WO2023065304A1 - 一种悬架系统及其控制方法和车辆 - Google Patents

一种悬架系统及其控制方法和车辆 Download PDF

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Publication number
WO2023065304A1
WO2023065304A1 PCT/CN2021/125706 CN2021125706W WO2023065304A1 WO 2023065304 A1 WO2023065304 A1 WO 2023065304A1 CN 2021125706 W CN2021125706 W CN 2021125706W WO 2023065304 A1 WO2023065304 A1 WO 2023065304A1
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WIPO (PCT)
Prior art keywords
controller
valve
suspension system
gas
compressor
Prior art date
Application number
PCT/CN2021/125706
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English (en)
French (fr)
Inventor
束银辉
舒进
翁昊
Original Assignee
华为技术有限公司
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Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN202180010343.4A priority Critical patent/CN116348318A/zh
Priority to PCT/CN2021/125706 priority patent/WO2023065304A1/zh
Priority to EP21961052.4A priority patent/EP4414189A1/en
Priority to KR1020247016989A priority patent/KR20240093862A/ko
Publication of WO2023065304A1 publication Critical patent/WO2023065304A1/zh
Priority to US18/641,127 priority patent/US20240262150A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/0408—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics details, e.g. antifreeze for suspension fluid, pumps, retarding means per se
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B60G17/0523—Regulating distributors or valves for pneumatic springs
    • B60G17/0525—Height adjusting or levelling valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/152—Pneumatic spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/154—Fluid spring with an accumulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/41—Fluid actuator
    • B60G2202/412—Pneumatic actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/20—Mounting of accessories, e.g. pump, compressor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/50—Pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/50—Pressure
    • B60G2400/51—Pressure in suspension unit
    • B60G2400/512—Pressure in suspension unit in spring
    • B60G2400/5122—Fluid spring
    • B60G2400/51222—Pneumatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/02—Supply or exhaust flow rates; Pump operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/202—Height or leveling valve for air-springs
    • B60G2500/2021—Arrangement of valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/204—Pressure regulating valves for air-springs
    • B60G2500/2041—Pressure regulating valves for air-springs for variable volume air springs, e.g. using accumulators as expansion chambers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/204—Pressure regulating valves for air-springs
    • B60G2500/2044—Air exhausting valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/205—Air-compressor operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/184—Semi-Active control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/914—Height Control System
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/86—Suspension systems

Definitions

  • the present application relates to the technical field of vehicle structures, in particular to a suspension system, a control method thereof, and a vehicle.
  • the suspension system of the car is connected between the sprung mass and the unsprung mass, which can weaken the disturbance of the road excitation to the output variable of the car.
  • Vehicle output is generally considered from two aspects of comfort and road adhesion.
  • the corresponding vehicle output variables are body acceleration and tire deformation, and there is a certain contradiction between the two.
  • the car suspension system needs to consider the compromise relationship between the suspension stroke and the design cost, so that the driving car can make a response that meets the needs of the driver or the vehicle design, and meets the needs of comfort and handling. , Security design requirements.
  • Automotive suspension systems generally include passive suspension, semi-active suspension and full active suspension.
  • Passive suspension system has been a mainstream suspension system for a long time due to its low cost advantage.
  • the semi-active suspension system is gradually favored by the market due to its controllability and self-adaptive adjustment.
  • Damper structure with adjustable damping The active suspension is configured on very few top models, and requires additional energy input, such as hydraulic pumps, linear motors, etc., to achieve active and dynamic operations.
  • the current semi-active air suspension system usually uses a semi-active shock absorber as a damping element, and a gas spring as an elastic element. By inflating and deflating it, its height characteristics can be adjusted to meet different external input requirements.
  • an air pump is mainly used to supply gas from the atmosphere to the gas spring, and when exhausting, the gas is directly discharged into the atmosphere, so as to realize the lifting of the gas spring.
  • this air circuit open-loop solution since the air with lower air pressure needs to be pressurized to a certain pressure, and the pressure changes greatly, it takes a long time and the lifting speed of the vehicle body is slow.
  • the power of the air compressor needs to be large, and the noise is also large.
  • the application provides a suspension system and its control method and vehicle.
  • the gas pressure in the air circuit system of the suspension system changes less, so the speed of adjusting the height of the gas spring is faster, and the power of the compressor of the suspension system is lower. Small, low noise and low power consumption.
  • each part structure is an independent structure, which can be manufactured and installed separately, and the cost is low, and it is beneficial to realize the upward movement of the controller, thereby realizing the unified control of the whole vehicle.
  • the present application provides a suspension system.
  • the suspension system includes a suspension assembly, a driver, a controller, a compressor and an air tank.
  • the above suspension assembly has a gas spring and a height sensor.
  • the gas tank is filled with gas, the gas tank is connected to the compressor through the first ventilation pipeline, and the compressor is connected to the gas spring through the second ventilation pipeline, then the compressor can transmit the gas in the gas tank to the gas spring, Or transfer the gas in the gas spring to the gas tank.
  • the above-mentioned first ventilation pipeline is provided with a first on-off valve
  • the second ventilation pipeline is provided with a second on-off valve.
  • the control of the entire air circuit can be ventilated or closed.
  • the driver is electrically connected to the controller, the compressor, the first on-off valve and the second on-off valve, and the controller is electrically connected to the height sensor.
  • the above-mentioned suspension system can be installed between the wheel of the vehicle and the vehicle body, then during the working process of the suspension system, the above-mentioned height sensor is used to detect the distance between the wheel and the vehicle body, and the controller is used to receive the height signal of the above-mentioned height sensor, Generate a control signal based on the height signal and pass the control signal to the driver. After the driver receives the above control signal, it is used to control the opening or closing of the first switch valve and the opening or closing of the second switch valve according to the control signal, and control the compressor to transmit gas to the gas spring or stop transmitting gas.
  • the gas circuit system of the suspension system in the technical solution of the present application includes a gas tank for storing gas, the gas in the gas tank has a certain pressure, and the pressure of the gas in the gas tank is the same as the pressure of the gas required in the gas spring.
  • the pressure change is small, the speed of adjusting the height of the gas spring is fast, and the power of the compressor of the suspension system is small, and the noise and power consumption are also low.
  • each part structure is an independent structure, which can be manufactured and installed separately, the cost is low, and it is beneficial to realize the upward movement of the controller, which in turn is beneficial to realize the unified control of the whole vehicle.
  • the above-mentioned controller receives the height signal from the height sensor, and the controller can be directly connected with the height sensor to receive the above-mentioned height signal.
  • the driver can also be connected to a height sensor, and the driver acquires the above-mentioned height signal and transmits the height signal to the controller.
  • the electrical connection between the controller and the height sensor may refer to the direct connection between the controller and the height sensor, or the connection between the controller and the height sensor through a driver.
  • the above-mentioned suspension assembly further includes a shock absorber.
  • the above-mentioned driver is connected with the shock absorber, and the driver is used to control the shock absorber to adjust the damping force according to the control signal of the above-mentioned controller.
  • the shock absorber can adjust the damping force according to the actual running conditions of the vehicle, thereby improving the riding comfort of the user.
  • the above-mentioned compressor is also connected with a third ventilation pipeline, and the third ventilation pipeline is connected with the external atmosphere, so that the compressor can compress the air in the atmosphere and transmit it to the air tank, so as to replenish the air tank.
  • the above-mentioned third ventilation pipeline is provided with a third on-off valve, and the third on-off valve needs to be opened only when it is necessary to replenish air. When there is no need for supplementary air, the third on-off valve is closed, so that the air in the suspension system keeps circulating inside and will not leak from the third ventilation pipeline.
  • the suspension system can supply air by itself, so as to keep the amount of gas in the suspension system sufficient to maintain normal operation.
  • the third on-off valve may also be connected to the driver, and the above-mentioned driver is connected to the controller.
  • the controller can be connected with a control button, and the user presses the control button according to the demand, so as to replenish air.
  • the above-mentioned controller may control timing to replenish air.
  • the suspension system may further include a pressure sensor, which is connected to the gas tank and used to detect the pressure in the gas tank.
  • the above-mentioned first switching valve is a three-way valve, which is used to transmit the gas in the gas tank to the gas spring, and is used to transmit the gas in the atmosphere to the gas tank.
