CN115817094B - Air spring air pressure control method, device, computer equipment and storage medium - Google Patents
Air spring air pressure control method, device, computer equipment and storage medium Download PDFInfo
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Abstract
The present application relates to an air spring air pressure control method, apparatus, computer device, storage medium and computer program product, applied to a vehicle equipped 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 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 stable at the target height; determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure; and 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. The whole air spring air pressure control process is used for acquiring the air spring air pressure control coefficient, and controlling the air storage cylinder to charge air to the air spring according to the air spring air pressure control coefficient.
Description
Technical Field
The present application relates to the field of automotive technology, and in particular, 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.
Background
There are two main types of springs for automotive suspensions, one is a common steel coil spring and one is an air spring. The air spring mainly comprises an air bag made of rubber, and if the air spring is used as the spring in the automobile suspension, the suspension is generally called as an air suspension. For a vehicle equipped with an electronically controlled air suspension (Electronically Controlled Air Suspension, ECAS) system, a driver can control the air bag pressure through a handle and keys according to the requirements of driving scenes, and the ECAS system can automatically control the air bag pressure according to the operation of the vehicle.
At present, a closed-loop control method is generally adopted for controlling the pressure of gas in an air spring, and in the closed-loop control process, a controller continuously adjusts the input of the system according to the output of the system. Therefore, when the actual pressure of the gas in the air spring is about to reach the target pressure, the ECAS controller can continuously adjust the pressure of the gas 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 gas in the air spring is not rapid exists.
Disclosure of Invention
In view of the foregoing, it is desirable to provide an air spring air pressure control method, apparatus, computer device, computer readable storage medium, and computer program product that can quickly adjust the air pressure inside an air spring.
In a first aspect, the present application provides a method of controlling air spring air pressure for use in a vehicle equipped 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 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 stable at the target height;
determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure;
And 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.
In one embodiment, determining the air pressure control coefficient of the air spring includes:
the air spring is inflated through the air storage cylinder, and when the pressure of the air in the air spring reaches a preset pressure, the air spring is stopped being inflated;
Acquiring the pressure of the gas in the air spring in real time, and acquiring the balance pressure of the gas in the air spring when the pressure of the gas is not changed any more;
And determining the air pressure control coefficient of the air spring according to the preset pressure and the balance pressure.
In one embodiment, determining the air pressure control coefficient of the air spring according to the preset pressure and the balance pressure includes:
constructing a physical model of the air spring, and determining the mapping relation between the pressure of the air inside 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 height of an air spring 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 spring internal gas and the air pressure control coefficient according to the mapping relation between the pressure of the air spring internal gas and the air spring height and the mapping relation between the air spring height 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 inside 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 air inside the air spring and the height of the air spring according to an ideal air state equation includes:
constructing a physical model of the air spring, taking gas in the air spring as ideal gas, and constructing an ideal gas state equation based on the physical model of the air spring;
And determining the mapping relation between the pressure of the gas in the air spring and the height of the air spring according to an ideal gas state equation, wherein the height of the air spring changes along with the gas quantity filled into the air spring.
In one embodiment, constructing a physical model of a vehicle frame, determining a mapping relationship between an air spring height and an air pressure control coefficient according to a stress analysis equation and an energy conservation equation, including:
constructing a physical model of the vehicle frame, and establishing a stress analysis equation according to the physical model of the vehicle frame;
according to the conversion relation between potential energy and kinetic energy of the vehicle frame, an energy conservation equation is established;
And determining the mapping relation between the height of the air spring and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
In one embodiment, 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 an actual pressure includes:
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 with the air reservoir to be opened;
When the pressure of the gas in the air spring reaches the actual pressure, the electromagnetic valve connected to the gas storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
In a second aspect, the present application also provides an air spring air pressure control device for use with 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 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 actual pressure determining module is used for determining the actual pressure of the gas in the air spring when the air spring is stopped to be 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 also provides a computer device 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 which when executing the computer program 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 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 stable at the target height;
determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure;
And 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.
In a fourth aspect, the present application also provides a computer readable storage medium for use with a vehicle equipped 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 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 stable at the target height;
determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure;
And 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.
