CN117382365A - A four-wheel hydraulic suspension oil flow rate protection control method and system - Google Patents

Abstract

The invention discloses a four-wheel hydraulic suspension oil flow rate protection control method and system, which relates to the technical field of suspension systems. The method includes: based on the steady-state target flow rate, the target flow rate at the previous moment and the maximum usable flow rate variation, Determine the minimum number of steps required for the flow rate to simultaneously change to the steady-state target flow rate; determine the simultaneous change to the steady-state flow rate based on the minimum number of steps required for the flow rate to simultaneously change to the steady-state target flow rate, the steady-state target flow rate, and the target flow rate at the previous moment. The execution flow rate change amount of the target flow rate; determine the target flow rate at the current moment based on the execution flow rate change amount when the flow rate simultaneously changes to the steady-state target flow rate and the target flow rate at the previous moment; update the target flow rate value at the previous moment to the target flow rate value at the current moment, Repeat the above steps until the difference between the current target flow rate and the steady-state target flow rate is less than the set value. It solves the problem in the existing technology that the oil flow rate changes rapidly, resulting in a short service life and easy damage of the hydraulic pipeline.

Description

A four-wheel hydraulic suspension oil flow rate protection control method and system

Technical field

The invention relates to the technical field of suspension systems, and in particular to a four-wheel hydraulic suspension oil flow rate protection control method and system.

Background technique

Hydraulic suspension adjusts the flow of oil to lock the suspension or adjust the vehicle height while adjusting the damping coefficient. Bumps caused by uneven roads while the vehicle is driving may cause damage to the vehicle itself, so the hydraulic suspension adopts variable damping and automatically adjusts the vehicle height to enable the vehicle to run more accurately and smoothly. Electronically controlled active hydraulic suspension can use hydraulic components to actively control the vibration of the car based on the mass and acceleration of the suspension.

In the prior art, hydraulic suspension adjusts the height and stiffness of the vehicle by controlling the flow rate of oil. There is a problem that the oil flow rate changes rapidly, resulting in a short service life of the hydraulic pipeline and easy damage.

Contents of the invention

In view of the defects existing in the prior art, the purpose of the present invention is to provide a four-wheel hydraulic suspension oil flow rate protection control method and system, which can solve the problem in the prior art that the oil flow rate changes rapidly and leads to the service life of the hydraulic pipeline. Low and easy to damage problems.

In order to achieve the above objects, the technical solutions adopted by the present invention are:

On the one hand, this solution provides a four-wheel hydraulic suspension oil flow rate protection control method, including:

Based on the steady-state target flow rate of each suspension oil, the target flow rate of each suspension oil at the previous moment, and the maximum usable flow rate change of each suspension, determine the minimum required flow rate of each suspension oil to simultaneously change to the steady-state target flow rate. Step count;

According to the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the target flow rate of each suspension oil at the previous moment, determine the simultaneous change of the flow rate of each suspension oil. The amount of change in execution flow rate that changes to the steady-state target flow rate;

Determine the target flow rate of each suspension oil at the current moment based on the execution flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the target flow rate of each suspension oil at the previous moment;

Update the target flow rate value of each suspension oil at the previous moment to the current target flow rate value of each suspension oil, and loop the above steps until the difference between the current target flow rate of each suspension oil and the steady-state target flow rate of each suspension oil is The value is less than the set value.

In some optional solutions, the minimum number of steps required to simultaneously change the flow rate of each suspension oil to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the previous moment of each suspension oil are The target flow rate determines the amount of execution flow rate change required for each suspension oil flow rate to simultaneously change to the steady-state target flow rate, including:

According to the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the target flow rate of each suspension oil at the previous moment, determine the simultaneous change of the flow rate of each suspension oil. The maximum usable flow rate change amount to change to the steady-state target flow rate;

According to the maximum usable flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the suspension oil flow rate control coefficient, the execution flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate is determined.

In some optional solutions, the suspension oil flow rate control coefficient is determined according to the following steps:

According to the steady-state target flow rate of each suspension oil and the target flow rate of each suspension oil at the previous moment, determine the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the steady-state target of each suspension oil. The ratio sum of flow rates;

The suspension oil flow rate control coefficient is set according to the sum of the ratio of the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the steady-state target flow rate of each suspension oil.