  • the driver is electrically connected to the compressor, the three-way valve and the third on-off valve, and the controller is electrically connected to the pressure sensor.
  • the above-mentioned controller is used to obtain the pressure signal of the pressure sensor, and generate an air supply signal according to the pressure signal.
  • the driver obtains the air supply signal generated by the above-mentioned controller, and drives the three-way valve to connect the compressor and the air tank according to the air supply signal, drives the third on-off valve to open, and drives the compressor to compress the air and transmit it to the air tank.
  • the gas can be supplemented according to the actual situation of the gas in the gas tank.
  • the gas in the gas tank is found to be insufficient, the gas can be supplemented at any time to ensure the reliability of the suspension system and prevent useless failures. Gas operation.
  • the above-mentioned controller receives the pressure signal of the pressure sensor, and the controller can be directly connected with the pressure sensor to receive the above-mentioned pressure signal.
  • the driver may also be connected to a pressure sensor, and the driver acquires the above-mentioned pressure signal and transmits the pressure signal to the controller.
  • the electrical connection between the controller and the pressure sensor may refer to the direct connection between the controller and the pressure sensor, or the connection between the controller and the pressure sensor through a driver.
  • the number of suspension components included in the suspension system is not limited, and the suspension system includes at least two suspension components.
  • the gas springs in each suspension assembly are connected to a second on-off valve.
  • at least two suspension components can adjust the heights of the positions where the at least two suspension components are located, and can realize separate control, thereby improving the stability and comfort of the vehicle.
  • all the second on-off valves are integrated, thereby reducing the space occupied by the second on-off valves.
  • each suspension component can be provided with a corresponding driver, so that the distance between the driver and the corresponding suspension component can be made closer, so as to shorten the wiring harness and facilitate the layout of the suspension.
  • the wiring of the rack system can be provided with a corresponding driver, so that the distance between the driver and the corresponding suspension component can be made closer, so as to shorten the wiring harness and facilitate the layout of the suspension.
  • the suspension system may include four suspension assemblies, and the four suspension assemblies are arranged in a matrix, so that the four corners of the vehicle are all provided with the suspension assemblies, thereby adjusting the height of the vehicle body at the four corners.
  • the above four suspension components do not need to be driven at the same time, and the corresponding gas springs can be controlled to inflate and deflate according to the signals of the corresponding height sensors, so as to improve the stability and comfort of the vehicle.
  • the controller can be not only a system controller, but also a domain controller or a vehicle controller.
  • a vehicle usually includes multiple control systems, and the above-mentioned domain controller means that the controller can control at least two of the multiple control systems.
  • the vehicle controller refers to the ability to control all control systems.
  • the present application also provides the suspension system control method in the above first aspect, the control method specifically includes: receiving the height signal from the height sensor; comparing the height signal with the target height, when the height signal is less than the target height , the height of the gas spring needs to be increased.
  • the above-mentioned first switch valve and the second switch valve are controlled to open, and the compressor is controlled to rotate forward to drive the gas in the gas tank to flow to the gas spring, so that the height of the gas spring increases; when the height signal is greater than When the target height needs to be reduced, the height of the gas spring needs to be lowered.
  • the above-mentioned first on-off valve and the second on-off valve are controlled to open, and the reverse direction of the compressor is controlled to drive the gas in the gas spring to flow to the gas tank, so that the height of the gas spring is reduced; and
  • the first switch valve and the second switch valve are controlled to be closed.
  • the inflation and deflation process of the suspension system can be realized by using the above method. This solution utilizes the gas tank to load gas, the power of the compressor of the suspension system is small, and the noise and power consumption are also low.
  • the above-mentioned target height may be a specific height value or a height range value, and the height signal being equal to the target height means that the height signal is within the above-mentioned height range value.
  • the above-mentioned compressor can also be connected with a third ventilation pipeline, and the third ventilation pipeline is connected with the external atmosphere, so that the compressor can compress the air in the atmosphere and transmit it to the air tank, so as to replenish the air tank.
  • the specific air supply control method is: controlling the opening of the first on-off valve and the third on-off valve, and controlling the compressor to compress the air and transmit it to the air tank.
  • the third on-off valve is closed, so that the air in the suspension system keeps circulating inside and will not leak from the third ventilation pipeline.
  • the suspension system can supply air by itself, so as to keep the amount of gas in the suspension system sufficient to maintain normal operation.
  • the suspension system may also include a pressure sensor connected to the gas tank for detecting the pressure in the gas tank.
  • the control method also includes obtaining the pressure detected by the pressure sensor.
  • the above pressure is lower than the set pressure, it is considered that the gas in the gas tank is insufficient, and an air supply signal is generated; according to the air supply signal, the first on-off valve and the third on-off valve are controlled to open, and the control The compressor compresses the air and sends it to the air tank.
  • the gas in the gas tank is found to be insufficient, the gas can be replenished at any time to ensure the reliability of the suspension system, and there will be no useless gas replenishment operation.
  • the present application also provides a vehicle, which includes a vehicle body, an axle, wheels, and the suspension system in any one of the above technical solutions.
  • the above-mentioned wheels are installed on the wheel axle, and the suspension system is installed between the wheel axle and the vehicle body.
  • the suspension system of this vehicle adjusts the height of the gas spring faster, and the power of the compressor of the suspension system is relatively small. Therefore, the corresponding speed of the vehicle to the unevenness of the road surface is also faster, and the noise and power consumption are also lower.
  • the structures of the controller and the driver are independent structures, which can be manufactured and installed separately. The cost is low, and it is beneficial to realize the upward movement of the controller, which in turn is beneficial to realize the unified control of the whole vehicle.
  • the aforementioned controller may be a domain controller.
  • the vehicle includes multiple systems, and some of the multiple systems share the domain controller. That is, the domain controller can control at least two systems of the vehicle.
  • the above-mentioned controller is a vehicle controller.
  • a vehicle includes multiple systems, all of which share the overall vehicle controller. This scheme can realize the control of all systems by a vehicle controller.
  • the suspension system when the suspension system is set up, the suspension system may include a plurality of suspension components, and the plurality of suspension components are provided in one-to-one correspondence with the wheels of the vehicle.
  • the stability during the operation of the vehicle can be improved, and the comfort of the user can be improved.
  • Fig. 1 is a kind of structural diagram of vehicle in the embodiment of the present application.
  • Fig. 2 is a connection schematic diagram of a suspension system of the vehicle in the embodiment of the present application.
  • Fig. 3 is a schematic diagram of an inflation process of the suspension system of the vehicle in the embodiment of the present application.
  • Fig. 4 is a schematic diagram of a deflation process of the suspension system of the vehicle in the embodiment of the present application.
  • Fig. 5 is a connection schematic diagram of another suspension system of the vehicle in the embodiment of the present application.
  • Fig. 6 is a flowchart of a control method of the suspension system in the embodiment of the present application.
  • embodiments of the present application provide a suspension system, a control method thereof, and a vehicle.
  • the following introduces its application scenarios.
  • people have higher and higher requirements for the comfort of vehicles during driving, and they need to meet the requirements of safety and maneuverability.
  • the suspension system of the vehicle can better improve the comfort of the vehicle.
  • the suspension system is connected between the sprung mass and the unsprung mass of the vehicle.
  • the unsprung mass can be understood as structures such as wheels.
  • gas springs and shock absorbers are used to form the above air suspension system, and the controller can drive the gas springs and shock absorbers to work according to the current state of the vehicle, and adjust the height of the vehicle and the damping of the shock absorbers.
  • the controller can control the driving gas spring and shock absorber to work, adjust the height between the sprung mass and the unsprung mass, so that the sprung mass and the unsprung mass reach the set value At the same time, the shock absorber outputs the optimal damping force to improve the user's comfort.
  • a closed-loop solution of the gas circuit is proposed.
  • the current controller, driver, and valve body are integrated into one structure, which has problems such as high coupling, difficult manufacturing, and high cost.
  • the controller can only be used as an independent controller to control the suspension system, which is not conducive to the integration of the whole vehicle.
  • FIG. 1 is a schematic structural diagram of a vehicle in an embodiment of the present application
  • FIG. 2 is a schematic connection diagram of a suspension system of a vehicle in an embodiment of the present application
  • the vehicle provided by the present application includes a vehicle body 100 , an axle 300 , wheels 200 and a suspension system.
