CN117863804A - Suspension damper control method, vehicle, apparatus and medium - Google Patents
Suspension damper control method, vehicle, apparatus and medium Download PDFInfo
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Abstract
The application provides a suspension damper control method, a vehicle, equipment and a medium, wherein the method is used for determining a canopy demand damping force according to vehicle body movement posture data; respectively determining the damping force required by a tension valve of the shock absorber and the damping force required by a compression valve of the shock absorber according to the state of the shock absorber according to the ceiling required damping force and the minimum damping force of the shock absorber; controlling a state of a tension valve according to a damping force required by the tension valve of the shock absorber, and controlling a state of a compression valve according to a damping force required by the compression valve of the shock absorber; the stretching valve and the compression valve are respectively taught, so that the stretching and compression control of the shock absorber is completely decoupled, the coverage range of the force value of the shock absorber is improved, the vertical, pitching and rolling movements of the vehicle body are obviously restrained, and more comfortable driving experience can be provided.
Description
Technical Field
The invention relates to the field of automobile control, in particular to a suspension damper control method, a vehicle, equipment and a medium.
Background
The suspension is an important component of an automobile chassis system, the automobile body and wheels are elastically connected together through springs and shock absorbers, vibration transmitted to the automobile body through a buffer pavement is damped, energy generated by the vibration is attenuated, and the comfort of the automobile is improved. The electric control suspension reflects the motion gesture of the whole vehicle through sensors arranged at all positions of the whole vehicle, and then utilizes a control algorithm to control damping force of the shock absorber according to the motion gesture data of the whole vehicle.
At present, for a single-valve shock absorber, a single-solenoid valve ceiling algorithm can calculate the required damping force of the shock absorber in real time according to the motion state of a vehicle, but the compression and recovery strokes of the shock absorber pass through the same solenoid valve, when the shock absorber vibrates under a high-frequency spring, the position of a valve core of the solenoid valve is difficult to follow the rapid change of a required current, and the actual damping force cannot reach the target damping force. In addition, the stretching recovery of the single-valve electric control shock absorber is controlled by the same electromagnetic valve, and hardware of stretching and compression cannot be regulated differently, so that the bandwidth of the stretching and compression calculated zenith force value is insufficient. This results in low control response accuracy and a reduced ride experience for the vehicle.
Disclosure of Invention
The application provides a suspension damper control method, a vehicle, equipment and a medium, which can realize the response speed and the accuracy of the control of a tension valve and a compression valve of a lifting damper, and are beneficial to providing more comfortable driving experience.
In an embodiment of a first aspect of the present application, the present invention provides a suspension damper control method, including:
acquiring vehicle body movement posture data;
determining a canopy demand damping force according to the vehicle body movement posture data;
when the direction of the canopy required damping force is the same as the direction of the absorber speed in the vehicle body movement posture data, taking the absorber minimum damping force as the absorber required damping force, and when the direction of the canopy required damping force is different from the direction of the absorber speed in the vehicle body movement posture data, taking the canopy required damping force as the absorber required damping force;
determining a damping force required by a tension valve of the shock absorber and a damping force required by a compression valve of the shock absorber according to the shock absorber required damping force based on the telescopic state of the shock absorber;
the state of the extension valve is controlled according to the damping force required by the extension valve of the shock absorber, and the state of the compression valve is controlled according to the damping force required by the compression valve of the shock absorber.
According to certain embodiments of the first aspect of the present application, the vehicle body motion gesture data includes a centroid vertical speed, a centroid pitch angle speed, a centroid roll angle speed, and a vehicle speed; the determining the canopy demand damping force according to the vehicle body movement posture data comprises the following steps:
obtaining a ceiling vertical control demand force according to the centroid vertical speed and the vehicle speed;
obtaining a canopy pitch control demand force according to the centroid pitch angle speed and the vehicle speed;
obtaining a canopy roll control demand force according to the centroid roll angle speed and the vehicle speed;
and obtaining a canopy required damping force according to the canopy vertical control demand force, the canopy pitch control demand force and the canopy roll control demand force.
According to certain embodiments of the first aspect of the present application, the deriving the canopy required damping force from the canopy vertical control demand force, the canopy pitch control demand force, and the canopy roll control demand force includes:
correcting the ceiling vertical control demand force according to a preset first correction factor to obtain corrected ceiling vertical control demand force;
correcting the canopy pitch control demand force according to a preset second correction factor to obtain corrected canopy pitch control demand force;
correcting the canopy roll control demand force according to a preset third correction factor to obtain corrected canopy roll control demand force;
and obtaining the canopy required damping force according to the corrected canopy vertical control demand force, the corrected canopy pitch control demand force and the corrected canopy roll control demand force.
