CN115817094A - Air spring air pressure control method and device, computer equipment and storage medium - Google Patents
Air spring air pressure control method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to an air spring air pressure control method, an air spring air pressure control device, a computer device, a storage medium and a computer program product, which are applied to a vehicle provided with an electronic control air suspension system. The method comprises the following steps: acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass; determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height; determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure; and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure. In the whole air spring air pressure control process, the air pressure control coefficient of the air spring is obtained, and the air storage cylinder is controlled to inflate the air spring according to the air pressure control coefficient.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a method and an apparatus for controlling air pressure of an air spring, a computer device, a storage medium, and a computer program product.
Background
The spring of the automobile suspension mainly has two types, one is a common steel coil spring, and the other is an air spring. The air spring mainly comprises an air bag made of rubber, and if the spring in the automobile suspension is the air spring, the suspension is generally called an air suspension. For a vehicle equipped with an Electronically Controlled Air Suspension (ECAS) system, a driver can control the Air bag pressure through a handle and a key according to the requirements of a driving scene, and the ECAS system can also automatically control the Air bag pressure according to the running of the vehicle.
At present, a closed-loop control method is generally adopted for controlling the pressure of air in an air spring, and in the closed-loop control process, a controller continuously adjusts the input of a system correspondingly according to the output of the system. Therefore, when the actual pressure of the air in the air spring is about to reach the target pressure, the ECAS controller can continuously adjust the pressure of the air in the air spring by controlling the opening and closing of the electromagnetic valve, and the defect that the adjustment of the pressure of the air in the air spring is not fast enough exists.
Disclosure of Invention
In view of the above, it is necessary to provide an air spring air pressure control method, an apparatus, a computer device, a computer readable storage medium and a computer program product, which can quickly adjust the air pressure inside the air spring.
In a first aspect, the present application provides an air spring air pressure control method for a vehicle configured with an electronically controlled air suspension system. The method comprises the following steps:
acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass;
determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
In one embodiment, determining the air pressure control coefficient for the air spring comprises:
the air storage cylinder is used for inflating the air spring, and when the pressure of air in the air spring reaches a preset pressure, the air storage cylinder stops inflating the air spring;
the method comprises the steps of obtaining the pressure of air in the air spring in real time, and obtaining the balance pressure of the air in the air spring when the pressure of the air is not changed any more;
and determining the air pressure control coefficient of the air spring according to the preset pressure intensity and the balance pressure intensity.
In one embodiment, determining the air pressure control coefficient of the air spring according to the preset pressure and the equilibrium pressure comprises:
constructing a physical model of the air spring, and determining a mapping relation between the pressure of air in the air spring and the height of the air spring according to an ideal air state equation;
constructing a physical model of a vehicle frame, and determining a mapping relation between the air spring height and an air pressure control coefficient according to a stress analysis equation and an energy conservation equation;
determining the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient according to the mapping relation between the pressure of the air in the air spring and the height of the air spring and the mapping relation between the height of the air spring and the air pressure control coefficient;
and determining the air pressure control coefficient of the air spring according to the preset pressure intensity, the balance pressure intensity and the mapping relation between the pressure intensity of the air in the air spring and the air pressure control coefficient.
In one embodiment, constructing a physical model of the air spring, and determining a mapping relationship between the pressure of the gas inside the air spring and the height of the air spring according to an ideal gas state equation comprises:
constructing a physical model of the air spring, taking the gas in the air spring as ideal gas, and establishing an ideal gas state equation based on the physical model of the air spring;
and determining the mapping relation between the pressure of the air in the air spring and the height of the air spring according to an ideal air state equation, wherein the height of the air spring changes along with the amount of the air charged into the air spring.