In some alternative scenarios, according to the formula:

Determine the minimum number of steps required for each suspension oil flow rate to change simultaneously to the steady-state target flow rate;

Among them, N(k) _fl is the minimum number of steps required for the left front suspension oil flow rate to change to the steady-state target flow rate, N(k) _fr is the minimum number of steps required for the right front suspension oil flow rate to change to the steady-state target flow rate, N(k) _{rl is} the minimum number of steps required for the left rear suspension oil flow rate to change to the steady-state target flow rate, N(k) _rr is the minimum number of steps required for the right rear suspension oil flow rate to change to the steady-state target flow rate, Δv(k) _fl is the difference between the steady-state target flow rate of oil in the left front suspension and the previous target flow rate in the left front suspension. Δv(k) _fr is the steady-state target flow rate of oil in the right front suspension and the previous time in the right front suspension. The difference in target flow rate, Δv(k) _rl is the difference between the steady-state target flow rate of the left rear suspension oil and the target flow rate of the left rear suspension at the previous moment, Δv(k) _rr is the steady state of the right rear suspension oil. The difference between the target flow rate and the target flow rate of the right rear suspension at the previous moment, Δv(k) _flmax is the maximum usable flow rate change of the left front suspension, Δv(k) _frmax is the maximum usable flow rate change of the right front suspension, Δv( k) _rlmax is the maximum usable flow rate change of the left rear suspension, Δv(k) _rrmax is the maximum usable flow rate change of the right rear suspension, N(k) _max is the simultaneous change of each suspension oil flow rate to the steady-state target Minimum required number of steps for flow rate.

In some alternative scenarios, according to the formula: Determine the maximum usable flow rate change for each suspension oil flow rate to simultaneously change to the steady-state target flow rate;

Among them, Δv ₁ (k) _fl is the maximum available flow rate change amount when the oil flow rate of the left front suspension changes to the steady-state target flow rate at the same time, and Δv ₁ (k) _fr is the oil flow rate of the right front suspension that changes to the steady-state target flow rate at the same time. _{The maximum} usable flow rate _{change of} The maximum usable flow rate change when the flow rate simultaneously changes to the steady-state target flow rate, Δv(k) _fl is the difference between the steady-state target flow rate of the left front suspension oil and the target flow rate of the left front suspension at the previous moment, Δv(k) _fr is The difference between the steady-state target flow rate of the oil in the right front suspension and the target flow rate in the right front suspension at the previous moment, Δv(k) _{rl is} the difference between the steady-state target flow rate of the oil in the left rear suspension and the target flow rate in the left rear suspension at the previous moment. value, Δv(k) _rr is the difference between the steady-state target flow rate of the right rear suspension oil and the target flow rate of the right rear suspension at the previous moment, and N(k) _max is the simultaneous change of the oil flow rate of each suspension to the steady-state target. Minimum required number of steps for flow rate.

In some alternative scenarios, according to the formula:

Determine the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the ratio sum of the steady-state target flow rate of each suspension oil;

According to the formula: Determine the suspension oil flow rate control coefficient;

Among them, γ(k) is the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the ratio of the steady-state target flow rate of each suspension oil, Δv(k) _fl is the left front suspension oil The difference between the steady-state target flow rate and the target flow rate of the left front suspension at the previous moment, Δv(k) _fr is the difference between the steady-state target flow rate of the oil in the right front suspension and the target flow rate at the previous moment in the right front suspension, Δv(k) _rl is the difference between the steady-state target flow rate of the oil in the left rear suspension and the target flow rate of the left rear suspension at the previous moment, Δv(k) _rr is the steady-state target flow rate of the oil in the right rear suspension and the target flow rate of the right rear suspension at the previous moment. The difference in flow rate, v _fl is the steady-state target flow rate of the left front suspension oil, v _fr is the steady-state target flow rate of the right front suspension oil, v _rl is the steady-state target flow rate of the left rear suspension oil, v _rr is the right rear suspension oil steady-state target flow rate Suspension oil steady-state target flow rate, β (k) is the suspension oil flow rate control coefficient, β ₁ is the suspension oil flow rate maximum control coefficient, β ₀ is the suspension oil flow rate minimum control coefficient, γ ₁ is the suspension oil flow rate minimum control coefficient, The difference between the steady-state target flow rate of the suspension oil and the target flow rate at the previous moment and the ratio and upper limit of the steady-state target flow rate of each suspension oil. γ ₀ is the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment. The difference and the ratio and lower limit of the steady-state target flow rate of each suspension oil.

In some alternative scenarios, according to the formula: Determine the amount of execution flow rate change required for each suspension oil flow rate to simultaneously change to the steady-state target flow rate;

Among them, Δv ₂ (k) _fl is the execution flow rate change amount when the oil flow rate of the left front suspension changes to the steady-state target flow rate at the same time, and Δv ₂ (k) _fr is the execution flow rate when the oil flow rate of the right front suspension changes to the steady-state target flow rate at the same time. The flow rate change amount, Δv ₂ (k) _rl is the execution flow rate change amount when the left rear suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _rr is the right rear suspension oil flow rate changes to the steady state at the same time The execution flow rate change amount of the target flow rate, Δv ₁ (k) _fl is the maximum available flow rate change amount when the left front suspension oil flow rate changes to the steady-state target flow rate simultaneously, Δv ₁ (k) _fr is the right front suspension oil flow rate simultaneously The maximum usable flow rate change amount when changing to the steady-state target flow rate, Δv ₁ (k) _rl is the maximum usable flow rate change amount when the left rear suspension oil flow rate simultaneously changes to the steady-state target flow rate, Δv ₁ (k) _rr is The right rear suspension oil flow rate changes simultaneously to the maximum usable flow rate change amount of the steady-state target flow rate, and β(k) is the suspension oil flow rate control coefficient.