According to certain embodiments of the first aspect of the present application, when the direction of the canopy required damping force is the same as the direction of the absorber speed in the vehicle body motion profile data, the taking the absorber minimum damping force as the absorber required damping force includes: when the product of the canopy required damping force and the damper speed is greater than 0, taking the damper minimum damping force as the damper required damping force;
the method of using the canopy demand damping force as a shock absorber demand damping force when the direction of the canopy demand damping force is different from the direction of the shock absorber speed in the vehicle body motion profile data, includes: when the product of the canopy required damping force and the absorber speed is less than 0, the canopy required damping force is taken as the absorber required damping force.
According to certain embodiments of the first aspect of the present application, the determining a damping force required for a tension valve of a shock absorber and a damping force required for a compression valve of the shock absorber based on a telescopic state of the shock absorber according to the shock absorber required damping force includes:
judging and obtaining the telescopic state of the shock absorber according to the speed of the shock absorber;
when the shock absorber is in a stretched state, taking the shock absorber required damping force as a damping force required by a stretching valve of the shock absorber;
when the shock absorber is in a compressed state, the shock absorber demand damping force is taken as a damping force required by a compression valve of the shock absorber.
According to certain embodiments of the first aspect of the present application, the determining, according to the damper speed, a telescopic state of the damper includes:
when the speed of the shock absorber is greater than 0, determining that the shock absorber is in a stretching state;
and when the speed of the shock absorber is less than 0, determining that the shock absorber is in a compressed state.
According to certain embodiments of the first aspect of the present application, the controlling the state of the extension valve according to the damping force required by the extension valve of the shock absorber, controlling the state of the compression valve according to the damping force required by the compression valve of the shock absorber, includes:
obtaining a target current of a stretching valve according to a damping force required by the stretching valve of the shock absorber, and controlling the state of the stretching valve according to the target current of the stretching valve;
and obtaining a target current of the compression valve according to the damping force required by the compression valve of the shock absorber, and controlling the state of the compression valve according to the target current of the compression valve.
An embodiment of the third aspect of the present application, a vehicle including a suspension including a shock absorber provided with a tension valve and a compression valve, employs a suspension shock absorber control method as described above to control a state of the tension valve and a state of the compression valve.
An embodiment of the third aspect of the present application, an electronic device, including a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for implementing a connection communication between the processor and the memory, the program implementing the suspension damper control method as described above when executed by the processor.
An embodiment of the fourth aspect of the present application is a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the suspension damper control method as described above.
The application has the following beneficial effects: determining a ceiling demand damping force according to vehicle body movement posture data, respectively determining a damping force required by a stretching valve of the shock absorber and a damping force required by a compression valve of the shock absorber according to the ceiling demand damping force and the minimum damping force of the shock absorber according to the state of the shock absorber, controlling the state of the stretching valve according to the damping force required by the stretching valve of the shock absorber, and controlling the state of the compression valve according to the damping force required by the compression valve of the shock absorber; damping force is distributed to the stretching valve and the compression valve, the stretching valve and the compression valve are respectively regulated, so that the stretching and compression control of the shock absorber is completely decoupled, the force coverage range of the shock absorber is improved, the vertical, pitching and rolling movements of the vehicle body are obviously restrained, and more comfortable driving experience can be provided.
Drawings
FIG. 1 is a schematic illustration of a vehicle chassis system model;
FIG. 2 is a step diagram of a suspension damper control method;
FIG. 3 is a sub-step diagram of determining a canopy demand damping force from body motion attitude data;
FIG. 4 is a sub-step diagram of determining a damping force required for a tension valve of a shock absorber and a damping force required for a compression valve of the shock absorber according to a shock absorber demand damping force based on a telescopic state of the shock absorber;
FIG. 5 is a sub-step diagram of controlling the state of a pull valve of a shock absorber according to a damping force required by the pull valve;
FIG. 6 is a sub-step diagram of controlling the state of a compression valve of a shock absorber according to a damping force required by the compression valve;
FIG. 7 is a graph of centroid vertical velocity versus filtered centroid vertical velocity;
FIG. 8 is a graph of damping force required for a compression valve, damping force required for a tension valve versus speed;
fig. 9 is a structural diagram of an electronic device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It should be noted that although functional block division is performed in a device diagram and a logic sequence is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart. The terms first, second and the like in the description, in the claims and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
Embodiments of the present application are further described below with reference to the accompanying drawings.