  • the suspension system includes a suspension assembly 1 , a driver 2 , a controller 3 , a compressor 4 and an air tank 5 .
  • the air tank 5, the compressor 4 and the suspension assembly 1 are connected in series through a ventilation pipeline in sequence.
  • the gas tank 5 and the compressor 4 are connected through a first ventilation pipeline 6, and the first ventilation pipeline 6 is provided with a first ventilation pipeline.
  • the above-mentioned compressor 4 is connected with the suspension assembly 1 through a second ventilation pipeline 8 , and the second ventilation pipeline 8 is provided with a second on-off valve 9 . Then when the first on-off valve 7 and the second on-off valve 9 are in an open state, the gas in the gas tank 5 can pass through the first ventilation pipeline 6, the compressor 4 and the second ventilation pipeline in sequence under the action of the compressor 4 8 flows to the suspension assembly 1 to drive the suspension assembly 1 to work.
  • the above-mentioned suspension assembly 1 specifically includes a gas spring 101 and a height sensor 103, and the compressor 4 is specifically connected to the gas spring 101 of the suspension assembly 1 through the second ventilation pipeline 8, so as to control the height of the gas spring 101, so that the vehicle body 100 and the The distance between the wheels 200 is kept within a set range, which improves the stability and comfort of the vehicle body 100 when the user's vehicle is running.
  • the controller 3 is electrically connected to the driver 2 , so that signal transmission can be performed between the controller 3 and the driver 2 .
  • the driver 2 is also electrically connected to the compressor 4 , the first on-off valve 7 and the second on-off valve 9 , and the controller 3 is electrically connected to the height sensor 103 .
  • the controller 3 is used to receive the height signal of the height sensor 103, generates a control signal according to the above-mentioned height signal, and transmits the control signal to the driver 2; the driver 2 is used to drive the first on-off valve 7 to open or Close, control the second switch valve 9 to open or close, control the compressor 4 to transmit gas to the gas spring 101 or stop transmitting gas.
  • the height sensor 103 detects the detected height between the vehicle body 100 and the axle 300 at any time to generate a height signal.
  • Controller 3 can receive the height signal of above-mentioned height sensor 103, and controller 3 compares the height signal received with the target signal of the target height, and when the detected height is less than the target height, it is confirmed that the height of the vehicle body 100 needs to be adjusted, that is, the height of the vehicle body 100 needs to be adjusted.
  • the control signal generated by the controller 3 is an inflatable signal, and the inflatable signal indicates to inflate the gas spring 101 .
  • Fig. 3 is a schematic diagram of an inflation process of the suspension system of the vehicle in the embodiment of the present application.
  • the controller 3 transmits the above-mentioned inflation signal to the driver 2, and the driver 2 drives the first switch valve according to the above-mentioned inflation signal 7 and the second on-off valve 9 are opened, so that the ventilation pipeline between the gas spring 101 and the gas tank 5 is conducted. That is to say, both the first ventilation pipeline 6 and the second ventilation pipeline 8 are connected.
  • the driver 2 drives the compressor 4 to transport the gas in the gas tank 5 to the gas spring 101 to inflate the gas spring 101 . It can be considered that in this working state, the compressor 4 is running forward.
  • the controller 3 controls the driver 2 to drive the above-mentioned first switch valve 7 to close, the second switch valve 9 to close and the compressor 4 to stop running, and the inflation process of the gas spring 101 stop.
  • the control signal generated by the controller 3 is a deflation signal, which indicates deflation of the gas spring 101.
  • 4 is a schematic diagram of a deflation process of the suspension system of the vehicle in the embodiment of the present application. As shown in FIG. The first on-off valve 7 and the second on-off valve 9 are opened, so that the ventilation pipeline between the gas spring 101 and the gas tank 5 is connected, that is to say, both the first ventilation pipeline 6 and the second ventilation pipeline 8 are connected. Moreover, the driver 2 drives the compressor 4 to transport the gas in the gas spring 101 to the gas tank 5 to deflate the gas spring 101 .
  • the compressor 4 is running in reverse.
  • the controller 3 controls the driver 2 to drive the first on-off valve 7 to close, the second on-off valve 9 to close and the compressor 4 to stop running, and the deflation of the gas spring 101 The process stops.
  • the gas tank 5 is used to store gas
  • the compressor 4 transports the gas in the gas tank 5 to the gas spring 101 , and puts the gas in the gas spring 101 into the gas tank 5 .
  • the change of the pressure of the gas is small, that is to say, the amount of increasing and decreasing the pressure of the gas is small.
  • the inflation and deflation process takes a longer time, and the lifting speed of the vehicle body 100 is faster.
  • the power required by the compressor 4 is also small, and the noise and power consumption are small.
  • the structures of the controller 3, the driver 2, the first on-off valve 7 and the second on-off valve 9 are all independent structures. Therefore, it can be manufactured and installed separately, and the cost is low.
  • the above-mentioned controller 3 can also be used to control other systems besides controlling the suspension system.
  • the above-mentioned controller 3 receives the height signal from the height sensor 103, and the controller 3 can be directly connected to the height sensor 103 to receive the above-mentioned height signal.
  • the driver 2 can also be connected to the height sensor 103 , the driver 2 acquires the above-mentioned height signal, and transmits the height signal to the controller 3 .
  • the electrical connection between the controller 3 and the height sensor 103 may mean that the controller 3 is directly connected with the height sensor 103 , or may mean that the controller 3 is connected with the height sensor 103 through the driver 2 .
  • the above-mentioned suspension assembly 1 further includes a shock absorber 102 .
  • the above-mentioned driver 2 is connected with the shock absorber 102, and the driver 2 is used for controlling the shock absorber 102 to adjust the damping force according to the control signal of the above-mentioned controller 3.
  • the damping force of the shock absorber 102 can be adjusted while adjusting the height of the gas spring.
  • the shock absorber can adjust the damping force according to the actual running conditions of the vehicle, thereby improving the riding comfort of the user.
  • the above-mentioned vehicle includes multiple systems.
  • the vehicle may include multiple systems such as a braking system, a steering system, or an auxiliary driving system in addition to the suspension system.
  • the above-mentioned controller 3 may be a system controller, that is to say, the above-mentioned system controller may only be used to control the work of the suspension system, and has no connection with other systems.
  • the above-mentioned controller 3 may also be a domain controller, which is used to control some of the multiple systems of the vehicle. That is, the domain controller is used to control at least two systems of the vehicle, rather than all systems of the vehicle.
  • the controllers 3 of the lifting vehicle it is beneficial to share the controllers 3 of the lifting vehicle, so that the controllers 3 can be moved up, so as to reduce the total number of system controllers included in the vehicle.
  • the above-mentioned controller 3 may also be a vehicle controller, which is used to control all systems of the vehicle, so as to realize unified control and meet the development requirements of current vehicles.
  • Fig. 5 is a schematic connection diagram of another suspension system of the vehicle in the embodiment of the present application.
  • the above-mentioned compressor 4 is also connected with a third ventilation pipeline 10, and the third ventilation pipeline 10 is connected with the outside atmosphere.
  • the above-mentioned third ventilation pipeline 10 is provided with a first Three switching valves 11.
  • the controller 3 can receive the air supplement command, and control the third on-off valve 11 to open according to the air supplement command, and control the compressor 4 to compress the air and transmit it to the air tank 5 .
  • the gas is prone to slow leakage, resulting in less total gas in the suspension system.
  • the suspension system can realize self-replenishment of gas, keep the total amount of gas in the suspension system sufficient, and ensure the reliability of the suspension system.
  • the above-mentioned first switching valve 7 is a three-way valve, and in the first working state of the three-way valve, the gas tank 5 is connected to the first air port of the compressor 4, and the first air port is connected to the first air port of the compressor 4.
  • the gas spring 101 is communicated for inflating or deflating the gas spring 101 .
  • the gas tank 5 In the second working state of the three-way valve, the gas tank 5 is connected to the second vent port of the compressor 4 , and the second vent port is communicated with the third vent pipeline 10 for replenishing the gas tank 5 .
  • the three-way valve In the third working state of the three-way valve, the three-way valve is in a closed state, so that the gas tank 5 cannot realize the inflow or outflow of gas.