In a fifth aspect, the present application also provides a computer program product for use with a vehicle equipped with an electronically controlled air suspension system. The computer program product comprises a computer program which, when executed by a processor, implements 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 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 stable at the target height;
determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure;
And 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.
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 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 stable at the target height; determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure; and 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. The whole air spring air pressure control process is characterized in that the actual pressure of air in the air spring when the air spring is stopped to be inflated is determined 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 be inflated to 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 environment in which a method of controlling air spring air pressure in one embodiment is used;
FIG. 2 is a flow chart of a method of controlling air spring air pressure in one embodiment;
FIG. 3 is a flow chart of a method for determining a pneumatic control coefficient of an air spring according to another embodiment;
FIG. 4 is a flow chart of the air spring air pressure control step in one embodiment;
FIG. 5 is a block diagram of an air spring pneumatic control device in one embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The air spring air pressure control method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the air suspension system controller 100 communicates with the vehicle 200 to achieve more rapid air spring air pressure control. The air suspension system controller 100 obtains the current sprung mass of the vehicle 200, under which the air pressure control coefficient of the air spring is determined; determining the target pressure corresponding to the gas in the air spring according to the height corresponding to the air spring when the frame is stable 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 is stopped to be inflated according to the air pressure control coefficient and the target pressure; finally, the air suspension system controller 100 controls the air reservoir to charge the air spring, and stops charging the air spring when the pressure of the air in the air spring reaches the actual pressure.
In one embodiment, as shown in fig. 2, an air spring air pressure control method is provided, and the method is applied to the air suspension system controller 100 in fig. 1 for illustration, and includes the following steps:
S100: the current sprung mass of the vehicle is obtained, and under the current sprung mass, the air pressure control coefficient of the air spring is determined.
Where 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 of the present application may be the mass of the load carried by the vehicle, with the air spring having a pneumatic control coefficient that varies with the sprung mass of the vehicle. The air spring air pressure control coefficient is redetermined each time the sprung mass of the vehicle changes due to a change in the load carrying mass.
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 the air pressure control coefficient corresponding to the current sprung mass is already stored in the memory, and if not, determines the air pressure control coefficient of the air spring based on open loop control under the current sprung mass.
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 is the height corresponding to the air spring when the vehicle frame is stabilized at the target adjustment height; the target pressure corresponding to the air spring internal gas is the pressure of the air spring internal gas when the vehicle frame is stabilized at the target adjustment height.
When the height of the vehicle frame is adjusted by the air spring, the vehicle frame may continue to rise to a certain height by virtue of own inertia after the air spring is stopped from being inflated. In this embodiment, the stable target height of the vehicle frame refers to a final stable height of the vehicle frame after the vehicle frame rises by a certain height by inertia, and 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 sensor can detect the height corresponding to the air spring when the vehicle frame is stabilized at the target height, and the target pressure corresponding to the air inside the air spring is determined according to an ideal air state equation.
Specifically, in the case where the vehicle frame reaches the target height and remains stable, the height of the air spring at this time is detected by the height sensor, and the pressure corresponding to the gas inside the air spring at this time is determined according to the ideal gas state equation as the target pressure.
S300: and determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure.
The actual pressure is the pressure at which the air spring is stopped to be inflated before the gas in the air spring reaches the target pressure, and the air spring is stopped to be inflated under the pressure, so that the vehicle frame can be ensured to be finally stabilized at the target height.
Alternatively, the air suspension system controller 100 determines the actual pressure of the air spring interior gas at the time of stopping the inflation of the air spring based on the calculated air pressure control coefficient and the target pressure to be reached by the air spring interior gas.
Specifically, the air suspension system controller obtains the 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, takes the pressure as the target pressure, and calculates the actual pressure in the air spring according to the air pressure control coefficient of the air spring and the target pressure.
S400: and 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.
When the vehicle body height needs to be raised, the air suspension system controller 100 charges the air spring by controlling the air reservoir, instead of directly charging the air spring with air through the air compressor; not only because there is certain noise when the air compressor works, but also the service life of the compressor can be shortened when the air compressor works frequently, so that the air compressor can firstly charge air into the air storage cylinder, and the compressor stops working after the air storage cylinder reaches certain air pressure.
