rodless cavity 6 change in the moving process of the lower piston 4, and the oil medium generates damping in the damping Kong Naliu. The upper cylinder body 2 adopts gas medium, can solve the condition of little vibration, and when the road surface was driven more gently, the vibration that produces was mostly dissipated through the upper cylinder body 2, improves the travelling comfort of driving, and when the road surface jolt vibration was great, the vibration on road surface was absorbed to lower cylinder body 1, improves the rigidity of driving, reinforcing control performance and security.
The embodiment also comprises an energy storage tank, wherein the energy storage tank 13 comprises an energy storage cylinder body 13, a pressure-sensitive motor 14 capable of moving left and right is arranged in the energy storage cylinder body 13, and the pressure-sensitive motor 14 moves through the pressure change of two sides so as to generate electric energy. The energy storage cylinder 13 at the left side of the pressure sensing motor 14, namely the energy storage cylinder 13 facing one side of the suspension is communicated with the upper rodless cavity 8 of the suspension through a connecting channel 12, a speed reducing valve 15 is arranged in the connecting channel 12, and the valve opening of the speed reducing valve 15 is adjustable. In addition, the left-right movement direction of the pressure-sensitive motor 14 in this embodiment is adjustable, that is, in some cases, the pressure-sensitive motor 12 is controlled to move only to the side close to the speed-reducing valve 15, or the pressure-sensitive motor 12 is controlled to move only to the side away from the speed-reducing valve 15, or the pressure-sensitive motor 12 is controlled to move to either the side close to the speed-reducing valve 15 or the side away from the speed-reducing valve 15.
In the embodiment, the vibration frequency of the suspension is adjusted by controlling the moving direction of the pressure-sensitive motor 12 and the opening of the speed reducing valve 15, so that the actual vibration frequency of the suspension is consistent with the optimal vibration frequency, the natural frequency of the suspension system is basically unchanged, and the smoothness and the trafficability of the vehicle are respectively improved by charging and discharging the combination of the upper rodless cavity 8 and the energy storage pool. The rigidity of the suspension is reduced during high-speed running, the grounding performance of the tire is improved, the steering stability and safety of the vehicle are improved, and meanwhile, the damage to the road surface is reduced.
The specific control method of this embodiment is as follows:
the method comprises the steps of obtaining V, namely the volume of a cavity communicated with an upper rodless cavity at the left side of a pressure sensing motor of an energy storage tank, monitoring the air pressure absolute pressure P in the energy storage tank through a pressure sensor in the energy storage tank, obtaining a gas compression deformation speed n value according to air temperature, wherein the gas compression deformation speed n value is obtained through a calibrated air temperature and a gas compression deformation speed n value MAP table, calling the gas compression deformation speed n value under the current temperature condition through receiving a temperature signal of a CAN network section of the whole vehicle, and calculating the actual vibration frequency of a suspension according to the following formula:
wherein: f (f) 1 -the actual vibration frequency of the suspension;
n-gas compression set rate;
the left side of the V-pressure sensing motor is communicated with the upper rodless cavity;
a, the effective induction area of the energy storage pool;
p-the absolute pressure of the chamber communicated with the upper rodless cavity on the left side of the pressure-sensitive motor;
P a -standard atmospheric pressure;
according to the steps, the actual vibration frequency of the suspension after the vehicle passes through the obstacle or the deceleration strip can be obtained, and the vibration frequency of the suspension is expected to be 0 during normal running, but if the suspension forcibly controls the frequency mutation of the suspension to be 0 during vibration, the suspension can be caused to be embodied as rigidity, and negative feedback is given to a customer. Therefore, the embodiment actively controls the vibration frequency of the suspension, so that the real-time vibration frequency of the suspension after the vehicle passes through an obstacle or a deceleration strip is a certain damping curve, and passengers have more comfortable driving experience.
The vehicle speed and time are collected through a three-dimensional MAP table of the calibrated optimal vibration frequency, the vehicle speed and time, the optimal vibration frequency of the vehicle at the current moment can be obtained, the optimal vibration frequency is the frequency control target of the suspension, and the good shock absorbing effect can be obtained only when the actual vibration frequency of the suspension is equal to the optimal vibration frequency,
the above formula is the calculation formula of the frequency control target, namely by adjusting V Upper rodless cavity And V Energy storage pool V of the present embodiment Energy storage pool The volume of the cavity communicated with the upper rodless cavity at the left side of the finger pressure sensing motor can achieve the purpose of adjusting the frequency and adjust V Upper rodless cavity And V Energy storage pool By controlling the speed-reducing valve and limiting the movement of the pressure-sensitive motorDirection.
The actual vibration frequency of the suspension is compared with the optimal vibration frequency, the pressure-sensitive motor 12 and the speed reducing valve 15 are correspondingly controlled and regulated according to the comparison structure, so that the actual vibration frequency of the suspension approaches the optimal vibration frequency until the actual vibration frequency is completely the same, and the specific control measures are as follows:
when the actual vibration frequency is smaller than the optimal vibration frequency and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the optimal vibration frequency is smaller than or equal to a first set value (the first set value is determined to be-1), the pressure-sensitive motor is controlled to move only to the side close to the speed reducing valve, the speed reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body is ensured to be naturally increased.