The invention provides a vehicle comprising a chassis system comprising a suspension.
Suspensions are an important component of the chassis system of a vehicle, and they elastically connect the body with the wheels through springs and shock absorbers. The suspension buffers the vibration that the road surface transmitted to the automobile body, attenuates the energy that vibration produced, promotes the travelling comfort of vehicle. The suspension can reflect the motion gesture of the whole vehicle through the sensors arranged at all positions of the whole vehicle, and then the damping force of the shock absorber is controlled through a control algorithm to achieve the optimal comfort and safety effects.
The shock absorber of the suspension is an electric control double-valve shock absorber, which is provided with a stretching valve and a compression valve, wherein the stretching valve is used for controlling the stretching process, and the compression valve is used for controlling the compression process.
Referring to fig. 1, a model of a vehicle chassis system includes the following modules: sprung mass, unsprung mass, shock absorber. A damper is connected between the vehicle body (i.e. the sprung mass) and an imaginary 'Skyhook', and the optimal damping force or control force required to be provided is matched according to the relation between the up-and-down movement speeds of the vehicle body and the wheels in proportion or according to an algorithm so as to improve the stability and smoothness of the whole vehicle.
Set unsprung mass to m 1 The sprung mass being m 2 The unsprung motion displacement is Z 1 The sprung motion displacement is Z 2 Tire stiffness k 1 The stiffness of the spiral spring is k 2 Road surface excitation is q, and stretch valve flexibility is C Reb The compression valve has flexibility of C Com 。
Sprung mass m 2 Representing a simplified body; unsprung mass m 1 Representing a simplified wheel; below is a mass-free member representing the contact point of the tire with the road surface, on which member spline data converted from road surface excitation into time-displacement is directly applied, which is simplified to a spring connection with the tire mass as tire stiffness, ignoring tire damping. The vehicle body mass block and the wheel mass block are connected through a spring damper to serve as a suspension spring and a shock absorber, and the damping coefficient of the shock absorber is temporarily set to be a fixed value to serve as a passive suspension reference parameter.
When (when)When the shock absorber is in a stretching motion process, the motion differential equation is as follows:
when (when)When the shock absorber is in the compression motion process, the differential equation of motion is as follows:
it can be appreciated that the canopy damping control is as follows:
when the vehicle body and the wheels move reversely, the control system needs to apply large damping to greatly dissipate vibration energy so as to quickly attenuate the vibration;
when the vehicle body and the wheels move in the same direction, if the vehicle body speed is greater than the wheel speed, the control system also needs to apply large damping to attenuate the vehicle body vibration;
when the vehicle body and the wheels move in the same direction, if the vehicle body speed is smaller than the wheel speed, the control system needs to reduce damping so that the vibration energy of the wheels is absorbed and stored by the springs more and the transmission to the vehicle body is reduced.
The control system converts the output damping force or damping coefficient into an electric signal (generally, the current) to realize the control of the electromagnetic valve or magnetorheological fluid of the shock absorber by the ECU control unit.
The vehicle adopts the following suspension damper control method to control the states of the tension valve and the compression valve.
Referring to FIG. 2, a suspension damper control method includes, but is not limited to, the steps of:
step S100, acquiring vehicle body movement posture data;
step S200, determining a canopy required damping force according to the vehicle body movement posture data;
step S300, the direction of the canopy required damping force is the same as the direction of the speed of the shock absorber in the vehicle body movement posture data, the minimum damping force of the shock absorber is taken as the required damping force of the shock absorber, the direction of the canopy required damping force is different from the direction of the speed of the shock absorber in the vehicle body movement posture data, and the canopy required damping force is taken as the required damping force of the shock absorber;
step S400, determining the damping force required by a stretching valve of the shock absorber and the damping force required by a compression valve of the shock absorber according to the damping force required by the shock absorber based on the telescopic state of the shock absorber;
step S500, controlling the state of the stretching valve according to the damping force required by the stretching valve of the shock absorber, and controlling the state of the compression valve according to the damping force required by the compression valve of the shock absorber.
For step S100, vehicle body motion posture data is acquired.
Detecting by a sensor on the vehicle to obtain the vertical acceleration of the mass center, the pitch angle speed of the mass center and the roll angle speed of the mass center; the vehicle speed is detected by a vehicle speed sensor, and the height is detected by a height sensor.