Optionally, the air spring is inflated by controlling the 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 spring is relatively simple in the exhausting process, namely 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 charge or stop charging 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 to allow the air reservoir to charge the air spring, and controls the solenoid valve to close when the pressure of the air in the air spring reaches the actual pressure, thereby stopping the air charging to the air spring.
The air spring air pressure control method 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 the air spring under the current sprung mass; 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 stable at the target height; determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure; and 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. The whole air spring air pressure control process is characterized in that the actual pressure of air in the air spring when the air spring is stopped to be inflated is determined 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 be inflated to 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 of the air spring includes:
the air spring is inflated through the air storage cylinder, and when the pressure of the air in the air spring reaches a preset pressure, the air spring is stopped being inflated;
Acquiring the pressure of the gas in the air spring in real time, and acquiring the balance pressure of the gas in the air spring when the pressure of the gas is not changed any more;
And determining the air pressure control coefficient of the air spring according to the preset pressure and the balance pressure.
The preset pressure can be a target pressure set manually, under the target pressure, the balance pressure inside the air spring can be determined based on open loop control when the pressure of the gas inside the air spring is not changed any more, 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 the air inside the air spring is detected in real time through the pressure sensor in the inflation process, and when the air inside the air spring is detected to reach the preset pressure, the air spring is stopped from being inflated; after the air spring is stopped from being inflated, continuously detecting the pressure of the air spring internal gas, and when the pressure of the air spring internal gas is detected to be unchanged, taking the pressure of the air spring internal gas at the moment as the balance pressure, and determining the 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 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 quick and accurate air spring air pressure control is realized.
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 balance pressure includes:
S120: constructing a physical model of the air spring, and determining the mapping relation between the pressure of the air inside 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 an 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 spring internal gas and the air pressure control coefficient according to the mapping relation between the pressure of the air spring internal gas and the air spring height and the mapping relation between the air spring height and the air pressure control coefficient;
s180: 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 inside the air spring and the air pressure control coefficient.
Air springs are an important component of air suspension systems, and the height of the vehicle frame can be adjusted by charging and discharging air to the air springs. Alternatively, the air spring is considered to be a cylinder of constant cross-sectional area and varying height, for the gas inside the air spring there are:
PV＝nRT (1)
V＝S·h (2)
Wherein P is the gas pressure, V is the gas volume, n is the amount of gas species, R is the molar gas constant, T is the air spring internal temperature, S is the air spring cross-sectional area, h is the air spring height, which varies with the amount of gas charged into the air spring.
The mapping relation between the air pressure inside the air spring and the height of the air spring can be deduced from 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 in an accelerating way under the supporting force of the air spring, the vehicle frame comprises:
F-mg＝ma (4)
F＝P·S (5)
From formulas (3), (4) and (5):
Inflating the air spring through the air storage cylinder, detecting the pressure of the air inside the air spring through the pressure sensor, stopping inflating when the pressure of the air inside the air spring reaches a preset pressure P 0, and detecting the corresponding height of the air spring to be H 0 through the height sensor; after the air spring is stopped from being inflated, the pressure of the air spring internal gas is continuously detected through the pressure sensor, when the pressure of the air spring internal gas is detected to be unchanged, the pressure of the air spring internal gas at the moment is taken as the balance pressure P 1, and the height corresponding to the air spring is detected to be H 1 through the height sensor.