In some alternative scenarios, according to the formula:

Determine the current target flow rate of each suspension oil;

Among them, v(k) _fl is the current target flow rate of the left front suspension oil, v(k) _fr is the current target flow rate of the right front suspension oil, v(k) _rl is the current target flow rate of the left rear suspension oil. , v(k) _rr is the target flow rate of the right rear suspension oil at the current moment, v(k-1) _fl is the target flow rate of the left front suspension oil at the previous moment, v(k-1) _fr is the right front suspension oil The target flow rate at the last moment, v(k-1) _rl is the target flow rate of the left rear suspension oil at the last moment, v(k-1) _rr is the target flow rate of the right rear suspension oil at the last moment, Δv ₂ (k ) _fl is the execution flow rate change amount when the left front suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _fr is the execution flow rate change amount when the right front suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _rl is the execution flow rate change when the left rear suspension oil flow rate simultaneously changes to the steady-state target flow rate, Δv ₂ (k) _rr is the execution flow rate change when the right rear suspension oil flow rate simultaneously changes to the steady-state target flow rate quantity.

In some optional solutions, the maximum usable flow rate change of each suspension is determined based on the maximum usable flow rate change of each suspension per unit time and the task execution period.

On the other hand, this solution also provides a four-wheel hydraulic suspension oil flow rate control system, including:

The minimum number of steps determination module is used to determine the simultaneous changes in the flow rate of each suspension oil based on the steady-state target flow rate of each suspension oil, the target flow rate of each suspension oil at the previous moment, and the maximum usable flow rate change of each suspension. The minimum number of steps required to reach the steady-state target flow rate;

Execute the flow rate change amount determination module, which is used to determine the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the previous target of each suspension oil. Flow rate, determine the execution flow rate change amount when the flow rate of each suspension oil simultaneously changes to the steady-state target flow rate;

The target flow rate determination module at the current moment is used to determine the target flow rate of each suspension oil at the current moment based on the execution flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the target flow rate of each suspension oil at the previous moment. flow rate;

The judgment module is used to update the target flow rate value of each suspension oil at the previous moment to the target flow rate value of each suspension oil at the current moment, and loop the above steps until the target flow rate of each suspension oil at the current moment is consistent with the current target flow rate of each suspension oil. The liquid steady state target flow rate difference is less than the set value.

Compared with the existing technology, the advantage of the present invention is that: this solution determines the flow rate of each suspension based on the steady-state target flow rate of each suspension oil, the target flow rate of each suspension oil at the previous moment, and the maximum usable flow rate change of each suspension. The minimum number of steps required for the oil flow rate of each suspension to simultaneously change to the steady-state target flow rate; according to the minimum number of steps required for the oil flow rate of each suspension to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil and each Based on the target flow rate of the suspension oil at the last moment, determine the execution flow rate change amount for each suspension oil flow rate to simultaneously change to the steady-state target flow rate; based on the execution flow rate change amount for each suspension oil flow rate to simultaneously change to the steady-state target flow rate and Determine the target flow rate of each suspension oil at the current moment based on the target flow rate of each suspension oil at the previous moment; update the target flow rate value of each suspension oil at the previous moment to the target flow rate value of each suspension oil at the current moment, and cycle the above steps , until the difference between the current target flow rate of each suspension oil and the steady-state target flow rate of each suspension oil is less than the set value. It solves the problem in the existing technology that the oil flow rate changes rapidly, resulting in a short service life and easy damage of the hydraulic pipeline.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flow chart of a four-wheel hydraulic suspension oil flow rate protection control method in an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments These are part of the embodiments of this application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

As shown in Figure 1, on the one hand, the present invention provides a four-wheel hydraulic suspension oil flow rate protection control method, which includes:

S01: According to the formula: Determine the difference between the steady-state target flow rate of each suspension oil and the target flow rate of each suspension at the previous moment;