The vertical speed of the mass center can be calculated according to the vertical acceleration of the mass center, and the speed of the vibration damper can be calculated according to the height detected by the height sensor.
The signal obtained by the detection of the sensor is filtered, so that the signal is smoother and more accurate. For example, referring to fig. 7, the centroid vertical velocity is filtered to obtain a filtered centroid vertical velocity.
The vehicle body movement gesture data comprise a centroid vertical speed, a centroid pitch angle speed, a centroid side inclination angle speed, a vehicle speed and four shock absorber speeds.
For step S200, a ceiling demand damping force is determined from the vehicle body motion posture data.
Referring to fig. 3, the determination of the canopy demand damping force from the vehicle body motion profile data includes, but is not limited to, the steps of:
step S210, obtaining the ceiling vertical control demand force according to the center of mass vertical speed and the vehicle speed;
step S220, obtaining the canopy pitch control demand force according to the centroid pitch angle speed and the vehicle speed;
step S230, obtaining the canopy roll control demand force according to the mass center roll angle speed and the vehicle speed;
step S240, obtaining a canopy required damping force from the canopy vertical control demand force, the canopy pitch control demand force, and the canopy roll control demand force.
In order to make the ceiling vertical control demand force, the ceiling pitch control demand force, and the ceiling roll control demand force more accurate, it is necessary to correct the ceiling vertical control demand force, the ceiling pitch control demand force, and the ceiling roll control demand force, and then the ceiling demand damping force resulting from the combination of the ceiling vertical control demand force, the ceiling pitch control demand force, and the ceiling roll control demand force can be made more accurate.
According to a preset first correction factor a 1 Correcting the canopy vertical control demand force F Heave And obtaining the corrected ceiling vertical control demand force. According to a preset second correction factor a 2 Correcting the canopy pitch control demand force F Pitch Obtaining corrected canopy pitch controlDemand force. According to a preset third correction factor a 3 Correcting the canopy roll control demand force F Roll The corrected canopy roll control demand force is obtained. Force synthesis is carried out according to force synthesis rules according to the corrected ceiling vertical control demand force, the corrected ceiling pitching control demand force and the corrected ceiling rolling control demand force, and a ceiling demand damping force F is obtained Sky 。
It is understood that the first correction factor, the second correction factor, and the third correction factor may be set according to actual production requirements.
For step S300, the direction of the canopy required damping force is the same as the direction of the absorber speed in the vehicle body movement posture data, the absorber minimum damping force is taken as the absorber required damping force, the direction of the canopy required damping force is different from the direction of the absorber speed in the vehicle body movement posture data, and the canopy required damping force is taken as the absorber required damping force.
The product of the required damping force of the canopy and the speed of the shock absorber is greater than 0, i.e. V Damp *F Sky >And 0, the direction of the canopy required damping force is the same as the direction of the speed of the shock absorber in the vehicle body movement posture data, and the minimum damping force of the shock absorber is taken as the shock absorber required damping force.
It will be appreciated that the minimum damping force of the shock absorber is a parameter of the shock absorber and is determined by the process of the shock absorber.
The product of the canopy demand damping force and the damper speed is less than 0, i.e. V Damp *F Sky <0, the direction of the canopy required damping force is different from the direction of the absorber speed in the vehicle body movement posture data, and the canopy required damping force is taken as the absorber required damping force.
For step S400, a damping force required for a tension valve of the shock absorber and a damping force required for a compression valve of the shock absorber are determined according to a shock absorber demand damping force based on a telescopic state of the shock absorber.
Referring to fig. 4, determining a damping force required for a tension valve of a shock absorber and a damping force required for a compression valve of the shock absorber according to a shock absorber demand damping force based on a telescopic state of the shock absorber includes, but is not limited to, the steps of:
step S410, judging and obtaining the telescopic state of the shock absorber according to the speed of the shock absorber;
step S420, when the shock absorber is in a stretching state, taking the shock absorber required damping force as the damping force required by a stretching valve of the shock absorber;
in step S430, when the shock absorber is in a compressed state, the shock absorber demand damping force is taken as a damping force required for a compression valve of the shock absorber.
Wherein when the damper speed is greater than 0, i.e. V Damp >0, determining that the shock absorber is in a stretching state; when the damper speed is less than 0, i.e. V Damp <0, determining that the shock absorber is in a compression state; and judging the expansion and contraction state of the shock absorber according to the speed of the shock absorber.