Taking a vehicle frame as a research object, regarding the height of the air spring as the height of the vehicle frame approximately, when the vehicle frame is at the height H 0 and the height H 1, according to the stress analysis equation of the vehicle frame, the method comprises the following steps:
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 vehicle frame has
Ek＝mg(H1-H0) (9)
Substituting the formula (8) into the formula (9) includes:
Order the And according to the formula (3), P 0 and P 1 are substituted into the formula (10), so that the mapping relation between the pressure of the gas in the air spring and the air pressure control coefficient can be determined, and according to the preset pressure, the balance pressure and the mapping relation between the pressure of the gas in the air spring and the air pressure control coefficient, the air pressure control coefficient of the air spring is determined as follows:
Optionally, under the current sprung mass, if the pressure of the air spring internal gas is to be controlled to be P 3 (corresponding to the height H 3), the air spring should be stopped from being inflated when the pressure of the air spring internal gas is P 2 (corresponding to the height H 2), and when the pressure P 3 is the target pressure and the pressure P 2 is the actual pressure, the actual pressure of the air spring internal gas is determined to be when the air spring is stopped from being inflated according to the air pressure control coefficient and the target pressure:
P2＝P3/(1-K/RT) (12)
In this embodiment, based on open loop control, given a preset pressure and a balance pressure, a mapping relation between the pressure of the air spring and the air pressure control coefficient is determined by constructing a physical model of the air spring and the vehicle frame, and 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 spring and the air pressure control coefficient, so that self-learning of the air spring under the current sprung mass is completed, and according to the air pressure control coefficient obtained by self-learning, the actual pressure for stopping inflating the air spring can be determined according to the target pressure required to be reached by the air spring in practical application, thereby realizing rapid and accurate air spring air pressure control.
In one embodiment, constructing a physical model of the air spring, and determining a mapping relationship between the pressure of the air inside the air spring and the height of the air spring according to an ideal air state equation includes:
constructing a physical model of the air spring, taking gas in the air spring as ideal gas, and constructing an ideal gas state equation based on the physical model of the air spring;
And determining the mapping relation between the pressure of the gas in the air spring and the height of the air spring according to an ideal gas state equation, wherein the height of the air spring changes along with the gas quantity filled into the air spring.
The height of the vehicle frame can be adjusted by charging and discharging air to the air spring, and the height of the air spring is changed along with the air quantity charged into the air spring. Alternatively, when the air spring is regarded as a cylinder with constant cross-sectional area and constant height, an ideal gas state equation can be established for the gas inside the air spring as shown in the above formulas (1) and (2); and determining the mapping relation between the pressure of the gas in the air spring and the height of the air spring according to an ideal gas state equation, wherein the mapping relation is shown in the formula (3).
In the embodiment, by constructing the physical model of the air spring, the air in the air spring is regarded as ideal air, and an ideal air state equation is established, so that the mapping relation between the pressure of the air inside the air spring and the height of the air spring can be determined, the air spring air pressure control coefficient under the current sprung mass can be conveniently solved, and the air spring air pressure control can be rapidly and accurately realized.
In one embodiment, constructing a physical model of a vehicle frame, determining a mapping relationship between an air spring height and an air pressure control coefficient according to a stress analysis equation and an energy conservation equation, including:
constructing a physical model of the vehicle frame, and establishing a stress analysis equation according to the physical model of the vehicle frame;
according to the conversion relation between potential energy and kinetic energy of the vehicle frame, an energy conservation equation is established;
And determining the mapping relation between the height of the air spring 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, stress analysis equations are built on the basis of the physical model of the vehicle frame and are shown in formulas (4) - (8), energy conservation equations are built on the basis of the physical model of the vehicle frame and are shown in formulas (9) - (10), and the mapping relation between the height of the air spring and the air pressure control coefficient can be determined according to the stress analysis equations and the energy conservation equations and is shown in formula (11).
In the embodiment, the physical model of the vehicle frame is built, and the stress analysis equation and the energy conservation equation are built 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 control of the air spring is realized rapidly and accurately.
In one embodiment, 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 an actual pressure includes:
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 with the air reservoir to be opened;
When the pressure of the gas in the air spring reaches the actual pressure, the electromagnetic valve connected to the gas storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
Optionally, in the air spring system, an electromagnetic valve gas circuit 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 electromagnetic valve to be opened, so that the gas in the air reservoir is filled into the air spring; when the pressure of the gas in the air spring reaches the actual pressure, the air suspension system controls the electromagnetic valve connected with the air reservoir to be closed, so that the air spring is stopped from being inflated.
In the embodiment, before the pressure of the gas in the air spring reaches the actual pressure, the electromagnetic valve is controlled to be opened; when the pressure of the gas in the air spring reaches the actual pressure, the electromagnetic valve is controlled to be closed, so that the condition 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 the air spring pressure control is fast and accurate.