When the actual vibration frequency is greater than the optimal vibration frequency and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is greater than or equal to a second set value (the second set value in the embodiment is 1), the control pressure-sensitive motor can only move to the side deviating from the speed reducing valve, the speed reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally reduced.
When the ratio of the absolute value of the difference between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to the third set value and is greater than the fourth set value (the third set value in this embodiment is 0.9, and the fourth set value in this embodiment is 0.03), the control pressure-sensitive motor can move to the side of the speed reducing valve or to the side away from the speed reducing valve, the valve opening of the speed reducing valve is controlled, and the volume of the upper rodless cavity of the upper cylinder body is adjusted.
When the ratio of the absolute value of the difference between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is more than the third set value and less than the first set value, the speed reducing valve and the pressure sensing motor are regulated at the last moment. The intervals of 0.9-1.0 and-1 to-0.9 are robustness intervals, and the adjustment state at the last moment is maintained, so that the state switching is prevented from being too frequent.
When the ratio of the absolute value of the difference between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a fourth set value (the fourth set value in the embodiment is 0.03), the speed reducing valve is controlled to be closed, and the action is ended.
After the speed reducing valve is closed, the control flow of the wheel is terminated, the next wheel control is started after 3s, the speed reducing valve is automatically opened, and the control and the adjustment are carried out according to the flow.
The first set value is greater than the third set value, the fourth set value is greater than the second set value.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A control method of a suspension cylinder type energy recovery system is characterized by comprising the following steps of: the suspension cylinder type energy recovery system comprises a suspension and an energy storage tank; the suspension comprises a lower cylinder body (1), an upper cylinder body (2) and a piston rod (3) penetrating through the upper cylinder body (2) and the lower cylinder body (1); an upper piston (5) is arranged at one end of the piston rod (3) positioned on the upper cylinder body (2), and a lower piston (4) is arranged at one end of the piston rod (3) positioned on the lower cylinder body (1); the upper cylinder body (2) is filled with an air medium; the lower cylinder body (1) is filled with an oil medium, and the lower piston (4) is provided with a damping hole which is communicated with a lower rodless cavity (6) and a lower rod cavity (7) in the lower cylinder body (1); the energy storage pool comprises an energy storage cylinder body (13) communicated with the upper rodless cavity (8) of the upper cylinder body (2) through a communication pipeline (12) and a pressure sensing motor (14) which is arranged in the energy storage cylinder body (13) and can move left and right to generate electric energy; the pressure-sensitive motor (14) is a power generation device with an adjustable moving direction; a speed reducing valve (15) with adjustable valve opening is arranged on the communicating pipeline (12);
and acquiring the optimal vibration frequency of the suspension by combining the pressure in the energy storage pool with the vehicle speed, comparing the optimal vibration frequency with the actual vibration frequency, selecting corresponding control measures according to the comparison result, and adjusting the vibration frequency of the suspension by controlling the moving direction of the pressure-sensitive motor and the speed reducing valve until the actual vibration frequency of the suspension is equal to the optimal vibration frequency.
2. A control method of a suspension cylinder type energy recovery system according to claim 1, characterized by: the method for selecting the corresponding control measures according to the comparison result comprises the following steps: when the actual vibration frequency is smaller than the optimal vibration frequency and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the optimal vibration frequency is smaller than or equal to a first set value, the pressure-sensitive motor is controlled to move only to the side close to the speed reducing valve, the speed reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally increased.
3. A control method of a suspension cylinder type energy recovery system according to claim 1, characterized by: the method for selecting the corresponding control measures according to the comparison result comprises the following steps: when the actual vibration frequency is larger than the optimal vibration frequency, and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is larger than or equal to a second set value, the pressure-sensitive motor is controlled to move only to the side deviating from the speed reducing valve, the speed reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally reduced.
4. A control method of a suspension cylinder type energy recovery system according to claim 1, characterized by: the method for selecting the corresponding control measures according to the comparison result comprises the following steps: when the ratio of the absolute value of the difference value of the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a third set value and is larger than a fourth set value, the control pressure sensing motor can move to one side of the speed reducing valve or move to one side away from the speed reducing valve, the valve opening of the speed reducing valve is controlled, and the volume of the upper rodless cavity of the upper cylinder body is adjusted.
5. A control method of a suspension cylinder type energy recovery system according to claim 1, characterized by: the method for selecting the corresponding control measures according to the comparison result comprises the following steps: and when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a fourth set value, controlling the speed reducing valve to be closed.
6. A control method of a suspension cylinder type energy recovery system according to claim 1, characterized by: the method for selecting the corresponding control measures according to the comparison result comprises the following steps: when the ratio of the absolute value of the difference between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is smaller than the first set value and larger than the third set value, the speed reducing valve and the pressure sensing motor are adjusted at the last moment.
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| JP4525651B2 (en) * | 2006-09-15 | 2010-08-18 | トヨタ自動車株式会社 | Vehicle suspension system |
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| DE3938304A1 (en) * | 1988-11-18 | 1990-05-23 | Atsugi Unisia Corp | MOTOR VEHICLE SUSPENSION SYSTEM WITH VARIABLE DAMPING CHARACTERISTICS AND SHOCK ABSORBER HERE |
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