  • the above-mentioned driver 2 is electrically connected with the controller 3, the compressor 4, the pressure sensor 12, the three-way valve and the third switch valve 11, and the controller 3 can receive the gas supplement command, generate a gas supplement signal and transmit the gas supplement signal to drive 2.
  • the driver 2 is used to control the three-way valve to be in the above-mentioned second working state according to the above-mentioned air supply signal, and drive the third switch valve 11 to open, and drive the compressor 4 to compress the air and transmit it to the air tank 5, so as to realize the suspension system of qi.
  • the controller 3 of the suspension system can be connected to a control button, and the user can send an air supplement instruction to the controller 3 by operating the above-mentioned control button regularly or irregularly.
  • the controller 3 receives the air supply command from the control button, generates an air supply signal, and transmits the above air supply signal to the driver 2, and the driver 2 realizes the air supply of the suspension system according to the above air supply signal.
  • controller 3 regularly replenish the air to the suspension system, that is, the controller 3 periodically generates an air replenishment signal to control the driver 2 to perform suspension suspension according to the air replenishment signal. System replenishment.
  • the above-mentioned suspension system may further include a pressure sensor 12, which is connected to the air tank 5 and can be used to detect the pressure in the air tank 5 to determine whether it is necessary to replenish air.
  • the above-mentioned pressure sensor 12 is electrically connected to the controller 3 , and the controller 3 is used to acquire the pressure signal of the pressure sensor 12 , generate an air supplement signal according to the pressure signal, and transmit the air supplement signal to the driver 2 .
  • the driver 2 drives the suspension system to automatically replenish the air according to the air replenishment signal of the above-mentioned controller 3 .
  • This solution can realize the automatic air replenishment of the suspension system and avoid frequent manual air replenishment.
  • the above-mentioned controller 3 receives the pressure signal from the pressure sensor 12, and the controller 3 can be directly connected to the pressure sensor 12 to receive the above-mentioned pressure signal.
  • the driver 2 may also be connected to the pressure sensor 12 , and the driver 2 acquires the above-mentioned pressure signal and transmits the pressure signal to the controller 3 .
  • the electrical connection between the controller 3 and the pressure sensor 12 may refer to the direct connection between the controller 3 and the pressure sensor 12 , or may refer to the connection between the controller 3 and the pressure sensor 12 through the driver 2 .
  • the above-mentioned suspension system may include at least two suspension assemblies 1 , and the gas spring 101 in each suspension assembly 1 is connected to a second switching valve 9 .
  • the second switch valve 9 of each suspension assembly 1 can be an independent structure, so as to facilitate the control of each gas spring 101 .
  • Each suspension system is also provided with a driver 2 correspondingly.
  • the driver 2 and the second switch valve 9 can be arranged close to each other so as to shorten the wiring harness. It is convenient to lay out the wiring of the suspension system.
  • all the second switching valves 9 of the suspension assembly 1 are integrally structured, which is beneficial to reduce the volume of the suspension assembly 1 .
  • the suspension system includes four suspension assemblies 1 , and the four suspension assemblies 1 are arranged in a matrix.
  • the four suspension assemblies 1 are arranged in a matrix, so that the four corners of the vehicle can be provided with the suspension assemblies 1, and the height of the vehicle body 100 at the four corners can be adjusted.
  • the four suspension assemblies 1 do not need to be driven simultaneously, and the corresponding gas springs 101 can be controlled to inflate and deflate according to the signals of the corresponding height sensors 103, so as to improve the stability and comfort of the vehicle.
  • the vehicle includes a plurality of suspension assemblies 1, and the plurality of suspension assemblies 1 are arranged in one-to-one correspondence with the wheels 200 of the vehicle, so that the height between each wheel 200 and the vehicle body 100 can be adjusted, and the stability and stability of the vehicle can be improved. comfort.
  • Fig. 6 is a flow chart of the control method of the suspension system in the embodiment of the present application. As shown in Fig. 6, the control method specifically includes the following steps:
  • Step S101 receiving a height signal from a height sensor
  • the height sensor can detect the detection height between the vehicle body and the axle at any time. During the driving process of the vehicle, the height between the vehicle body and the axle needs to be maintained at a certain level, so that the form state of the vehicle can be relatively stable.
  • Step S102 comparing the altitude signal with the target altitude; when the altitude signal is less than the target altitude, execute step S103; when the altitude signal is greater than the target altitude, execute step S104; when the altitude signal is equal to the target altitude, execute step S105;
  • the height signal When the height signal is less than the target height, it is considered that the height between the body and the axle is too low, and the height of the gas spring needs to be increased so that the height between the body and the axle meets the target height; when the height signal is greater than the target height, it is considered that the height between the body and the axle If the height between the vehicle body and the axle is too high, it is necessary to reduce the height of the gas spring so that the height between the vehicle body and the axle meets the target height.
  • the above-mentioned target height can be a specific height value, or a height range value
  • the height signal being equal to the target height means that the height signal is within the above-mentioned height range value.
  • Step S103 control the opening of the first on-off valve and the second on-off valve, and control the forward rotation of the compressor to drive the gas in the gas tank to flow to the gas spring; so that the height of the gas spring is increased, and the height between the vehicle body and the axle is increased.
  • Step S104 controlling the opening of the first on-off valve and the second on-off valve, and controlling the reverse rotation of the compressor to drive the gas in the gas spring to flow to the gas tank; so that the height of the gas spring is lowered, and the height between the vehicle body and the axle is lowered.
  • Step S105 controlling the first on-off valve and the second on-off valve to close; so that the height of the gas spring remains constant, and thus the height between the vehicle body and the axle remains constant.
  • the above control process can realize the suspension system of the vehicle to automatically adjust the height between the vehicle body and the axle, so as to improve the stability of the vehicle during operation.
  • the above-mentioned compressor can also be connected with a third ventilation pipeline, and the third ventilation pipeline is connected with the external atmosphere, so that the compressor can compress the air in the atmosphere and transmit it to the air tank, so as to replenish the air tank.
  • the specific air supply control method is: receiving the air supply signal, controlling the opening of the first on-off valve and the third on-off valve according to the above-mentioned air supply signal, and controlling the compressor to compress the air and transmit it to the air tank.
  • the third on-off valve is closed, so that the air in the suspension system keeps circulating inside and will not leak from the third ventilation pipeline.
  • the suspension system can automatically replenish air, so as to keep the amount of gas in the suspension system sufficient to maintain normal operation.
  • the triggering method of the above-mentioned air supply signal is not limited.
  • the controller of the suspension system can be connected to a control button, and the user can periodically or irregularly operate the above-mentioned control button to send the air supply signal to the controller. Gas signal command.
  • the controller receives the air supply command from the control button, generates an air supply signal, and realizes the air supply of the suspension system according to the above air supply signal.
  • the controller can also be made to supplement air to the suspension system regularly, that is to say, the controller periodically generates an air supplement signal, so as to supplement air to the suspension system according to the air supplement signal.
  • the above-mentioned suspension system may further include a pressure sensor, which is connected to the gas tank and used to detect the pressure in the gas tank. Then the above control method also includes obtaining the pressure detected by the pressure sensor. When the above pressure is less than the set pressure, it is considered that the gas in the gas tank is insufficient, and an air supply signal is generated; according to the air supply signal, the first on-off valve and the third on-off valve are controlled to open , control the compressor to compress the air and transmit it to the air tank.