In order to describe the technical solution of the electric power steering control method of the present application in detail, a specific application example will be adopted in the following, and the whole process will be described in detail with reference to fig. 4, which specifically includes the following steps:
1. The method comprises the following steps of obtaining the current sprung mass of the vehicle, determining the air pressure control coefficient of the air spring under the current sprung mass, and specifically comprising the following steps of:
a) The solenoid valve 402 connected to the air reservoir 401 is opened to charge the air reservoir 401 to the air spring 407. Meanwhile, the pressure sensor 406 detects the pressure of the gas in the air spring 407, when the gas in the air spring 407 reaches the preset pressure P 0, the air spring 407 stops being inflated, and the height sensor 403 detects that the corresponding 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 inflating the air spring 407. After the air spring 407 is stopped from being inflated, the pressure of the air inside the air spring 407 is continuously detected by the pressure sensor 406, when the pressure of the air inside the air spring 407 is detected to be no longer changed, the pressure of the air inside the air spring 407 at the moment is taken as the balance pressure P 1, and the corresponding height of the air spring 407 is detected to be H 1 by the height sensor.
C) A physical model of the air spring 407 is constructed, the air spring 407 is regarded 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, the following are:
PV＝nRT (1)
V＝S·h (2)
From equations (1) and (2), the mapping relationship between the gas pressure inside the air spring 407 and the height of the air spring 407 is as follows:
d) A physical model of the vehicle frame 404 is constructed, and in the process that the vehicle frame 404 is accelerated and ascended by the supporting force of an air spring, according to a stress analysis equation, the physical model comprises:
F-mg＝ma (4)
F＝P·S (5)
From formulas (3), (4) and (5):
Regarding the height of the air spring 407 as approximately the height of the vehicle frame 404, when the height of the vehicle frame 404 is at H 0 and H 1, there are:
In the process that the vehicle frame 404 is lifted by the supporting force of the air spring 407, the kinetic energy of the vehicle frame 404 is converted into the potential energy of the vehicle frame 404, and according to the energy conservation equation, there is
Ek＝mg(H1-H0) (9)
Substituting the formula (8) into the formula (9) includes:
Order the And according to the formula (3), substituting P 0 and P 1 into the formula (10), the mapping relation between the pressure of the gas 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 relation between the pressure of the gas 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. The target pressure P 3 corresponding to the gas inside the air spring 407 is determined according to the height H 3 corresponding to the air spring 407 when the vehicle frame 404 is stabilized at the target height.
3. According to the air pressure control coefficient K and the target pressure P 3, when it is determined that the air spring 407 is stopped being inflated, the actual pressure P 2 of the air inside the air spring 407 is:
P2＝P3/(1-K/RT) (12)
4. The air suspension system controller controls the electromagnetic valve 402 to be opened, so that the air reservoir 401 charges the air spring, the pressure sensor 406 detects the pressure of the air in the air spring 407 in real time, and when the pressure of the air in the air spring 407 reaches the actual pressure, the electromagnetic valve 402 is controlled to be closed, so that the air spring 407 is stopped from being charged.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
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 above-mentioned air spring air pressure control method. The device comprises:
a control coefficient acquisition module 501 for acquiring a current sprung mass of the vehicle under which an air pressure control coefficient of the air spring is determined;
the target pressure determining module 502 is configured to determine a target pressure corresponding to gas inside the air spring according to a height corresponding to the air spring when the vehicle frame is stable at the target height;
an actual pressure determining module 503, configured to determine an actual pressure of the gas inside the air spring when the air spring stops being inflated according to the air pressure control coefficient and the target pressure;
The spring inflation control module 504 is configured to control the air cylinder to inflate the air spring, and stop inflating the air spring when the pressure of the air inside 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 the air spring under the current sprung mass; 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 stable at the target height; determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure; and 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. The whole air spring air pressure control process is characterized in that the actual pressure of air in the air spring when the air spring is stopped to be inflated is determined 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 be inflated to 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 in the air spring reaches a preset pressure; acquiring the pressure of the gas in the air spring in real time, and acquiring the balance pressure of the gas in the air spring when the pressure of the gas is not changed any more; and determining the air pressure control coefficient of the air spring according to the preset pressure and the balance pressure.