Among them, Δv(k) _fl is the difference between the steady-state target flow rate of the left front suspension oil and the previous target flow rate of the left front suspension, Δv(k) _fr is the difference between the steady-state target flow rate of the right front suspension oil and the previous target flow rate of the right front suspension. The difference between the target flow rate at a moment, Δv(k) _{rl is} the difference between the steady-state target flow rate of the left rear suspension oil and the target flow rate of the left rear suspension at the previous moment, Δv(k) _rr is the right rear suspension oil The difference between the steady-state target flow rate and the target flow rate of the right rear suspension at the previous moment, v _fl is the steady-state target flow rate of the left front suspension oil, v _fr is the steady-state target flow rate of the right front suspension oil, v _rl is the left rear suspension oil steady-state target flow rate The steady-state target flow rate of the frame oil, v _rr is the steady-state target flow rate of the right rear suspension oil, v(k-1) _fl is the target flow rate of the left front suspension oil at the previous moment, v(k-1) _fr is the right front suspension oil flow rate The target flow rate of the suspension oil at the last moment, v(k-1) _rl is the target flow rate of the left rear suspension oil at the last moment, v(k-1) _rr is the target flow rate of the right rear suspension oil at the last moment.

In this embodiment, it can be seen from the above formula that when Δv(k) _fl =0, the steady-state target flow rate of the left front suspension oil is equal to the target flow rate of the left front suspension oil at the previous moment. The flow rate has reached a stable value and no adjustment is needed. When Δv(k) _fl >0, the steady-state target flow rate of the left front suspension oil is greater than the target flow rate of the left front suspension oil at the previous moment, and the left front suspension oil flow rate should continue to increase; when Δv(k) _fl <0, The steady-state target flow rate of the left front suspension oil is less than the previous target flow rate of the left front suspension oil, and the left front suspension oil flow rate should continue to decrease. The same applies to the right front suspension, left rear suspension and right rear suspension.

S02: Determine the maximum usable flow rate change of each suspension based on the maximum usable flow rate change per unit time and the task execution cycle.

In some optional embodiments, according to the formula:

Determine the maximum usable flow rate change for each suspension;

Among them, Δv(k) _flmax is the maximum usable flow rate change of the left front suspension, Δv(k) _frmax is the maximum usable flow rate change of the right front suspension, Δv(k) _rlmax is the maximum usable flow rate change of the left rear suspension , Δv(k) _rrmax is the maximum usable flow rate change of the right rear suspension, Δv(k) _flmaxone is the maximum usable flow rate change of the left front suspension per unit time, Δv(k) _frmaxone is the maximum usable flow rate change of the right front suspension per unit time The available flow rate change, Δv(k) _rlmaxone is the maximum usable flow rate change of the left rear suspension per unit time, Δv(k) _rrmaxone is the maximum usable flow rate change of the right rear suspension per unit time, Δt is the task execution cycle. The task execution cycle is the time it takes to perform an oil flow rate change.

In this embodiment, it can be seen from the above formula that, Equivalent to/> By limiting the maximum usable flow rate change of each suspension oil, the oil pipelines of each suspension are protected from damage or reduced service life due to excessive changes in flow rate.

S1: Based on the steady-state target flow rate of each suspension oil, the target flow rate of each suspension oil at the previous moment, and the maximum usable flow rate change amount of each suspension, determine the time when the oil flow rate of each suspension changes to the steady-state target flow rate simultaneously. Minimum number of steps required.

In this embodiment, the number of steps refers to the number of changes in the oil flow rate that need to be performed from the target flow rate of the oil at the previous moment to the steady-state target flow rate of the oil.

In some optional embodiments, according to the formula:

Determine the minimum number of steps required for each suspension oil flow rate to change simultaneously to the steady-state target flow rate;

Among them, N(k) _fl is the minimum number of steps required for the left front suspension oil flow rate to change to the steady-state target flow rate, N(k) _fr is the minimum number of steps required for the right front suspension oil flow rate to change to the steady-state target flow rate, N(k) _{rl is} the minimum number of steps required for the left rear suspension oil flow rate to change to the steady-state target flow rate, N(k) _rr is the minimum number of steps required for the right rear suspension oil flow rate to change to the steady-state target flow rate, Δv(k) _fl is the difference between the steady-state target flow rate of oil in the left front suspension and the previous target flow rate in the left front suspension. Δv(k) _fr is the steady-state target flow rate of oil in the right front suspension and the previous time in the right front suspension. The difference in target flow rate, Δv(k) _rl is the difference between the steady-state target flow rate of the left rear suspension oil and the target flow rate of the left rear suspension at the previous moment, Δv(k) _rr is the steady state of the right rear suspension oil. The difference between the target flow rate and the target flow rate of the right rear suspension at the previous moment, Δv(k) _flmax is the maximum usable flow rate change of the left front suspension, Δv(k) _frmax is the maximum usable flow rate change of the right front suspension, Δv( k) _rlmax is the maximum usable flow rate change of the left rear suspension, Δv(k) _rrmax is the maximum usable flow rate change of the right rear suspension, N(k) _max is the simultaneous change of each suspension oil flow rate to the steady-state target Minimum required number of steps for flow rate.