Referring to fig. 8, the left side of fig. 8 is a graph of damping force required for a compression valve versus speed, showing the variation of damping force required for a compression valve with speed; the right side of fig. 8 is a graph of damping force required for a stretch valve versus speed, showing the variation of damping force required for a stretch valve with speed.
For step S500, the state of the extension valve is controlled according to the damping force required for the extension valve of the shock absorber, and the state of the compression valve is controlled according to the damping force required for the compression valve of the shock absorber.
The control system converts the output damping force into a current value to control the electromagnetic valve of the shock absorber.
Specifically, referring to fig. 5, controlling the state of the extension valve according to the damping force required for the extension valve of the shock absorber includes:
step S511, obtaining the target current I of the extension valve according to the damping force required by the extension valve of the shock absorber Reb ；
Step S512, controlling the state of the stretch valve according to the target current of the stretch valve.
Referring to fig. 6, controlling a state of a compression valve of a shock absorber according to a damping force required for the compression valve, includes:
step S521, obtaining the target current I of the compression valve according to the damping force required by the compression valve of the shock absorber Com ；
Step S522, controlling the state of the compression valve according to the target current of the compression valve.
In this embodiment, the ceiling demand damping force is determined from the vehicle body movement posture data, the damping force required for the extension valve of the shock absorber and the damping force required for the compression valve of the shock absorber are respectively determined from the ceiling demand damping force and the shock absorber minimum damping force according to the state of the shock absorber, the state of the extension valve is controlled from the damping force required for the extension valve of the shock absorber, and the state of the compression valve is controlled from the damping force required for the compression valve of the shock absorber; damping force is distributed to the stretching valve and the compression valve, the stretching valve and the compression valve are respectively regulated, so that the stretching and compression control of the shock absorber is completely decoupled, the force coverage range of the shock absorber is improved, the vertical, pitching and rolling movements of the vehicle body are obviously restrained, and more comfortable driving experience can be provided.
The embodiment of the application provides electronic equipment. Referring to fig. 9, the electronic device includes: the suspension system comprises a memory 20, a processor 10 and a computer program stored on the memory 20 and executable on the processor 10, wherein the processor 10 implements the control method of the suspension system as described above when executing the computer program.
The electronic equipment can be any intelligent terminal including a computer and the like.
Generally, for the hardware structure of the electronic device, the processor 10 may be implemented by using a general-purpose CPU (central processing unit), a microprocessor, an application-specific integrated circuit (ApplicationSpecificIntegratedCircuit, ASIC), or one or more integrated circuits, etc. to execute related programs to implement the technical solutions provided in the embodiments of the present application.
The memory 20 may be implemented in the form of read-only memory (ReadOnlyMemory, ROM), static storage, dynamic storage, or random access memory (RandomAccessMemory, RAM). The memory 20 may store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present application are implemented by software or firmware, relevant program codes are stored in the memory 20, and the processor 10 invokes the method for executing the embodiments of the present application.
The input/output interface is used for realizing information input and output.
The communication interface is used for realizing communication interaction between the device and other devices, and can realize communication in a wired mode (such as USB, network cable and the like) or in a wireless mode (such as mobile network, WIFI, bluetooth and the like).
Bus 30 conveys information between various components of the device (e.g., processor 10, memory 20, input/output interfaces, and communication interfaces). The processor 10, the memory 20, the input/output interface and the communication interface are in communication connection with each other within the device via a bus 30.
Embodiments of the present application provide a computer storage medium. The computer storage medium stores computer-executable instructions for performing the control method of the suspension system as described above.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. In the foregoing description of the present specification, descriptions of the terms "one embodiment/example", "another embodiment/example", "certain embodiments/examples", and the like, are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including multiple instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing a program.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form. While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present application have been described in detail, the present application is not limited to the embodiments, and equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (10)
1. A suspension damper control method, characterized by comprising:
acquiring vehicle body movement posture data;
determining a canopy demand damping force according to the vehicle body movement posture data;
when the direction of the canopy required damping force is the same as the direction of the absorber speed in the vehicle body movement posture data, taking the absorber minimum damping force as the absorber required damping force, and when the direction of the canopy required damping force is different from the direction of the absorber speed in the vehicle body movement posture data, taking the canopy required damping force as the absorber required damping force;
determining a damping force required by a tension valve of the shock absorber and a damping force required by a compression valve of the shock absorber according to the shock absorber required damping force based on the telescopic state of the shock absorber;
the state of the extension valve is controlled according to the damping force required by the extension valve of the shock absorber, and the state of the compression valve is controlled according to the damping force required by the compression valve of the shock absorber.