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 air inside 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 height of an air spring 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 spring internal gas and the air pressure control coefficient according to the mapping relation between the pressure of the air spring internal gas and the air spring height and the mapping relation between the air spring height 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 inside the air spring and the air pressure control coefficient.
In one embodiment, the control coefficient acquisition module 501 is further configured to construct a physical model of the air spring, consider the gas inside the air spring as ideal gas, and construct an ideal gas state equation based on the physical model of the air spring; and determining the mapping relation between the pressure of the gas in the air spring and the height of the air spring according to an ideal gas state equation, wherein the height of the air spring changes along with the gas quantity filled 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 stress analysis equation according to the physical model of the vehicle frame; according to the conversion relation between potential energy and kinetic energy of the vehicle frame, an energy conservation equation is established; and determining the mapping relation between the height of the air spring and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
In one embodiment, the spring charge control module 504 is further configured to charge the air spring by controlling an electromagnetic valve coupled to the air reservoir to open before the pressure of the air within the air spring reaches an actual pressure; when the pressure of the gas in the air spring reaches the actual pressure, the electromagnetic valve connected to the gas storage cylinder is controlled to be closed, and the air spring is stopped from being inflated.
The various modules in the air spring air pressure control device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. 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 the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode 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 controlling air spring air pressure. 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, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the 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 stored therein a computer program, the processor when executing the computer program performing 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 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 stable at the target height;
determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure;
And 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.
In one embodiment, the processor when executing the computer program further performs the steps of: the air spring is inflated through the air storage cylinder, and when the pressure of the air in the air spring reaches a preset pressure, the air spring is stopped being inflated; acquiring the pressure of the gas in the air spring in real time, and acquiring the balance pressure of the gas in the air spring when the pressure of the gas is not changed any more; and determining the air pressure control coefficient of the air spring according to the preset pressure and the balance pressure.
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 the mapping relation between the pressure of the air inside 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 height of an air spring 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 spring internal gas and the air pressure control coefficient according to the mapping relation between the pressure of the air spring internal gas and the air spring height and the mapping relation between the air spring height 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 inside 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 gas in the air spring as ideal gas, and constructing an ideal gas state equation based on the physical model of the air spring; and determining the mapping relation between the pressure of the gas in the air spring and the height of the air spring according to an ideal gas state equation, wherein the height of the air spring changes along with the gas quantity 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; according to the conversion relation between potential energy and kinetic energy of the vehicle frame, an energy conservation equation is established; and determining the mapping relation between the height of the air spring 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 gas in the air spring reaches the actual pressure, the air spring is inflated by controlling an electromagnetic valve connected with the air reservoir to be opened; when the pressure of the gas in the air spring reaches the actual pressure, the electromagnetic valve connected to the gas 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 having a computer program stored thereon, 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 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 stable at the target height;
determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure;
And 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.
In one embodiment, the computer program when executed by the processor further performs the steps of: the air spring is inflated through the air storage cylinder, and when the pressure of the air in the air spring reaches a preset pressure, the air spring is stopped being inflated; acquiring the pressure of the gas in the air spring in real time, and acquiring the balance pressure of the gas in the air spring when the pressure of the gas is not changed any more; and determining the air pressure control coefficient of the air spring according to the preset pressure and the balance pressure.
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 the mapping relation between the pressure of the air inside 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 height of an air spring 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 spring internal gas and the air pressure control coefficient according to the mapping relation between the pressure of the air spring internal gas and the air spring height and the mapping relation between the air spring height 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 inside 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 gas in the air spring as ideal gas, and constructing an ideal gas state equation based on the physical model of the air spring; and determining the mapping relation between the pressure of the gas in the air spring and the height of the air spring according to an ideal gas state equation, wherein the height of the air spring changes along with the gas quantity filled 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; according to the conversion relation between potential energy and kinetic energy of the vehicle frame, an energy conservation equation is established; and determining the mapping relation between the height of the air spring 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 gas in the air spring reaches the actual pressure, the air spring is inflated by controlling an electromagnetic valve connected with the air reservoir to be opened; when the pressure of the gas in the air spring reaches the actual pressure, the electromagnetic valve connected to the gas 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 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 stable at the target height;
determining the actual pressure of the gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure;
And 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.