In one embodiment, constructing a physical model of a vehicle frame, and determining a mapping relation between the air spring height and the air pressure control coefficient according to a stress analysis equation and an energy conservation equation comprises:
constructing a physical model of the vehicle frame, and establishing a stress analysis equation according to the physical model of the vehicle frame;
establishing an energy conservation equation according to the conversion relation between the potential energy and the kinetic energy of the vehicle frame;
and determining the mapping relation between the air spring height and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
In one embodiment, controlling the air storage cylinder to charge the air spring, and stopping charging the air spring when the pressure of the air in the air spring reaches the actual pressure comprises:
before the pressure of the air in the air spring reaches the actual pressure, the air spring is inflated by controlling the opening of an electromagnetic valve connected with an air storage cylinder;
when the pressure of the air in the air spring reaches the actual pressure, the electromagnetic valve connected with the air storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
In a second aspect, the application further provides an air spring air pressure control device applied to a vehicle equipped with an electronically controlled air suspension system. The device comprises:
the control coefficient acquisition module is used for acquiring the current sprung mass of the vehicle and determining the air pressure control coefficient of the air spring under the current sprung mass;
the target pressure determining module is used for determining the target pressure corresponding to the air in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
the actual pressure determining module is used for determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and the spring inflation control module is used for controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
In a third aspect, the present application further provides a computer apparatus for use in a vehicle equipped with an electronically controlled air suspension system. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass;
determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
In a fourth aspect, the present application further provides a computer readable storage medium for use with a vehicle configured with an electronically controlled air suspension system. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass;
determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
In a fifth aspect, the present application further provides a computer program product for use in a vehicle equipped with an electronically controlled air suspension system. The computer program product comprising a computer program which when executed by a processor performs the steps of:
acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass;
determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
The air spring air pressure control method, the air spring air pressure control device, the computer equipment, the storage medium and the computer program product are applied to a vehicle provided with an electronic control air suspension system, the current sprung mass of the vehicle is obtained, and the air pressure control coefficient of the air spring is determined under the current sprung mass; determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height; determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure; and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure. In the whole air spring air pressure control process, the actual pressure of the air in the air spring is determined when the air spring is stopped to be inflated by acquiring the air pressure control coefficient of the air spring under the current sprung mass of the vehicle and the target pressure of the air in the air spring, and the air storage cylinder is controlled to inflate the air spring according to the actual pressure, so that the air pressure of the air spring is quickly adjusted.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of an air spring pressure control method;
FIG. 2 is a schematic flow chart of a method for controlling air pressure in an air spring according to one embodiment;
FIG. 3 is a schematic flow chart of a method for determining an air pressure control coefficient for an air spring in accordance with another embodiment;
FIG. 4 is a schematic flow chart illustrating the air spring air pressure control step according to one embodiment;
FIG. 5 is a block diagram of an air spring air pressure control device according to one embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The air spring air pressure control method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the air suspension system controller 100 communicates with the vehicle 200 to achieve faster air spring air pressure control. The air suspension system controller 100 acquires the current sprung mass of the vehicle 200, and determines the air pressure control coefficient of the air spring at the current sprung mass; determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the frame is stabilized at the target height; meanwhile, the air suspension system controller 100 determines the actual pressure of the air inside the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure; and finally, the air suspension system controller 100 controls the air storage cylinder to inflate the air spring, and when the pressure of air in the air spring reaches the actual pressure, the air storage cylinder stops inflating the air spring.
In one embodiment, as shown in fig. 2, an air spring air pressure control method is provided, which is exemplified by the application of the method to the air suspension system controller 100 in fig. 1, and comprises the following steps:
s100: the current sprung mass of the vehicle is obtained, and the air pressure control coefficient of the air spring is determined at the current sprung mass.
Wherein the current sprung mass of the vehicle refers to the mass of the component carried by the air spring of the vehicle.
Alternatively, the current sprung mass of the vehicle in this application may be the mass of the cargo carried by the vehicle, and the air pressure control coefficient of the air spring varies with the sprung mass of the vehicle. The air pressure control coefficient of the air spring is re-determined each time the sprung mass of the vehicle changes due to a change in the mass of the load being carried.
Specifically, the operator may input the current sprung mass of the vehicle to the air suspension system controller 100, and the air suspension system controller 100 acquires the current sprung mass of the vehicle, determines whether an air pressure control coefficient corresponding to the current sprung mass is stored in the memory, and determines the air pressure control coefficient of the air spring based on open-loop control in the current sprung mass if the air pressure control coefficient corresponding to the current sprung mass is not stored in the memory.
S200: and determining the target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height.
The height corresponding to the air spring when the vehicle frame is stabilized at the target height refers to the height of the air spring corresponding to the vehicle frame when the vehicle frame is stabilized at the target adjustment height; the target pressure corresponding to the air in the air spring refers to the pressure of the air in the air spring when the vehicle frame is stabilized at the target adjustment height.
When the height of the vehicle frame is adjusted through the air spring, the vehicle frame can continuously rise to a certain height by means of the inertia of the vehicle frame after the air spring is stopped being inflated. In this embodiment, the stable target height of the vehicle frame refers to a height that is finally stabilized after the vehicle frame rises for a certain height by inertia, at this time, the air spring has a corresponding height, and the target pressure inside the air spring at this time can be obtained according to the corresponding height of the air spring.
Optionally, the height corresponding to the air spring when the vehicle frame is stabilized at the target height can be detected through the height sensor, and the target pressure corresponding to the air in the air spring is determined according to the ideal air state equation.
Specifically, when the vehicle frame reaches the target height and is kept stable, the height of the air spring at the moment is detected through the height sensor, and the pressure corresponding to the air in the air spring at the moment is determined according to an ideal air state equation and serves as the target pressure.
S300: and determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure.
The actual pressure refers to the pressure at which the air spring stops being inflated before the air in the air spring reaches the target pressure, and the fact that the air spring stops being inflated under the pressure can guarantee that the vehicle frame is finally stabilized at the target height.