2. The suspension damper control method according to claim 1, wherein the vehicle body motion attitude data includes a centroid vertical speed, a centroid pitch angle speed, a centroid roll angle speed, and a vehicle speed; the determining the canopy demand damping force according to the vehicle body movement posture data comprises the following steps:
obtaining a ceiling vertical control demand force according to the centroid vertical speed and the vehicle speed;
obtaining a canopy pitch control demand force according to the centroid pitch angle speed and the vehicle speed;
obtaining a canopy roll control demand force according to the centroid roll angle speed and the vehicle speed;
and obtaining a canopy required damping force according to the canopy vertical control demand force, the canopy pitch control demand force and the canopy roll control demand force.
3. The suspension damper control method according to claim 2, characterized in that the deriving a canopy required damping force from the canopy vertical control demand force, the canopy pitch control demand force, and the canopy roll control demand force includes:
correcting the ceiling vertical control demand force according to a preset first correction factor to obtain corrected ceiling vertical control demand force;
correcting the canopy pitch control demand force according to a preset second correction factor to obtain corrected canopy pitch control demand force;
correcting the canopy roll control demand force according to a preset third correction factor to obtain corrected canopy roll control demand force;
and obtaining the canopy required damping force according to the corrected canopy vertical control demand force, the corrected canopy pitch control demand force and the corrected canopy roll control demand force.
4. The suspension damper control method according to claim 1, characterized in that said taking a damper minimum damping force as the damper demand damping force when the direction of the canopy demand damping force is the same as the direction of the damper speed in the vehicle body motion posture data includes: when the product of the canopy required damping force and the damper speed is greater than 0, taking the damper minimum damping force as the damper required damping force;
the method of using the canopy demand damping force as a shock absorber demand damping force when the direction of the canopy demand damping force is different from the direction of the shock absorber speed in the vehicle body motion profile data, includes: when the product of the canopy required damping force and the absorber speed is less than 0, the canopy required damping force is taken as the absorber required damping force.
5. The suspension damper control method according to claim 1, wherein the determining a damping force required for a tension valve of the damper and a damping force required for a compression valve of the damper based on the telescopic state of the damper according to the damper demand damping force includes:
judging and obtaining the telescopic state of the shock absorber according to the speed of the shock absorber;
when the shock absorber is in a stretched state, taking the shock absorber required damping force as a damping force required by a stretching valve of the shock absorber;
when the shock absorber is in a compressed state, the shock absorber demand damping force is taken as a damping force required by a compression valve of the shock absorber.
6. The method according to claim 5, wherein said determining the telescopic state of the damper according to the damper speed includes:
when the speed of the shock absorber is greater than 0, determining that the shock absorber is in a stretching state;
and when the speed of the shock absorber is less than 0, determining that the shock absorber is in a compressed state.
7. The method of controlling a suspension damper according to claim 1, wherein said controlling a state of a tension valve according to a damping force required for the tension valve of the damper, and controlling a state of a compression valve according to a damping force required for the compression valve of the damper, comprises:
obtaining a target current of a stretching valve according to a damping force required by the stretching valve of the shock absorber, and controlling the state of the stretching valve according to the target current of the stretching valve;
and obtaining a target current of the compression valve according to the damping force required by the compression valve of the shock absorber, and controlling the state of the compression valve according to the target current of the compression valve.
8. A vehicle comprising a suspension including a damper provided with a tension valve and a compression valve, the vehicle employing the suspension damper control method according to any one of claims 1 to 7 to control a state of the tension valve and a state of the compression valve.
9. An electronic device comprising a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for enabling a connection communication between the processor and the memory, the program when executed by the processor implementing the suspension damper control method according to any one of claims 1 to 7.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to execute the suspension damper control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410004472.8A CN117863804A (en) | 2024-01-02 | 2024-01-02 | Suspension damper control method, vehicle, apparatus and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410004472.8A CN117863804A (en) | 2024-01-02 | 2024-01-02 | Suspension damper control method, vehicle, apparatus and medium |
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| CN117863804A true CN117863804A (en) | 2024-04-12 |
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| CN202410004472.8A Pending CN117863804A (en) | 2024-01-02 | 2024-01-02 | Suspension damper control method, vehicle, apparatus and medium |
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| CN (1) | CN117863804A (en) |
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