In one embodiment, the computer program when executed by the processor further performs the steps of: the air spring is inflated through the air storage cylinder, and when the pressure of the air in the air spring reaches a preset pressure, the air spring is stopped being inflated; acquiring the pressure of the gas in the air spring in real time, and acquiring the balance pressure of the gas in the air spring when the pressure of the gas is not changed any more; and determining the air pressure control coefficient of the air spring according to the preset pressure and the balance pressure.
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 the mapping relation between the pressure of the air inside 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 height of an air spring 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 spring internal gas and the air pressure control coefficient according to the mapping relation between the pressure of the air spring internal gas and the air spring height and the mapping relation between the air spring height 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 inside 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 gas in the air spring as ideal gas, and constructing an ideal gas state equation based on the physical model of the air spring; and determining the mapping relation between the pressure of the gas in the air spring and the height of the air spring according to an ideal gas state equation, wherein the height of the air spring changes along with the gas quantity filled 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; according to the conversion relation between potential energy and kinetic energy of the vehicle frame, an energy conservation equation is established; and determining the mapping relation between the height of the air spring 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 gas in the air spring reaches the actual pressure, the air spring is inflated by controlling an electromagnetic valve connected with the air reservoir to be opened; when the pressure of the gas in the air spring reaches the actual pressure, the electromagnetic valve connected to the gas 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 the data (including but not limited to data for analysis, stored data, presented data, etc.) related to 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 related laws and regulations and standards of the related country and region.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in 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), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (7)
1. An air spring air pressure control method for a vehicle equipped with an electronically controlled air suspension system, the method comprising:
Acquiring the current sprung mass of the vehicle, inflating the air spring under the current sprung mass through the air storage cylinder, and stopping inflating the air spring when the pressure of the air in the air spring reaches a preset pressure;
Acquiring the pressure of the gas in the air spring in real time, and acquiring the balance pressure of the gas in the air spring when the pressure of the gas is not changed any more;
Constructing a physical model of the air spring, and determining a mapping relation between the pressure of the air inside 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 height of the air spring 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 spring internal gas and the air pressure control coefficient according to the mapping relation between the pressure of the air spring internal gas and the air spring height and the mapping relation between the air spring height and the air pressure control coefficient;
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 inside the air spring and the air pressure control coefficient;
Determining a target pressure corresponding to 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 gas in the air spring when the air spring is stopped to be inflated according to the air pressure control coefficient and the target pressure;
And 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.
2. The method of claim 1, wherein said constructing a physical model of said air spring, determining a mapping of a pressure of air within said air spring to a height of said air spring based on an ideal gas state equation, comprises:
constructing a physical model of the air spring, taking 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 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 gas quantity filled into the air spring.
3. The method of claim 1, wherein constructing the physical model of the vehicle frame, determining the mapping of the air spring height to 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 potential energy and kinetic energy of the vehicle frame;
and determining the mapping relation between the height of the air spring and the air pressure control coefficient according to the stress analysis equation and the energy conservation equation.
4. The method of claim 1, wherein the controlling the air reservoir to inflate the air spring and ceasing to inflate 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 with the air storage cylinder to be opened;
and when the pressure of the gas in the air spring reaches the actual pressure, stopping inflating the air spring by controlling a solenoid valve connected with the air storage cylinder to be closed.
5. A control apparatus employing the air spring air pressure control method according to any one of claims 1 to 4, applied to a vehicle equipped with an electronically controlled air suspension system, said apparatus comprising:
A control coefficient acquisition module for acquiring a current sprung mass of the vehicle under which an air pressure control coefficient of the air spring is determined;
the target pressure determining module is used for 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 actual pressure determining module is used for determining the actual pressure of the gas in the air spring when the air spring is stopped to be 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.
6. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 4 when the computer program is executed.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
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| WO2006005645A1 (en) * | 2004-07-10 | 2006-01-19 | Continental Aktiengesellschaft | Method for the load-dependent regulation of the air volume in a pneumatic spring system |
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