Alternatively, the air suspension system controller 100 determines the actual pressure of the air inside the air spring when the air spring is stopped from being inflated, based on the calculated air pressure control coefficient and the target pressure to be reached by the air inside the air spring.
Specifically, the air suspension system controller obtains an air pressure control coefficient of the air spring based on open-loop control, determines the pressure corresponding to the air in the air spring at the moment according to an ideal air state equation to serve as a target pressure, and calculates the actual pressure in the air spring according to the air pressure control coefficient and the target pressure of the air spring.
S400: and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
When the height of the vehicle body needs to be raised, the air suspension system controller 100 controls the air storage cylinder to inflate the air spring, instead of directly inflating the air into the air spring through the air compressor; not only because the air compressor has certain noise when working, and frequent work also can shorten the life of compressor, so air compressor will be earlier gas charging in the gas receiver, and after the gas receiver inside reached certain atmospheric pressure, the compressor just stopped working.
Optionally, the air spring is inflated by mainly controlling an electromagnetic valve connected to the air reservoir to open, so that the air stored in the air reservoir is inflated into the air spring; the air exhausting process of the air spring is relatively simple, namely, the air of the air spring is exhausted by depending on the weight of the vehicle body. In this embodiment, the air suspension system controller 100 controls the air reservoir to inflate or stop the inflation of the air spring by controlling the opening and closing of the solenoid valve.
Specifically, the air suspension system controller 100 controls the solenoid valve to open, so that the air reservoir inflates the air spring, and when the pressure of the air in the air spring reaches the actual pressure, the solenoid valve is controlled to close, so that the air spring is stopped from inflating.
The air spring air pressure control method is applied to a vehicle provided with an electronic control air suspension system, the current sprung mass of the vehicle is obtained, and the air pressure control coefficient of the air spring is determined under the current sprung mass; determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height; determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure; and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure. In the whole air spring air pressure control process, the actual pressure of the air in the air spring is determined when the air spring is stopped to be inflated by acquiring the air pressure control coefficient of the air spring under the current sprung mass of the vehicle and the target pressure of the air in the air spring, and the air storage cylinder is controlled to inflate the air spring according to the actual pressure, so that the air pressure of the air spring is quickly adjusted.
In one embodiment, determining the air pressure control coefficient for the air spring comprises:
the air storage cylinder is used for inflating the air spring, and when the pressure of air in the air spring reaches a preset pressure, the air storage cylinder stops inflating the air spring;
the method comprises the steps of obtaining the pressure of air in the air spring in real time, and obtaining the balance pressure of the air in the air spring when the pressure of the air is not changed any more;
and determining the air pressure control coefficient of the air spring according to the preset pressure intensity and the balance pressure intensity.
The preset pressure can be a target pressure which is set manually, under the target pressure, when the pressure of the gas in the air spring is not changed any more, the balance pressure in the air spring can be determined based on open-loop control, and the air pressure control coefficient of the air spring can be further determined according to the preset pressure and the balance pressure.
Specifically, the air spring is inflated through the air storage cylinder, the pressure of air in the air spring is detected in real time through the pressure sensor in the inflation process, and the air spring is stopped from being inflated when the pressure of the air in the air spring reaches the preset pressure; and after the air spring is stopped to be inflated, continuously detecting the pressure of the air in the air spring, when the fact that the pressure of the air in the air spring is not changed is detected, taking the pressure of the air in the air spring at the moment as a balance pressure, and determining an air pressure control coefficient of the air spring based on the preset pressure and the balance pressure.
In the embodiment, the actual balance pressure corresponding to the air spring under the preset pressure is determined based on the open-loop control, and the air pressure control coefficient of the air spring is calculated according to the preset pressure and the balance pressure, so that the air pressure of the air spring can be quickly and accurately controlled.
In one embodiment, as shown in fig. 3, determining the air pressure control coefficient of the air spring according to the preset pressure and the equilibrium pressure comprises:
s120: constructing a physical model of the air spring, and determining a mapping relation between the pressure of air in the air spring and the height of the air spring according to an ideal air state equation;
s140: constructing a physical model of a vehicle frame, and determining a mapping relation between the height of the air spring and an air pressure control coefficient according to a stress analysis equation and an energy conservation equation;
s160: determining the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient according to the mapping relation between the pressure of the air in the air spring and the height of the air spring and the mapping relation between the height of the air spring and the air pressure control coefficient;
s180: and determining the air pressure control coefficient of the air spring according to the preset pressure intensity, the balance pressure intensity and the mapping relation between the pressure intensity of the air in the air spring and the air pressure control coefficient.