  • the gas in the gas tank is found to be insufficient, the gas can be replenished at any time to ensure the reliability of the suspension system, and there will be no useless gas replenishment operation.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

一种悬架系统，该悬架系统包括悬架组件（1）、驱动器（2）、控制器（3）、压缩机（4）和气罐（5），悬架组件（1）具有气体弹簧（101）和高度传感器（103），气罐（5）内容置有气体，该气罐（5）与压缩机通过第一通气管路（6）连接，压缩机（4）与气体弹簧（101）通过第二通气管路（8）连接。第一通气管路（6）设置有第一开关阀（7），第二通气管路（8）设置有第二开关阀（9）。驱动器（2）与控制器（3）、压缩机（4）、第一开关阀（7）、第二开关阀（9）和高度传感器（103）分别电连接。悬架系统可以安装于车辆的车轮（200）与车身（100）之间，则悬架系统在工作过程中，依据车辆工况及外部输入，调节车轮与车身之间的高度，提升车辆的稳定性和舒适性。悬架系统的各部分结构为独立的结构，进而实现整车的统一控制。还公开了一种悬架系统及车辆。

Description

一种悬架系统及其控制方法和车辆 技术领域
本申请涉及车辆结构技术领域，特别涉及一种悬架系统及其控制方法和车辆。
背景技术
汽车的悬架系统连接于簧载质量与非簧载质量之间，可以削弱路面激励对汽车输出变量的扰动。汽车输出一般从舒适性与路面附着性两方面考虑，对应的汽车输出变量分别为车身加速度与轮胎变形，而两者存在一定的矛盾关系。汽车悬架系统则需在考虑悬架行程与设计成本的情况下，衡量两者的折中关系，使行驶中的汽车能够做出合乎驾驶员或者车辆设计需求的响应，满足舒适性、操纵性、安全性设计需求。汽车悬架系统通常包括被动悬架、半主动悬架和全主动悬架。
被动悬架系统凭借其低成本的优势，很长一段时间内都是一种主流的悬架系统。而随着电控技术的发展，半主动悬架系统凭借其可控性、自适应调节性，也逐渐受到市场青睐，被越来越多的车型配备，通常由螺旋弹簧或气体弹簧与连续可调阻尼的阻尼器构成。而主动悬架则在极少数顶级车型上配置，需要额外能量输入，如液压泵、直线电机等，实现主动作动的操作。
目前的半主动空气悬架系统通常使用半主动减振器作为阻尼元件，采用气体弹簧作为弹性元件，通过对其充放气，实现其高度特征的调整，以适应不同的外部输入要求。现有技术中，在气体弹簧气路方面，主要采用气泵从大气中供给气体到气体弹簧中，并且排气时将气体直接排到大气中，从而实现气体弹簧的升降。在这种气路开环方案中，由于需要把气压较低的空气加压至一定压强，压强变化较大，则需要的时间较长，车身的升降速度较慢。此外，由于需要对空气加压到一定压强，空气压缩机的功率需要较大，则噪声也较大。
发明内容
本申请提供一种悬架系统及其控制方法和车辆，悬架系统的气路系统中气体压强变化较小，则调节气体弹簧的高度的速度较快，且悬架系统的压缩机的功率较小，噪声和功耗都较低。此外，本申请技术方案中，各部分结构为独立的结构，可以分别制造和安装，成本较低，且有利于实现控制器的上移，进而实现整车的统一控制。
第一方面，本申请提供了一种悬架系统，该悬架系统包括悬架组件、驱动器、控制器、压缩机和气罐，上述悬架组件具有气体弹簧和高度传感器。上述气罐内容置有气体，该气罐与压缩机通过第一通气管路连接，压缩机与气体弹簧通过第二通气管路连接，则压缩机可以将气罐内的气体传送至气体弹簧，或者将气体弹簧内的气体传送至气罐内。具体的技术方案中，上述第一通气管路设置有第一开关阀，第二通气管路设置有第二开关阀，则通过控制第一开关阀和第二开关阀的打开或者关闭，有利于控制整个气路的能够通气或者关闭。上述驱动器与控制器、压缩机、第一开关阀和第二开关阀分别电连接，控制器与高度传感器电连接。上述悬架系统可以安装于车辆的车轮与车身之间，则悬架系统在工作过程中，上述高度传感器用于检测车轮与车身之间的距离，则控制器用于接收上述高度传感器 的高度信号，根据高度信号生成控制信号，并将控制信号传递至驱动器。驱动器接收到上述控制信号之后，用于根据控制信号控制第一开关阀打开或者关闭、第二开关阀打开或者关闭，控制压缩机向气体弹簧传输气体或者停止传输气体。
本申请技术方案中的悬架系统的气路系统中包括用于存储气体的气罐，则气罐内的气体具有一定的压强，气罐中的气体的压强与气体弹簧中需要的气体的压强相比，压强变化较小，则调节气体弹簧的高度的速度较快，且悬架系统的压缩机的功率较小，噪声和功耗也都较低。此外，本申请技术方案中，各部分结构为独立的结构，可以分别制造和安装，成本较低，且有利于实现控制器的上移，进而有利于实现整车的统一控制。
值得说明的是，上述控制器接收高度传感器的高度信号，可以使控制器直接与高度传感器连接，并接收上述高度信号。或者，还可以使驱动器与高度传感器连接，驱动器获取上述高度信号，并将该高度信号传递至控制器。也就是说，控制器与高度传感器电连接可以指控制器与高度传感器直接连接，也可以指控制器通过驱动器与高度传感器连接。
具体的技术方案中，上述悬架组件还包括减振器。上述驱动器与减振器连接，驱动器用于根据上述控制器的控制信号，控制减振器调节阻尼力。本申请技术方案中，减振器可以根据车辆实际运行情况调节阻尼力，从而提升用户乘坐的舒适性。
上述压缩机还连接有第三通气管路，该第三通气管路与外界大气连接，从而压缩机工作可以将大气内的空气压缩传输至气罐，从而为气罐补气。上述第三通气管路设置有第三开关阀，只有在需要补气时，使第三开关阀打开即可。无需补气时，第三开关阀关闭，使得悬架系统内的气体保持在内部循环，不会从第三通气管路泄漏。该技术方案中，悬架系统可以自己进行补气，从而保持悬架系统内的气体量足够保持正常工作。
具体对气罐补气的方式本申请不做限制，例如，可以使第三开关阀也与驱动器连接，上述驱动器与控制器连接。控制器可以连接有控制按钮，用户根据需求按动控制按钮，从而进行补气。或者，上述控制器可以控制定时进行补气。
或者，再一种具体的技术方案中，悬架系统还可以包括压力传感器，该压力传感器与气罐连接，用于检测气罐内的压力。上述第一开关阀为三通阀，用于传输气罐中的气体至气体弹簧，且用于传输大气至气罐的气体。上述驱动器与压缩机、三通阀和第三开关阀电连接，控制器与压力传感器电连接。上述控制器用于获取压力传感器的压力信号，并根据压力信号生成补气信号。具体的可以使得压力传感器检测到的压力低于设定压力时，认为气罐内的气体不足，需要补气。驱动器获取上述控制器生成的补气信号，并根据补气信号驱动三通阀连通压缩机和气罐，驱动第三开关阀打开，驱动压缩机将空气压缩后传输至气罐。该方案中，可以根据气罐内的气体实际情况来进行补气，当发现气罐内的气体不足时，可以随时进行补气，以保证悬架系统的工作可靠性，且不会出现无用的补气操作。
值得说明的是，上述控制器接收压力传感器的压力信号，可以使控制器直接与压力传感器连接，并接收上述压力信号。或者，还可以使驱动器与压力传感器连接，驱动器获取上述压力信号，并将该压力信号传递至控制器。也就是说，控制器与压力传感器电连接可以指控制器与压力传感器直接连接，也可以指控制器通过驱动器与压力传感器连接。
上述悬架系统包括的悬架组件的数量不做限制，上述悬架系统包括至少两个悬架组件。每个悬架组件中的气体弹簧连接一个第二开关阀。该方案中，至少两个悬架组件可以调节至少两个悬架组件所在的位置的高度，且可以实现分别控制，从而可以提升车辆的稳定性和舒适性。
上述实施例中，所有的第二开关阀为一体结构，从而减少第二开关阀占用的空间。
此外，当悬架系统包括至少两个悬架组件时，可以使得每个悬架组件对应设置一个驱动器，从而可以使得驱动器与对应的悬架组件距离较近，以便于减短线束，便于布局悬架系统的走线。