In this embodiment, according to the above formula, it can be seen that

S2: Determine each suspension oil based on the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the target flow rate of each suspension oil at the previous moment. The flow rate changes simultaneously to the execution flow rate change amount of the steady-state target flow rate.

Step S2 specifically includes:

S21: Determine each suspension oil based on the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the target flow rate of each suspension oil at the previous moment. The flow rate changes simultaneously to the maximum usable flow rate change amount to the steady-state target flow rate.

In some optional embodiments, according to the formula: Determine the maximum usable flow rate change for each suspension oil flow rate to simultaneously change to the steady-state target flow rate;

Among them, Δv ₁ (k) _fl is the maximum available flow rate change amount when the oil flow rate of the left front suspension changes to the steady-state target flow rate at the same time, and Δv ₁ (k) _fr is the oil flow rate of the right front suspension that changes to the steady-state target flow rate at the same time. _{The maximum} usable flow rate _{change of} The maximum usable flow rate change when the flow rate simultaneously changes to the steady-state target flow rate, Δv(k) _fl is the difference between the steady-state target flow rate of the left front suspension oil and the target flow rate of the left front suspension at the previous moment, Δv(k) _fr is The difference between the steady-state target flow rate of the oil in the right front suspension and the target flow rate in the right front suspension at the previous moment, Δv(k) _{rl is} the difference between the steady-state target flow rate of the oil in the left rear suspension and the target flow rate in the left rear suspension at the previous moment. value, Δv(k) _rr is the difference between the steady-state target flow rate of the right rear suspension oil and the target flow rate of the right rear suspension at the previous moment, and N(k) _max is the simultaneous change of the oil flow rate of each suspension to the steady-state target. Minimum required number of steps for flow rate.

In this embodiment, it can be seen from the above formula that, Combined with step S1, it can be seen that When the oil flow rate of each suspension changes simultaneously to the steady-state target flow rate, the maximum usable flow rate change does not exceed the maximum usable flow rate change of each suspension.

S22: Based on the maximum usable flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the suspension oil flow rate control coefficient, determine the execution flow rate change of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate. quantity.

In some optional embodiments, the suspension oil flow rate control coefficient is determined according to the following steps:

S221: Based on the steady-state target flow rate of each suspension oil and the target flow rate of each suspension oil at the previous moment, determine the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the stable target flow rate of each suspension oil. The ratio sum of the state target flow rate.

S222: Set the suspension oil flow rate control coefficient according to the ratio sum of the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the steady-state target flow rate of each suspension oil.

In some optional embodiments, according to the formula:

Determine the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the ratio sum of the steady-state target flow rate of each suspension oil;

According to the formula: Determine the suspension oil flow rate control coefficient;

Among them, γ(k) is the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the ratio of the steady-state target flow rate of each suspension oil, Δv(k) _fl is the left front suspension oil The difference between the steady-state target flow rate and the target flow rate of the left front suspension at the previous moment, Δv(k) _fr is the difference between the steady-state target flow rate of the oil in the right front suspension and the target flow rate at the previous moment in the right front suspension, Δv(k) _rl is the difference between the steady-state target flow rate of the oil in the left rear suspension and the target flow rate of the left rear suspension at the previous moment, Δv(k) _rr is the steady-state target flow rate of the oil in the right rear suspension and the target flow rate of the right rear suspension at the previous moment. The difference in flow rate, v _fl is the steady-state target flow rate of the left front suspension oil, v _fr is the steady-state target flow rate of the right front suspension oil, v _rl is the steady-state target flow rate of the left rear suspension oil, v _rr is the right rear suspension oil steady-state target flow rate Suspension oil steady-state target flow rate, β (k) is the suspension oil flow rate control coefficient, β ₁ is the suspension oil flow rate maximum control coefficient, β ₀ is the suspension oil flow rate minimum control coefficient, γ ₁ is the suspension oil flow rate minimum control coefficient, The difference between the steady-state target flow rate of the suspension oil and the target flow rate at the previous moment and the ratio and upper limit of the steady-state target flow rate of each suspension oil. γ ₀ is the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment. The difference and the ratio and lower limit of the steady-state target flow rate of each suspension oil.

In this embodiment, the larger γ(k) is, the greater the difference between the target flow rate of the suspension oil at the previous moment and the steady-state target flow rate of the suspension oil is; when γ(k)=0, it means that the suspension oil is The target flow rate of the oil at the last moment is equal to the steady-state target flow rate of the suspension oil. In order to ensure the stability of the suspension oil flow rate change process, the suspension oil flow rate control coefficient is set. Among them, β ₁ > β ₀ , γ ₁ > γ ₀ , 0 < β ₀ ≤ β (k) ≤ β ₁ ≤ 1, and the values of β ₁ , β ₀ , γ ₁ and γ ₀ are obtained through experimental calibration.