The air spring is an important part of an air suspension system, and the height of a vehicle frame can be adjusted by charging and discharging air to the air spring. Alternatively, considering the air spring as a cylinder with constant cross-sectional area and varying height, for the gas inside the air spring:
PV＝nRT (1)
V＝S·h (2)
wherein P is gas pressure, V is gas volume, n is gas substance amount, R is molar gas constant, T is air spring internal temperature, S is air spring cross-sectional area, h is air spring height, and the height changes with the amount of air filled in the air spring.
The mapping relation between the air pressure inside the air spring and the height of the air spring can be deduced by the formulas (1) and (2):
the vehicle frame rises under the supporting force of the air spring, a physical model of the vehicle frame is constructed, and in the process that the vehicle frame rises under the supporting force of the air spring in an accelerating way, the method comprises the following steps:
F-mg＝ma (4)
F＝P·S (5)
is obtained from the formulae (3), (4) and (5):
the air spring is inflated through the air storage cylinder, the pressure of the gas in the air spring is detected through the pressure sensor, and when the pressure of the gas in the air spring reaches the preset pressure P 0 When the air pressure is higher than the set value, the air pressure is stopped to be inflated, and the height corresponding to the air spring is detected to be H by the height sensor 0 (ii) a After the air spring is stopped to be inflated, the pressure of the air in the air spring is continuously detected through the pressure sensor, and when the pressure of the air in the air spring is detected to be not changed any more, the pressure of the air in the air spring at the moment is used as a balance pressure P 1 At the moment, the height corresponding to the air spring is detected to be H through the height sensor 1 。
Taking the vehicle frame as a research object, approximately considering the height of the air spring as the height of the vehicle frame when the height H of the vehicle frame is 0 And height H 1 According to the stress analysis equation of the vehicle frame, the following steps are provided:
in the process that the vehicle frame is lifted by the supporting force of the air spring, the kinetic energy of the vehicle frame is converted into the potential energy of the vehicle frame, and according to the energy conservation equation, the kinetic energy is converted into the potential energy of the vehicle frame
E k ＝mg(H 1 -H 0 ) (9)
Substituting formula (8) into formula (9) includes:
order to
And according to formula (3), P 0 And P 1 Substituting the formula (10) into the formula (10), determining the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient, and determining the air pressure control coefficient of the air spring as follows according to the preset pressure, the balance pressure and the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient:
alternatively, under the current sprung mass, the pressure of the air inside the air spring is controlled to be P if the pressure is wanted to be controlled 3 (corresponding to height H) 3 ) The pressure of the air in the air spring is P 2 (corresponding to height H) 2 ) The air spring is stopped from being inflated, and the pressure P is increased 3 Is a target pressure, pressure P 2 Determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure as the actual pressure:
P 2 ＝P 3 /(1-K/RT) (12)
in the embodiment, based on open-loop control, preset pressure and balance pressure are given, a physical model of the air spring and a vehicle frame is constructed, a mapping relation between the pressure of air in the air spring and an air pressure control coefficient is determined, the air pressure control coefficient of the air spring is determined according to the preset pressure, the balance pressure and the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient, self-learning of the air spring under the current sprung mass is completed, according to the air pressure control coefficient obtained by the self-learning, the actual pressure for stopping air inflation of the air spring can be determined according to the target pressure which the air spring needs to reach in practical application, and quick and accurate air pressure control of the air spring is achieved.
In one embodiment, constructing a physical model of the air spring, and determining a mapping relationship between the pressure of the gas inside the air spring and the height of the air spring according to an ideal gas state equation comprises:
constructing a physical model of the air spring, taking the gas in the air spring as ideal gas, and establishing an ideal gas state equation based on the physical model of the air spring;
and determining the mapping relation between the pressure of the air in the air spring and the height of the air spring according to an ideal air state equation, wherein the height of the air spring is changed along with the amount of the gas filled into the air spring.
The height of the vehicle frame can be adjusted by charging and discharging air into and from the air spring, and the height of the air spring is changed along with the amount of the gas charged into the air spring. Alternatively, the air spring is regarded as a cylinder with constant cross-sectional area and variable height, and then an ideal gas state equation can be established for the gas in the air spring as shown in the above equations (1) and (2); the mapping relationship between the pressure of the gas inside the air spring and the height of the air spring is determined according to the ideal gas state equation and is shown in the formula (3).
In the embodiment, the mapping relation between the pressure of the gas in the air spring and the height of the air spring can be determined by constructing the physical model of the air spring, regarding the gas in the air spring as the ideal gas and establishing the state equation of the ideal gas, so that the air pressure control coefficient of the air spring under the current sprung mass can be conveniently solved, and the quick and accurate air pressure control of the air spring is realized.