具体的技术方案中，悬架系统可以包括四个悬架组件，四个悬架组件呈矩阵设置，可以使得车辆的四个角都设置有悬架组件，从而调节四个角的车身的高度。
具体的，上述四个悬架组件无需同时驱动，可以根据对应的高度传感器的信号，控制对应的气体弹簧进行充气和放气，以提升车辆的稳定性和舒适性。
本申请技术方案中，控制器与驱动器以及第一开关阀为分体结构，则控制器除了可以为系统控制器以外，还可以为域控制器或者整车控制器。车辆通常包括多个控制系统，上述域控制器指的是控制器可以控制多个控制系统中的至少两个控制系统。整车控制器则指可以控制所有的控制系统。
第二方面，本申请还提供了上述第一方面中的悬架系统的控制方法，该控制方法具体包括：接收高度传感器的高度信号；将高度信号与目标高度比较，当高度信号小于目标高度时，需要增加气体弹簧的高度，此时控制上述第一开关阀和第二开关阀打开，控制压缩机正转驱动气罐中的气体流向气体弹簧，以使得气体弹簧的高度增加；当高度信号大于目标高度时，需要降低气体弹簧的高度，此时控制上述第一开关阀和第二开关阀打开，控制压缩机反转驱动气体弹簧中的气体流向气罐，以使得气体弹簧的高度降低；而当上述高度信号等于目标高度时，则控制上述第一开关阀和第二开关阀关闭。利用上述方法可以实现悬架系统的充气和放气过程。该方案利用气罐装载气体，悬架系统的压缩机的功率较小，噪声和功耗也都较低。值得说明的是，本申请实施例中，上述目标高度可以为一个具体高度值，也可以为高度范围值，高度信号等于目标高度指的就是高度信号位于上述高度范围值内。
上述压缩机还可以连接有第三通气管路，该第三通气管路与外界大气连接，从而压缩机工作可以将大气内的空气压缩传输至气罐，从而为气罐补气。具体的补气控制方法为：控制第一开关阀和第三开关阀打开，控制压缩机将空气压缩后传输至气罐。无需补气时，第三开关阀关闭，使得悬架系统内的气体保持在内部循环，不会从第三通气管路泄漏。该技术方案中，悬架系统可以自己进行补气，从而保持悬架系统内的气体量足够保持正常工作。
悬架系统还可以包括压力传感器，该压力传感器与气罐连接，用于检测气罐内的压力。控制方法还包括获取压力传感器检测的压力，当上述压力小于设定压力时，认为气罐内的气体不足，生成补气信号；根据补气信号控制第一开关阀和第三开关阀打开，控制压缩机将空气压缩后传输至气罐。该方案中，可以根据气罐内的气体实际情况，当发现气罐内的气体不足时，可以随时进行补气，以保证悬架系统的工作可靠性，且不会出现无用的补气操作。
第三方面，本申请还提供了一种车辆，该车辆包括车身、轮轴、车轮和上述任一项技术方案中的悬架系统。上述车轮安装于轮轴，悬架系统安装于轮轴与车身之间。该车辆的悬架系统调节气体弹簧的高度的速度较快，且悬架系统的压缩机的功率较小。因此车辆的针对路面不平等情况的相应速度也较快，噪声和功耗也都较低。此外，本申请技术方案中，控制器和驱动器等结构为独立的结构，可以分别制造和安装，成本较低，且有利于实现控 制器的上移，进而有利于实现整车的统一控制。
具体的技术方案中，上述控制器可以为域控制器。该车辆包括多个系统，多个系统中的部分系统共用该域控制器。也就是说，域控制器可以控制车辆的至少两个系统。
此外，上述控制器为整车控制器。车辆包括多个系统，所有的系统共用该整车控制器。该方案可以实现一个整车控制器对所有的系统的控制。
具体设置上述悬架系统时，悬架系统可以包括多个悬架组件，多个悬架组件与车辆的所述车轮一一对应设置。从而可以提升车辆运行过程中的稳定性，提升用户的舒适性。
附图说明
图1为本申请实施例中车辆的一种结构示意图；
图2为本申请实施例中车辆的一种悬架系统的连接示意图；
图3为本申请实施例中车辆的悬架系统的一种充气过程示意图；
图4为本申请实施例中车辆的悬架系统的一种放气过程示意图；
图5为本申请实施例中车辆的另一种悬架系统的连接示意图；
图6为本申请实施例中悬架系统的控制方法流程图。
附图标记：
100-车身；                       200-车轮；
300-轮轴；                       1-悬架组件；
101-气体弹簧；                   102-减振器；
103-高度传感器；                 2-驱动器；
3-控制器；                       4-压缩机；
5-气罐；                         6-第一通气管路；
7-第一开关阀；                   8-第二通气管路；
9-第二开关阀；                   10-第三通气管路；
11-第三开关阀；                  12-压力传感器。
具体实施方式
为了方便理解，本申请实施例提供的悬架系统及其控制方法和车辆。下面介绍一下其应用场景，目前，人们对于车辆行驶过程的舒适性要求越来越高，且需要满足安全性以及操纵性等需求。车辆的悬架系统则可以较好的提升车辆的舒适性，具体的，悬架系统连接于车辆的簧载质量与非簧载质量之间，上述簧载质量可以理解为车身，也就是用户所述的结构空间，非簧载质量可以理解为车轮等结构。特别对于主动空气悬架系统，利用气体弹簧和减振器形成上述空气悬架系统，控制器可以根据当前车辆的状态驱动气体弹簧和减振器工作，调整车辆的高度和减振器的阻尼。车辆在遇到连续坏路时，控制器可以控制驱动气体弹簧和减振器工作，调节簧载质量与非簧载质量之间的高度，使得簧载质量与非簧载质量之间达到设定的高度，同时减振器输出最优阻尼力，提升用户的舒适性。然而，现有技术中，为了解决气路开环方案中的噪声较大，响应速度较慢等问题，提出了气路闭环的方案。气路闭环的方案中，当前控制器、驱动器以及阀体等结构为一体结构，存在耦合度高、制造难度大，且成本高昂等问题。此外，控制器只能作为独立的控制器，用于控制悬 架系统，不利于整车的整合。
下面将结合附图，对本申请实施例进行详细描述。以下实施例中所使用的术语只是为了描述特定实施例的目的，而并非旨在作为对本申请的限制。如在本申请的说明书和所附权利要求书中所使用的那样，单数表达形式“一个”、“一种”、“所述”、“上述”、“该”和“这一”旨在也包括例如“一个或多个”这种表达形式，除非其上下文中明确地有相反指示。
在本说明书中描述的参考“一个实施例”或“具体的实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”，除非是以其他方式另外特别强调。
图1为本申请实施例中车辆的一种结构示意图，图2为本申请实施例中车辆的一种悬架系统的连接示意图。如图1和图2所示，本申请提供的车辆包括车身100、轮轴300、车轮200和悬架系统，上述车轮200安装于轮轴300，悬架系统安装于轮轴300与车身100之间。具体的技术方案中，上述悬架系统包括悬架组件1、驱动器2、控制器3、压缩机4和气罐5。上述气罐5、压缩机4和悬架组件1依次通过通气管路串联，具体的，上述气罐5与压缩机4通过第一通气管路6连接，该第一通气管路6设置有第一开关阀7。上述压缩机4与悬架组件1通过第二通气管路8连接，该第二通气管路8设置有第二开关阀9。则第一开关阀7和第二开关阀9处于打开状态时，气罐5中的气体可以在压缩机4的作用下，依次经第一通气管路6、压缩机4和第二通气管路8流至悬架组件1，以驱动悬架组件1工作。
上述悬架组件1具体包括气体弹簧101和高度传感器103，压缩机4通过第二通气管路8具体与悬架组件1的气体弹簧101连接，从而控制气体弹簧101的高度，以使得车身100与车轮200之间的距离保持在设定范围，提升用户车辆运行过程中车身100的稳定性和舒适性。上述控制器3与驱动器2电连接，从而使得控制器3与驱动器2之间能够进行信号传输。此外，驱动器2还与压缩机4、第一开关阀7和第二开关阀9分别电连接，控制器3和高度传感器103电连接。控制器3用于接收高度传感器103的高度信号，根据上述高度信号生成控制信号，并将控制信号传递至驱动器2；驱动器2用于根据上述控制器3的控制信号驱动第一开关阀7打开或者关闭、控制第二开关阀9打开或者关闭，控制压缩机4向气体弹簧101传输气体或者停止传输气体。