In some optional embodiments, according to the formula:

Determine the amount of execution flow rate change required for each suspension oil flow rate to simultaneously change to the steady-state target flow rate;

Among them, Δv ₂ (k) _fl is the execution flow rate change amount when the oil flow rate of the left front suspension changes to the steady-state target flow rate at the same time, and Δv ₂ (k) _fr is the execution flow rate when the oil flow rate of the right front suspension changes to the steady-state target flow rate at the same time. The flow rate change amount, Δv ₂ (k) _rl is the execution flow rate change amount when the left rear suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _rr is the right rear suspension oil flow rate changes to the steady state at the same time The execution flow rate change amount of the target flow rate, Δv ₁ (k) _fl is the maximum available flow rate change amount when the left front suspension oil flow rate changes to the steady-state target flow rate simultaneously, Δv ₁ (k) _fr is the right front suspension oil flow rate simultaneously The maximum usable flow rate change amount when changing to the steady-state target flow rate, Δv ₁ (k) _rl is the maximum usable flow rate change amount when the left rear suspension oil flow rate simultaneously changes to the steady-state target flow rate, Δv ₁ (k) _rr is The right rear suspension oil flow rate changes simultaneously to the maximum usable flow rate change amount of the steady-state target flow rate, and β(k) is the suspension oil flow rate control coefficient.

In this embodiment, according to the above formula combined with steps S222 and S21, it can be seen that

When the oil flow rate of each suspension changes simultaneously to the steady-state target flow rate, the execution flow rate change amount is less than or equal to the maximum usable flow rate change amount of the corresponding suspension, which avoids the problem of damage to the suspension hydraulic pipeline and shortened working life, and improves improve the reliability of the system.

S3: Determine the target flow rate of each suspension oil at the current moment based on the execution flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the target flow rate of each suspension oil at the previous moment.

In some optional embodiments, according to the formula:

Determine the current target flow rate of each suspension oil;

Among them, v(k) _fl is the current target flow rate of the left front suspension oil, v(k) _fr is the current target flow rate of the right front suspension oil, v(k) _rl is the current target flow rate of the left rear suspension oil. , v(k) _rr is the target flow rate of the right rear suspension oil at the current moment, v(k-1) _fl is the target flow rate of the left front suspension oil at the previous moment, v(k-1) _fr is the right front suspension oil The target flow rate at the last moment, v(k-1) _rl is the target flow rate of the left rear suspension oil at the last moment, v(k-1) _rr is the target flow rate of the right rear suspension oil at the last moment, Δv ₂ (k ) _fl is the execution flow rate change amount when the left front suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _fr is the execution flow rate change amount when the right front suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _rl is the execution flow rate change when the left rear suspension oil flow rate simultaneously changes to the steady-state target flow rate, Δv ₂ (k) _rr is the execution flow rate change when the right rear suspension oil flow rate simultaneously changes to the steady-state target flow rate quantity.

In this embodiment, the target flow rate of the suspension oil at the current moment is obtained by adding the execution flow rate change amount of the suspension oil flow rate to the steady-state target flow rate at the same time as the target flow rate of the suspension oil at the previous moment. This is completed. A change in oil flow rate.

S4: Update the target flow rate value of each suspension oil at the previous moment to the current target flow rate value of each suspension oil, and loop the above steps until the current target flow rate of each suspension oil is consistent with the steady-state target of each suspension oil. The flow rate difference is less than the set value.

In this embodiment, the process of obtaining the target flow rate of each suspension oil at the current moment by performing the oil flow rate change of the target flow rate of each suspension oil at the previous moment is repeated until the current target flow rate of each suspension oil is consistent with each The suspension oil steady-state target flow rate difference is less than the set value. The smooth transition of each suspension oil flow rate to the steady-state target flow rate is achieved.

To sum up, the present invention determines that the flow rate of each suspension oil changes to the stable state at the same time based on the steady-state target flow rate of each suspension oil, the target flow rate of each suspension oil at the previous moment, and the maximum usable flow rate change amount of each suspension. The minimum number of steps required for the steady-state target flow rate; according to the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil and the previous target of each suspension oil. Flow rate, determine the execution flow rate change amount when the flow rate of each suspension oil changes to the steady-state target flow rate at the same time; according to the execution flow rate change amount of each suspension oil flow rate when it changes to the steady-state target flow rate at the same time and the previous moment of each suspension oil flow rate Target flow rate, determine the target flow rate of each suspension oil at the current moment; update the target flow rate value of each suspension oil at the previous moment to the target flow rate value of each suspension oil at the current moment, and loop the above steps until the current target flow rate of each suspension oil is The difference between the target flow rate at any time and the steady-state target flow rate of each suspension oil is less than the set value. It solves the problem in the existing technology that the oil flow rate changes rapidly, resulting in a short service life and easy damage of the hydraulic pipeline. The change in flow rate during the dynamic control process of the hydraulic suspension's flow rate is always required to be less than or equal to the maximum allowable change in the characteristics of the hydraulic system. This avoids the problem of damage to the hydraulic suspension pipeline and shortened working life, and improves the durability of the working life of the suspension system. .