In one embodiment, the method for determining the mapping relation between the air spring height and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation comprises the following steps:
constructing a physical model of the vehicle frame, and establishing a stress analysis equation according to the physical model of the vehicle frame;
establishing an energy conservation equation according to the conversion relation between the potential energy and the kinetic energy of the vehicle frame;
and determining the mapping relation between the air spring height and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
The vehicle frame rises under the supporting force of the air spring, a physical model of the vehicle frame is built, a stress analysis equation is built on the basis of the physical model of the vehicle frame as shown in formulas (4) to (8), an energy conservation equation is built on the basis of the physical model of the vehicle frame as shown in formulas (9) to (10), and according to the stress analysis equation and the energy conservation equation, the mapping relation between the height of the air spring and the air pressure control coefficient can be determined as shown in formula (11).
In the embodiment, the physical model of the vehicle frame is constructed, and the stress analysis equation and the energy conservation equation are established on the basis of the physical model of the vehicle frame, so that the mapping relation between the height of the air spring and the air pressure control coefficient is determined, and the air pressure of the air spring is controlled quickly and accurately.
In one embodiment, controlling the air storage cylinder to charge the air spring, and stopping charging the air spring when the pressure of the air in the air spring reaches the actual pressure comprises:
before the pressure of the air in the air spring reaches the actual pressure, the air spring is inflated by controlling the opening of an electromagnetic valve connected with an air storage cylinder;
when the pressure of the air in the air spring reaches the actual pressure, the electromagnetic valve connected with the air storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
Optionally, in the air spring system, an air passage of the solenoid valve is connected to the air reservoir, and before the pressure of the gas in the air spring reaches the actual pressure, the air suspension system controller controls the solenoid valve to open, so that the gas in the air reservoir is filled into the air spring; when the pressure of the air in the air spring reaches the actual pressure, the air suspension system controls the electromagnetic valve connected with the air storage cylinder to be closed, and therefore the air spring is stopped being inflated.
In the embodiment, before the pressure of the air in the air spring reaches the actual pressure, the electromagnetic valve is controlled to be opened; when the pressure of the air in the air spring reaches the actual pressure, the electromagnetic valve is controlled to be closed, the situation that the electromagnetic valve needs to continuously experience pulses in closed-loop control is avoided, the service life of the electromagnetic valve is prolonged, and quick and accurate air pressure control of the air spring is realized.
In order to explain the technical solution of the electric power steering control method in the present application in detail, the following will explain the whole process in detail by using a specific application example and referring to fig. 4, which specifically includes the following steps:
1. the method comprises the following steps of obtaining the current sprung mass of a vehicle, and determining the air pressure control coefficient of an air spring under the current sprung mass:
a) The solenoid valve 402 connected to the air reservoir 401 is opened to inflate the air spring 407 with the air reservoir 401. Meanwhile, the pressure sensor 406 detects the pressure of the gas in the air spring 407, and the gas in the air spring 407 reaches a preset pressure P 0 At this time, the air spring 407 stops being inflated, and the height sensor 403 detects that the height of the air spring 407 is H 0 .
b) The solenoid valve 402 connected to the air reservoir 401 is closed to stop the air reservoir 401 from charging the air spring 407. After the air spring 407 stops being inflated, the pressure sensor 406 continues to detect the pressure of the air inside the air spring 407, and when the pressure of the air inside the air spring 407 is detected to be not changed any more, the pressure of the air inside the air spring 407 at that time is taken as the equilibrium pressure P 1 At this time, the height sensor detects that the height of the air spring 407 is H 1 。
c) Constructing a physical model of the air spring 407, regarding the air spring 407 as a cylinder with constant cross-sectional area and variable height, and according to an ideal gas state equation, for the gas inside the air spring 407, there are:
PV＝nRT (1)
V＝S·h (2)
the mapping relationship between the internal air pressure of the air spring 407 and the height of the air spring 407 can be derived from the equations (1) and (2):
d) Constructing a physical model of the vehicle frame 404, and in the process that the vehicle frame 404 is accelerated to rise under the supporting force of the air spring, according to a stress analysis equation, the physical model comprises the following components:
F-mg＝ma (4)
F＝P·S (5)
is obtained from the formulae (3), (4) and (5):
considering the height of air spring 407 approximately as the height of vehicle frame 404, when the height of vehicle frame 404 is at H 0 And H 1 In time, there are:
in the course of the vehicle frame 404 rising with the supporting force of the air spring 407, the kinetic energy of the vehicle frame 404 is converted into potential energy of the vehicle frame 404 according to the energy conservation equation
E k ＝mg(H 1 -H 0 ) (9)
Substituting formula (8) into formula (9) includes:
order to
And according to formula (3), P 0 And P 1 Substituting the equation (10) into the equation (10), the mapping relationship between the pressure of the air inside the air spring 407 and the air pressure control coefficient can be determined, and according to the preset pressure, the equilibrium pressure and the mapping relationship between the pressure of the air inside the air spring 407 and the air pressure control coefficient, the air pressure control coefficient of the air spring 407 is determined as follows:
2. according to the height H corresponding to the air spring 407 when the vehicle frame 404 is stabilized at the target height 3 Determining the target pressure P corresponding to the gas in the air spring 407 3 。
3. According to the air pressure control coefficient K and the target pressure P 3 When the air spring 407 stops being inflated, the actual pressure P of the air inside the air spring 407 is determined 2 Comprises the following steps:
P 2 ＝P 3 /(1-K/RT) (12)
4. the air suspension system controller controls the electromagnetic valve 402 to be opened, so that the air storage cylinder 401 inflates air to the air spring, the pressure sensor 406 detects the pressure of air inside the air spring 407 in real time, and when the pressure of the air inside the air spring 407 reaches the actual pressure, the electromagnetic valve 402 is controlled to be closed, so that the air inflation to the air spring 407 is stopped.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, as shown in fig. 5, the embodiment of the present application further provides an air spring air pressure control device for implementing the air spring air pressure control method. The device comprises:
a control coefficient obtaining module 501, configured to obtain a current sprung mass of the vehicle, and determine an air pressure control coefficient of the air spring under the current sprung mass;
a target pressure determination module 502, configured to determine a target pressure corresponding to air in an air spring according to a height corresponding to the air spring when the vehicle frame is stabilized at a target height;
an actual pressure determining module 503, configured to determine, according to the air pressure control coefficient and the target pressure, an actual pressure of air inside the air spring when the air spring stops being inflated;
and the spring inflation control module 504 is used for controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
The air spring air pressure control device is applied to a vehicle provided with an electronic control air suspension system, acquires the current sprung mass of the vehicle, and determines the air pressure control coefficient of an air spring under the current sprung mass; determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height; determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure; and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure. In the whole air spring air pressure control process, the actual pressure of the air in the air spring is determined when the air spring is stopped to be inflated by acquiring the air pressure control coefficient of the air spring under the current sprung mass of the vehicle and the target pressure of the air in the air spring, and the air storage cylinder is controlled to inflate the air spring according to the actual pressure, so that the air pressure of the air spring is quickly adjusted.
In one embodiment, the control coefficient obtaining module 501 is further configured to inflate the air spring through the air reservoir, and stop inflating the air spring when the pressure of the air inside the air spring reaches a preset pressure; the method comprises the steps of obtaining the pressure of air in the air spring in real time, and obtaining the balance pressure of the air in the air spring when the pressure of the air is not changed any more; and determining the air pressure control coefficient of the air spring according to the preset pressure intensity and the balance pressure intensity.
In one embodiment, the control coefficient obtaining module 501 is further configured to construct a physical model of the air spring, and determine a mapping relationship between the pressure of the gas inside the air spring and the height of the air spring according to an ideal gas state equation; constructing a physical model of a vehicle frame, and determining a mapping relation between the air spring height and an air pressure control coefficient according to a stress analysis equation and an energy conservation equation; determining the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient according to the mapping relation between the pressure of the air in the air spring and the height of the air spring and the mapping relation between the height of the air spring and the air pressure control coefficient; and determining the air pressure control coefficient of the air spring according to the preset pressure intensity, the balance pressure intensity and the mapping relation between the pressure intensity of the air in the air spring and the air pressure control coefficient.
In one embodiment, the control coefficient obtaining module 501 is further configured to construct a physical model of the air spring, regard the gas inside the air spring as an ideal gas, and establish an ideal gas state equation based on the physical model of the air spring; and determining the mapping relation between the pressure of the air in the air spring and the height of the air spring according to an ideal air state equation, wherein the height of the air spring changes along with the amount of the air charged into the air spring.
In one embodiment, the control coefficient obtaining module 501 is further configured to construct a physical model of the vehicle frame, and establish a force analysis equation according to the physical model of the vehicle frame; establishing an energy conservation equation according to the conversion relation between the potential energy and the kinetic energy of the vehicle frame; and determining the mapping relation between the air spring height and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
In one embodiment, the spring inflation control module 504 is further configured to inflate the air spring by controlling a solenoid valve connected to the air reservoir to open before the pressure of the air inside the air spring reaches the actual pressure; when the pressure of the air in the air spring reaches the actual pressure, the electromagnetic valve connected with the air storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
All or part of each module in the air spring air pressure control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 6. The computer apparatus includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input device. The processor, the memory and the input/output interface are connected by a system bus, and the communication interface, the display unit and the input device are connected by the input/output interface to the system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for communicating with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of air spring air pressure control. The display unit of the computer device is used for forming a visual picture and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass;
determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the air storage cylinder is used for inflating the air spring, and when the pressure of air in the air spring reaches a preset pressure, the air storage cylinder stops inflating the air spring; the method comprises the steps of obtaining the pressure of air in the air spring in real time, and obtaining the balance pressure of the air in the air spring when the pressure of the air is not changed any more; and determining the air pressure control coefficient of the air spring according to the preset pressure intensity and the balance pressure intensity.