上述悬架系统具体的应用过程中，高度传感器103随时检测车身100与车轴300之间的检测高度，以生成高度信号。控制器3可以接收上述高度传感器103的高度信号，控制器3将收到的高度信号与目标高度的目标信号对比，当检测高度小于目标高度时，确认需要调高车身100的高度，也就是需要对气体弹簧101充气，则控制器3生成的控制信号为充气信号，充气信号指示对气体弹簧101充气。图3为本申请实施例中车辆的悬架系统的一种充气过程示意图，如图3所示，控制器3将上述充气信号传递至驱动器2，驱动器2根据上述充气信号，驱动第一开关阀7和第二开关阀9打开，使得气体弹簧101与气罐5之间的通气管路导通。也就是说，第一通气管路6与第二通气管路8均导通。并且，驱动器2驱动压缩机4将气罐5中的气体运送至气体弹簧101，以对气体弹簧101充气。可以认为此工作状态下，压缩机4为正向运行。当高度传感器103检测到的检测高度与目标高度一致时，则控制器3控制驱动器2驱动上述第一开关阀7关闭、第二开关阀9关闭以及压缩机4停止运转，气体弹簧101的充气过程停止。
当检测高度大于目标高度时，确认需要调低车身100的高度，需要对气体弹簧101放气，则控制器3生成的控制信号为放气信号，放气信号指示对气体弹簧101放气。图4为本申请实施例中车辆的悬架系统的一种放气过程示意图，如图4所示，控制器3将上述放气信号传递至驱动器2，驱动器2根据上述放气信号，驱动第一开关阀7和第二开关阀9打开，使得气体弹簧101与气罐5之间的通气管路导通，也就是说，第一通气管路6与第二通气管路8均导通。并且，驱动器2驱动压缩机4将气体弹簧101中的气体运送至气罐5，以对气体弹簧101放气。可以认为此工作状态下，压缩机4为反向运行。当高度传感器103检测到的检测高度与目标高度一致时，则控制器3控制驱动器2驱动上述第一开关阀7关闭、第二开关阀9关闭以及压缩机4停止运转，气体弹簧101的放气过程停止。
本申请技术方案中，利用气罐5存储气体，压缩机4将气罐5中的气体运送至气体弹簧101，并将气体弹簧101内的气体放至气罐5中。该方案中，气体的压强变化较小，也就是说，气体的升压和降压的量较小。则充气和放气过程需要的时间较长，车身100升降的速度较快。且压缩机4需要的功率也较小，噪声和功耗都较小。此外，本申请技术方案中，控制器3、驱动器2以及第一开关阀7和第二开关阀9等结构，都是独立的结构。因此，可以分别制造和安装，成本较低。此外，上述控制器3除了用于控制悬架系统以外，还可以用于控制其它系统。
值得说明的是，上述控制器3接收高度传感器103的高度信号，可以使控制器3直接与高度传感器103连接，并接收上述高度信号。或者，还可以使驱动器2与高度传感器103连接，驱动器2获取上述高度信号，并将该高度信号传递至控制器3。也就是说，控制器3与高度传感器103电连接可以指控制器3与高度传感器103直接连接，也可以指控制器3通过驱动器2与高度传感器103连接。
具体的实施例中，上述悬架组件1还包括减振器102。上述驱动器2与减振器102连接，驱动器2用于根据上述控制器3的控制信号，控制减振器102调节阻尼力。具体的，可以在调节气体弹簧的高的同时调节上述减振器102的阻尼力。本申请技术方案中，减振器可以根据车辆实际运行情况调节阻尼力，从而提升用户乘坐的舒适性。
具体的实施例中，上述车辆包括多个系统，例如，车辆除了包括悬架系统以外，还可以包括刹车系统、转向系统或者辅助驾驶系统等多个系统。具体的实施例中，上述控制器3可以为系统控制器，也就是说，上述系统控制器可以仅仅用于控制悬架系统的工作，而与其它系统无关联。
另一种具体的实施例中，上述控制器3还可以为域控制器，该域控制器用于控制车辆的多个系统中的部分系统。也就是说，域控制器用于控制车辆的至少两个系统，而非控制车辆的全部系统。该方案中，有利于提升车辆的控制器3共用，实现控制器3上移，以减少车辆包括的系统控制器的总数。
再一种具体的实施例中，上述控制器3还可以为整车控制器，该整车控制器用于控制车辆的所有系统，以实现统一控制，满足目前车辆的发展需求。
图5为本申请实施例中车辆的另一种悬架系统的连接示意图。如图5所示，进一步的实施例中，上述压缩机4还连接有第三通气管路10，该第三通气管路10与外界大气连接，此外，上述第三通气管路10设置有第三开关阀11。具体工作过程中，控制器3可以接收补气指令，并根据补气指令控制上述第三开关阀11打开，并控制压缩机4将空气压缩后传输至上述气罐5。悬架系统在使用过程中，容易出现气体的缓慢泄漏，导致悬架系统内的 气体的总量较少。该方案中，悬架系统可以实现自补气，保持悬架系统内的气体总量充足，保证悬架系统的工作可靠性。
具体的实施例中，上述第一开关阀7为三通阀，三通阀的第一种工作状态下，使得气罐5与压缩机4的第一通气口连接，该第一通气孔口与气体弹簧101连通，用于对气体弹簧101充气或者放气。三通阀的第二种工作状态下，使得气罐5与压缩机4的第二通气口连接，该第二通气口与第三通气管路10连通，用于实现气罐5补气。三通阀的第三种工作状态下，就是三通阀处于关闭状态下，使得气罐5无法实现气体的流进或者流出。上述驱动器2与控制器3、压缩机4、压力传感器12、三通阀和第三开关阀11电连接，控制器3可以接收补气指令，并生成补气信号并将上述补气信号传递给驱动器2。驱动器2用于根据上述补气信号，控制三通阀处于上述第二种工作状态，并驱动第三开关阀11打开，驱动压缩机4将空气压缩后传输至气罐5，以实现悬架系统的补气。
具体对悬架系统进行补气时，可以用户主动进行补气。例如，可以使悬架系统的控制器3连接控制按钮，用户可以定期或者不定期的通过操作上述控制按钮，来向控制器3发送补气指令。控制器3接收上述控制按钮的补气指令，生成补气信号，并将上述补气信号传递给驱动器2，驱动器2根据上述补气信号，实现悬架系统的补气。
或者，另一种具体的实施例中，还可以使得控制器3定期对悬架系统进行补气，也就是说，控制器3定期生成补气信号，以控制驱动器2根据补气信号进行悬架系统的补气。
再或者，有一种具体的实施例中，上述悬架系统还可以包括压力传感器12，该压力传感器12与气罐5连接，可以用于检测气罐5内的压力，以判断是否需要补气。具体的，上述压力传感器12与控制器3电连接，控制器3用于获取压力传感器12的压力信号，并根据压力信号生成补气信号，并将补气信号传递至驱动器2。驱动器2根据上述控制器3的补气信号来驱动悬架系统自动进行补气。该方案可以实现悬架系统的自动补气，避免频繁的进行人工补气。
值得说明的是，上述控制器3接收压力传感器12的压力信号，可以使控制器3直接与压力传感器12连接，并接收上述压力信号。或者，还可以使驱动器2与压力传感器12连接，驱动器2获取上述压力信号，并将该压力信号传递至控制器3。也就是说，控制器3与压力传感器12电连接可以指控制器3与压力传感器12直接连接，也可以指控制器3通过驱动器2与压力传感器12连接。
具体的实施例中，上述悬架系统可以包括至少两个悬架组件1，每个悬架组件1中的气体弹簧101连接一个第二开关阀9。具体的技术方案中，可以使每个悬架组件1的第二开关阀9都为独立结构，便于对各个气体弹簧101进行控制。
每个悬架系统还对应设置一个驱动器2，具体设置每个悬架组件1的第二开关阀9和驱动器2时，可以使驱动器2与第二开关阀9靠近设置，以便于减短线束，便于布局悬架系统的走线。
具体的实施例中，所有的悬架组件1的第二开关阀9为一体结构，从而有利于减少悬架组件1的体积。
请参考图1，具体的实施例中，悬架系统包括四个悬架组件1，四个悬架组件1呈矩阵设置。该方案中，四个悬架组件1呈矩阵设置，就可以使得车辆的四个角都设置有悬架组件1，可以调节四个角的车身100的高度。具体的，四个悬架组件1无需同时驱动，可以根据对应的高度传感器103的信号，控制对应的气体弹簧101进行充气和放气，以提升 车辆的稳定性和舒适性。
具体的，车辆包括多个悬架组件1，且多个悬架组件1与车辆的车轮200一一对应设置，从而可以调节每个车轮200与车身100之间的高度，提升车辆的稳定性和舒适性。