On the other hand, the present invention also provides a four-wheel hydraulic suspension oil flow rate control system, including:

The minimum number of steps determination module is used to determine the simultaneous changes in the flow rate of each suspension oil based on the steady-state target flow rate of each suspension oil, the target flow rate of each suspension oil at the previous moment, and the maximum usable flow rate change of each suspension. The minimum number of steps required to reach the steady-state target flow rate;

Execute the flow rate change amount determination module, which is used to determine the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the previous target of each suspension oil. Flow rate, determine the execution flow rate change amount when the flow rate of each suspension oil simultaneously changes to the steady-state target flow rate;

The target flow rate determination module at the current moment is used to determine the target flow rate of each suspension oil at the current moment based on the execution flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the target flow rate of each suspension oil at the previous moment. flow rate;

The judgment module is used to update the target flow rate value of each suspension oil at the previous moment to the target flow rate value of each suspension oil at the current moment, and loop the above steps until the target flow rate of each suspension oil at the current moment is consistent with the current target flow rate of each suspension oil. The liquid steady state target flow rate difference is less than the set value.

It should be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described devices and each module and unit can be referred to the corresponding processes in the foregoing embodiments, which will not be explained here. Again.

In the description of this application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description. It is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation on the present application. Unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

It should be noted that in this application, relational terms such as “first” and “second” are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply There is no such actual relationship or sequence between these entities or operations. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

The above descriptions are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims (10)