In one embodiment, the processor, when executing the computer program, further performs the steps of: constructing a physical model of the air spring, and determining a mapping relation between the pressure of air in the air spring and the height of the air spring according to an ideal air state equation; constructing a physical model of a vehicle frame, and determining a mapping relation between the air spring height and an air pressure control coefficient according to a stress analysis equation and an energy conservation equation; determining the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient according to the mapping relation between the pressure of the air in the air spring and the height of the air spring and the mapping relation between the height of the air spring and the air pressure control coefficient; and determining the air pressure control coefficient of the air spring according to the preset pressure intensity, the balance pressure intensity and the mapping relation between the pressure intensity of the air in the air spring and the air pressure control coefficient.
In one embodiment, the processor, when executing the computer program, further performs the steps of: constructing a physical model of the air spring, taking the gas in the air spring as ideal gas, and establishing an ideal gas state equation based on the physical model of the air spring; and determining the mapping relation between the pressure of the air in the air spring and the height of the air spring according to an ideal air state equation, wherein the height of the air spring is changed along with the amount of the gas filled into the air spring.
In one embodiment, the processor, when executing the computer program, further performs the steps of: constructing a physical model of the vehicle frame, and establishing a stress analysis equation according to the physical model of the vehicle frame; establishing an energy conservation equation according to the conversion relation between the potential energy and the kinetic energy of the vehicle frame; and determining the mapping relation between the air spring height and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
In one embodiment, the processor, when executing the computer program, further performs the steps of: before the pressure of the air in the air spring reaches the actual pressure, the air spring is inflated by controlling the opening of an electromagnetic valve connected with an air storage cylinder; when the pressure of the air in the air spring reaches the actual pressure, the electromagnetic valve connected with the air storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of:
acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass;
determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
In one embodiment, the computer program when executed by the processor further performs the steps of: the air storage cylinder is used for inflating the air spring, and when the pressure of air in the air spring reaches a preset pressure, the air storage cylinder stops inflating the air spring; the method comprises the steps of obtaining the pressure of air in the air spring in real time, and obtaining the balance pressure of the air in the air spring when the pressure of the air is not changed any more; and determining the air pressure control coefficient of the air spring according to the preset pressure intensity and the balance pressure intensity.
In one embodiment, the computer program when executed by the processor further performs the steps of: constructing a physical model of the air spring, and determining a mapping relation between the pressure of air in the air spring and the height of the air spring according to an ideal air state equation; constructing a physical model of a vehicle frame, and determining a mapping relation between the air spring height and an air pressure control coefficient according to a stress analysis equation and an energy conservation equation; determining the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient according to the mapping relation between the pressure of the air in the air spring and the height of the air spring and the mapping relation between the height of the air spring and the air pressure control coefficient; and determining the air pressure control coefficient of the air spring according to the preset pressure intensity, the balance pressure intensity and the mapping relation between the pressure intensity of the air in the air spring and the air pressure control coefficient.
In one embodiment, the computer program when executed by the processor further performs the steps of: constructing a physical model of the air spring, taking the gas in the air spring as ideal gas, and establishing an ideal gas state equation based on the physical model of the air spring; and determining the mapping relation between the pressure of the air in the air spring and the height of the air spring according to an ideal air state equation, wherein the height of the air spring changes along with the amount of the air charged into the air spring.
In one embodiment, the computer program when executed by the processor further performs the steps of: constructing a physical model of the vehicle frame, and establishing a stress analysis equation according to the physical model of the vehicle frame; establishing an energy conservation equation according to the conversion relation between the potential energy and the kinetic energy of the vehicle frame; and determining the mapping relation between the air spring height and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
In one embodiment, the computer program when executed by the processor further performs the steps of: before the pressure of the air in the air spring reaches the actual pressure, the air spring is inflated by controlling the opening of an electromagnetic valve connected with an air storage cylinder; when the pressure of the air in the air spring reaches the actual pressure, the electromagnetic valve connected with the air storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass;
determining a target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
In one embodiment, the computer program when executed by the processor further performs the steps of: the air storage cylinder is used for inflating the air spring, and when the pressure of air in the air spring reaches a preset pressure, the air storage cylinder stops inflating the air spring; the method comprises the steps of obtaining the pressure of air in the air spring in real time, and obtaining the balance pressure of the air in the air spring when the pressure of the air is not changed any more; and determining the air pressure control coefficient of the air spring according to the preset pressure intensity and the balance pressure intensity.
In one embodiment, the computer program when executed by the processor further performs the steps of: constructing a physical model of the air spring, and determining a mapping relation between the pressure of air in the air spring and the height of the air spring according to an ideal air state equation; constructing a physical model of a vehicle frame, and determining a mapping relation between the air spring height and an air pressure control coefficient according to a stress analysis equation and an energy conservation equation; determining the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient according to the mapping relation between the pressure of the air in the air spring and the height of the air spring and the mapping relation between the height of the air spring and the air pressure control coefficient; and determining the air pressure control coefficient of the air spring according to the preset pressure intensity, the balance pressure intensity and the mapping relation between the pressure intensity of the air in the air spring and the air pressure control coefficient.