基于相同的发明构思，本申请还提供了一种悬架系统的控制方法，该悬架系统具体指的是上述任一实施例中的悬架系统。图6为本申请实施例中悬架系统的控制方法流程图，如图6所示，该控制方法具体包括以下步骤：
步骤S101、接收高度传感器的高度信号；
该高度传感器可以随时检测车身与车轴之间的检测高度，在车辆行驶过程中，需要使车身与车轴之间的高度维持在一定的水平，才可以使车辆的形式状态较为稳定。
步骤S102、将高度信号与目标高度比较；当高度信号小于目标高度时，执行步骤S103，当高度信号大于目标高度时，执行步骤S104，当高度信号等于目标高度时，执行步骤S105；
当高度信号小于目标高度时，认为车身与车轴之间的高度过低，需要增加气体弹簧的高度，使得车身与车轴之间的高度满足目标高度；当高度信号大于目标高度时，认为车身与车轴之间的高度过高，需要降低气体弹簧的高度，使得车身与车轴之间的高度满足目标高度。值得说明的是：上述目标高度可以为一个具体高度值，也可以为高度范围值，高度信号等于目标高度指的就是高度信号位于上述高度范围值内。
步骤S103、控制第一开关阀和第二开关阀打开，控制压缩机正转驱动气罐中的气体流向气体弹簧；使得气体弹簧的高度增加，提高车身与车轴之间的高度。
步骤S104、控制第一开关阀和第二开关阀打开，控制压缩机反转驱动气体弹簧中的气体流向气罐；使得气体弹簧的高度降低，降低车身与车轴之间的高度。
步骤S105、控制第一开关阀和第二开关阀关闭；使得气体弹簧的高度维持不变，进而使得车身与车轴之间的高度维持不变。
上述控制过程，可以实现车辆的悬架系统自动调节车身与车轴之间的高度，以提升车辆运行过程中的稳定性。
上述压缩机还可以连接有第三通气管路，该第三通气管路与外界大气连接，从而压缩机工作可以将大气内的空气压缩传输至气罐，从而为气罐补气。具体的补气控制方法为：接收补气信号，根据上述补气信号控制第一开关阀和第三开关阀打开，控制压缩机将空气压缩后传输至气罐。无需补气时，第三开关阀关闭，使得悬架系统内的气体保持在内部循环，不会从第三通气管路泄漏。该技术方案中，悬架系统可以自动进行补气，从而保持悬架系统内的气体量足够保持正常工作。
具体的实施例中，上述补气信号的触发方式不做限制，例如，可以使悬架系统的控制器连接控制按钮，用户可以定期或者不定期的通过操作上述控制按钮，来向控制器发送补气信号指令。控制器接收上述控制按钮的补气指令，生成补气信号，根据上述补气信号实现悬架系统的补气。或者，还可以使得控制器定期对悬架系统进行补气，也就是说，控制器定期生成补气信号，以根据补气信号进行悬架系统的补气。
再或者，上述悬架系统还可以包括压力传感器，该压力传感器与气罐连接，用于检测气罐内的压力。则上述控制方法还包括获取压力传感器检测的压力，当上述压力小于设定压力时，认为气罐内的气体不足，生成补气信号；根据补气信号控制第一开关阀和第三开关阀打开，控制压缩机将空气压缩后传输至气罐。该方案中，可以根据气罐内的气体实际情况，当发现气罐内的气体不足时，可以随时进行补气，以保证悬架系统的工作可靠性， 且不会出现无用的补气操作。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的保护范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (16)

  1. 一种悬架系统，其特征在于，包括悬架组件、驱动器、控制器、压缩机和气罐，所述悬架组件包括气体弹簧和高度传感器，其中：
    所述气罐与所述压缩机通过第一通气管路连接，所述第一通气管路设置有第一开关阀；所述压缩机与所述气体弹簧通过第二通气管路连接，所述第二通气管路设置有第二开关阀；所述驱动器与所述控制器、所述压缩机、所述第一开关阀和所述第二开关阀分别电连接，所述控制器与所述高度传感器；
    所述控制器用于接收所述高度传感器的高度信号，并根据所述高度信号生成控制信号，将所述控制信号传递至所述驱动器；所述驱动器用于根据所述控制信号控制所述第一开关阀打开或者关闭、所述第二开关阀打开或者关闭，控制所述压缩机驱动所述气体弹簧中的气体流向所述气罐、驱动所述气罐中的气体流向所述气体弹簧，或者停止传输气体。
  2. 如权利要求1所述的悬架系统，其特征在于，所述压缩机还连接有第三通气管路，所述第三通气管路与外界大气连接，所述第三通气管路设置有第三开关阀，所述第一开关阀和所述第三开关阀处于打开状态时，所述压缩机将空气压缩后传输至所述气罐。
  3. 如权利要求2所述的悬架系统，其特征在于，所述气罐还连接有压力传感器，所述第一开关阀为三通阀，所述驱动器与所述压缩机、所述三通阀和所述第三开关阀电连接，所述控制器与所述压力传感器电连接；所述控制器用于获取所述压力传感器的压力信号，并根据所述压力信号生成补气信号，并将所述补气信号传输至所述驱动器，所述驱动器用于根据所述补气信号驱动所述三通阀连通所述压缩机和所述气罐，驱动所述第三开关阀打开，驱动所述压缩机将空气压缩后传输至所述气罐。
  4. 如权利要求1～3任一项所述的悬架系统，其特征在于，所述悬架组件还包括减振器，所述驱动器也与所述减振器连接，所述驱动器还用于根据所述控制器的所述控制信号控制所述减振器调节阻尼力。
  5. 如权利要求1～4任一项所述的悬架系统，其特征在于，所述悬架系统包括至少两个所述悬架组件，每个所述悬架组件中的所述气体弹簧连接一个所述第二开关阀。
  6. 如权利要求5所述的悬架系统，其特征在于，所有的所述第二开关阀为一体结构。
  7. 如权利要求5或6所述的悬架系统，其特征在于，每个所述悬架组件对应设置一个所述驱动器。
  8. 如权利要求1～7任一项所述的悬架系统，其特征在于，所述悬架系统包括四个所述悬架组件，四个所述悬架组件呈矩阵设置。
  9. 如权利要求1～8任一项所述的悬架系统，其特征在于，所述控制器为系统控制器、域控制器或者整车控制器。
  10. 一种如权利要求1～9任一项所述的悬架系统的控制方法，其特征在于，包括：
    接收所述高度传感器的所述高度信号；
    当所述高度信号小于目标高度时，控制所述第一开关阀和所述第二开关阀打开，控制所述压缩机正转驱动所述气罐中的气体流向所述气体弹簧；当所述高度信号小于所述目标高度时，控制所述第一开关阀和所述第二开关阀打开，控制所述压缩机反转驱动所述气体弹簧中的气体流向所述气罐；当所述高度信号等于所述目标高度时，控制所述第一开关阀和所述第二开关阀关闭。
  11. 如权利要求10所述的控制方法，其特征在于，所述压缩机还连接有第三通气管路，所述第三通气管路与外界大气连接，所述第三通气管路设置有第三开关阀；所述控制方法还包括：
    控制所述第一开关阀和所述第三开关阀打开，控制所述压缩机将空气压缩后传输至所述气罐。
  12. 如权利要求11所述的控制方法，其特征在于，所述气罐还连接有压力传感器，所述压力传感器用于检测所述气罐中的压力，所述控制方法包括：
    获取所述压力传感器检测的压力；
    当所述压力小于设定压力时，生成补气信号；根据所述补气信号控制所述第一开关阀和所述第三开关阀打开，控制所述压缩机将空气压缩后传输至所述气罐。
  13. 一种车辆，其特征在于，包括车身、轮轴、车轮和如权利要求1～8任一项所述的悬架系统，其中，所述车轮安装于所述轮轴，所述悬架系统安装于所述轮轴与所述车身之间。
  14. 如权利要求13所述的车辆，其特征在于，所述控制器为域控制器，所述车辆包括多个系统，多个所述系统中的部分所述系统共用所述域控制器。
  15. 如权利要求13所述的车辆，其特征在于，所述控制器为整车控制器，所述车辆还包括多个系统，所有的所述系统共用所述整车控制器。
  16. 如权利要求13～15任一项所述的车辆，其特征在于，所述悬架系统包括多个所述悬架组件，多个所述悬架组件与所述车辆的所述车轮一一对应设置。
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