In one embodiment, the computer program when executed by the processor further performs the steps of: constructing a physical model of the air spring, taking the gas in the air spring as ideal gas, and establishing an ideal gas state equation based on the physical model of the air spring; and determining the mapping relation between the pressure of the air in the air spring and the height of the air spring according to an ideal air state equation, wherein the height of the air spring changes along with the amount of the air charged into the air spring.
In one embodiment, the computer program when executed by the processor further performs the steps of: constructing a physical model of the vehicle frame, and establishing a stress analysis equation according to the physical model of the vehicle frame; establishing an energy conservation equation according to the conversion relation between the potential energy and the kinetic energy of the vehicle frame; and determining the mapping relation between the air spring height and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
In one embodiment, the computer program when executed by the processor further performs the steps of: before the pressure of the air in the air spring reaches the actual pressure, the air spring is inflated by controlling the opening of an electromagnetic valve connected with an air storage cylinder; when the pressure of the air in the air spring reaches the actual pressure, the electromagnetic valve connected with the air storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the relevant laws and regulations and standards of the relevant country and region.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. An air spring air pressure control method, applied to a vehicle equipped with an electronically controlled air suspension system, comprising:
acquiring the current sprung mass of the vehicle, and determining the air pressure control coefficient of the air spring under the current sprung mass;
determining a target pressure corresponding to the air in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
2. The method of claim 1, wherein determining an air pressure control coefficient for an air spring comprises:
inflating the air spring through the air storage cylinder, and stopping inflating the air spring when the pressure of air in the air spring reaches a preset pressure;
the method comprises the steps of obtaining the pressure of air in the air spring in real time, and obtaining the balance pressure of the air in the air spring when the pressure of the air is not changed any more;
and determining an air pressure control coefficient of the air spring according to the preset pressure intensity and the balance pressure intensity.
3. The method of claim 2, wherein determining an air pressure control coefficient for the air spring based on the preset pressure and the equilibrium pressure comprises:
constructing a physical model of the air spring, and determining a mapping relation between the pressure of air in the air spring and the height of the air spring according to an ideal air state equation;
constructing a physical model of the vehicle frame, and determining a mapping relation between the air spring height and the air pressure control coefficient according to a stress analysis equation and an energy conservation equation;
determining the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient according to the mapping relation between the pressure of the air in the air spring and the height of the air spring and the mapping relation between the height of the air spring and the air pressure control coefficient;
and determining the air pressure control coefficient of the air spring according to the preset pressure, the balance pressure and the mapping relation between the pressure of the air in the air spring and the air pressure control coefficient.
4. The method of claim 3, wherein constructing a physical model of the air spring and determining a mapping of the pressure of the air within the air spring to the air spring height according to an ideal air equation of state comprises:
constructing a physical model of the air spring, taking the gas in the air spring as ideal gas, and establishing an ideal gas state equation based on the physical model of the air spring;
and determining a mapping relation between the pressure of the gas in the air spring and the height of the air spring according to the ideal gas state equation, wherein the height of the air spring changes along with the quantity of the gas filled into the air spring.
5. The method of claim 3, wherein the constructing a physical model of the vehicle frame, and determining the mapping relationship between the air spring height and the air pressure control coefficient according to a force analysis equation and an energy conservation equation comprises:
constructing a physical model of the vehicle frame, and establishing the stress analysis equation according to the physical model of the vehicle frame;
establishing the energy conservation equation according to the conversion relation between the potential energy and the kinetic energy of the vehicle frame;
and determining the mapping relation between the air spring height and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
6. The method of claim 1, wherein controlling the air reservoir to inflate the air spring and stopping inflation of the air spring when the pressure of the air within the air spring reaches the actual pressure comprises:
before the pressure of the gas in the air spring reaches the actual pressure, the air spring is inflated by controlling an electromagnetic valve connected to the air storage cylinder to be opened;
and when the pressure of the air in the air spring reaches the actual pressure, closing an electromagnetic valve connected to the air storage cylinder by controlling, and stopping inflating the air spring.
7. An air spring air pressure control device for a vehicle equipped with an electronically controlled air suspension system, said device comprising:
the control coefficient acquisition module is used for acquiring the current sprung mass of the vehicle and determining the air pressure control coefficient of the air spring under the current sprung mass;
the target pressure determining module is used for determining the target pressure corresponding to the air in the air spring according to the height corresponding to the air spring when the vehicle frame is stabilized at the target height;
the actual pressure determining module is used for determining the actual pressure of the air in the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
and the spring inflation control module is used for controlling the air storage cylinder to inflate the air spring, and stopping inflating the air spring when the pressure of the air in the air spring reaches the actual pressure.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.
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