1. A four-wheel hydraulic suspension oil flow rate protection and control method, which is characterized by including: Based on the steady-state target flow rate of each suspension oil, the target flow rate of each suspension oil at the previous moment, and the maximum usable flow rate change of each suspension, determine the minimum required flow rate of each suspension oil to simultaneously change to the steady-state target flow rate. Step count; According to the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the target flow rate of each suspension oil at the previous moment, determine the simultaneous change of the flow rate of each suspension oil. The amount of change in execution flow rate that changes to the steady-state target flow rate; Determine the target flow rate of each suspension oil at the current moment based on the execution flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the target flow rate of each suspension oil at the previous moment; Update the target flow rate value of each suspension oil at the previous moment to the current target flow rate value of each suspension oil, and loop the above steps until the difference between the current target flow rate of each suspension oil and the steady-state target flow rate of each suspension oil is The value is less than the set value. 2. The four-wheel hydraulic suspension oil flow rate protection control method as claimed in claim 1, characterized in that the minimum number of steps required to simultaneously change the oil flow rate of each suspension to the steady-state target flow rate, each The steady-state target flow rate of the suspension oil and the target flow rate of each suspension oil at the previous moment are used to determine the execution flow rate change amount when the flow rate of each suspension oil simultaneously changes to the steady-state target flow rate, including: According to the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the target flow rate of each suspension oil at the previous moment, determine the simultaneous change of the flow rate of each suspension oil. The maximum usable flow rate change amount to change to the steady-state target flow rate; According to the maximum usable flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the suspension oil flow rate control coefficient, the execution flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate is determined. 3. The four-wheel hydraulic suspension oil flow rate protection and control method as claimed in claim 2, characterized in that the suspension oil flow rate control coefficient is determined according to the following steps: According to the steady-state target flow rate of each suspension oil and the target flow rate of each suspension oil at the previous moment, determine the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the steady-state target of each suspension oil. The ratio sum of flow rates; The suspension oil flow rate control coefficient is set according to the sum of the ratio of the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the steady-state target flow rate of each suspension oil. 4. The four-wheel hydraulic suspension oil flow rate protection control method as claimed in claim 1, characterized in that, according to the formula: Determine the minimum number of steps required for each suspension oil flow rate to change simultaneously to the steady-state target flow rate; Among them, N(k) _fl is the minimum number of steps required for the left front suspension oil flow rate to change to the steady-state target flow rate, N(k) _fr is the minimum number of steps required for the right front suspension oil flow rate to change to the steady-state target flow rate, N(k) _{rl is} the minimum number of steps required for the left rear suspension oil flow rate to change to the steady-state target flow rate, N(k) _rr is the minimum number of steps required for the right rear suspension oil flow rate to change to the steady-state target flow rate, Δv(k) _fl is the difference between the steady-state target flow rate of oil in the left front suspension and the previous target flow rate in the left front suspension. Δv(k) _fr is the steady-state target flow rate of oil in the right front suspension and the previous time in the right front suspension. The difference in target flow rate, Δv(k) _rl is the difference between the steady-state target flow rate of the left rear suspension oil and the target flow rate of the left rear suspension at the previous moment, Δv(k) _rr is the steady state of the right rear suspension oil. The difference between the target flow rate and the target flow rate of the right rear suspension at the previous moment, Δv(k) _flmax is the maximum usable flow rate change of the left front suspension, Δv(k) _frmax is the maximum usable flow rate change of the right front suspension, Δv( k) _rlmax is the maximum usable flow rate change of the left rear suspension, Δv(k) _rrmax is the maximum usable flow rate change of the right rear suspension, N(k) _max is the simultaneous change of each suspension oil flow rate to the steady-state target Minimum required number of steps for flow rate. 5. The four-wheel hydraulic suspension oil flow rate protection control method as claimed in claim 2, characterized in that, according to the formula: Determine the maximum usable flow rate change for each suspension oil flow rate to simultaneously change to the steady-state target flow rate; Among them, Δv ₁ (k) _fl is the maximum available flow rate change amount when the oil flow rate of the left front suspension changes to the steady-state target flow rate at the same time, and Δv ₁ (k) _fr is the oil flow rate of the right front suspension that changes to the steady-state target flow rate at the same time. _{The maximum} usable flow rate _{change of} The maximum usable flow rate change when the flow rate simultaneously changes to the steady-state target flow rate, Δv(k) _fl is the difference between the steady-state target flow rate of the left front suspension oil and the target flow rate of the left front suspension at the previous moment, Δv(k) _fr is The difference between the steady-state target flow rate of the oil in the right front suspension and the target flow rate in the right front suspension at the previous moment, Δv(k) _{rl is} the difference between the steady-state target flow rate of the oil in the left rear suspension and the target flow rate in the left rear suspension at the previous moment. value, Δv(k) _rr is the difference between the steady-state target flow rate of the right rear suspension oil and the target flow rate of the right rear suspension at the previous moment, and N(k) _max is the simultaneous change of the oil flow rate of each suspension to the steady-state target. Minimum required number of steps for flow rate. 6. The four-wheel hydraulic suspension oil flow rate protection control method as claimed in claim 3, characterized in that, according to the formula: Determine the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the ratio sum of the steady-state target flow rate of each suspension oil; According to the formula: Fixed suspension oil flow rate control coefficient; Among them, γ(k) is the difference between the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment and the ratio of the steady-state target flow rate of each suspension oil, Δv(k) _fl is the left front suspension oil The difference between the steady-state target flow rate and the target flow rate of the left front suspension at the previous moment, Δv(k) _fr is the difference between the steady-state target flow rate of the oil in the right front suspension and the target flow rate at the previous moment in the right front suspension, Δv(k) _rl is the difference between the steady-state target flow rate of the oil in the left rear suspension and the target flow rate of the left rear suspension at the previous moment, Δv(k) _rr is the steady-state target flow rate of the oil in the right rear suspension and the target flow rate of the right rear suspension at the previous moment. The difference in flow rate, v _fl is the steady-state target flow rate of the left front suspension oil, v _fr is the steady-state target flow rate of the right front suspension oil, v _rl is the steady-state target flow rate of the left rear suspension oil, v _rr is the right rear suspension oil steady-state target flow rate Suspension oil steady-state target flow rate, β (k) is the suspension oil flow rate control coefficient, β ₁ is the suspension oil flow rate maximum control coefficient, β ₀ is the suspension oil flow rate minimum control coefficient, γ ₁ is the suspension oil flow rate minimum control coefficient, The difference between the steady-state target flow rate of the suspension oil and the target flow rate at the previous moment and the ratio and upper limit of the steady-state target flow rate of each suspension oil. γ ₀ is the steady-state target flow rate of each suspension oil and the target flow rate at the previous moment. The difference and the ratio and lower limit of the steady-state target flow rate of each suspension oil. 7. The four-wheel hydraulic suspension oil flow rate protection control method as claimed in claim 2, characterized in that, according to the formula: Determine the amount of execution flow rate change required for each suspension oil flow rate to simultaneously change to the steady-state target flow rate; Among them, Δv ₂ (k) _fl is the execution flow rate change amount when the oil flow rate of the left front suspension changes to the steady-state target flow rate at the same time, and Δv ₂ (k) _fr is the execution flow rate when the oil flow rate of the right front suspension changes to the steady-state target flow rate at the same time. The flow rate change amount, Δv ₂ (k) _rl is the execution flow rate change amount when the left rear suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _rr is the right rear suspension oil flow rate changes to the steady state at the same time The execution flow rate change amount of the target flow rate, Δv ₁ (k) _fl is the maximum available flow rate change amount when the left front suspension oil flow rate changes to the steady-state target flow rate simultaneously, Δv ₁ (k) _fr is the right front suspension oil flow rate simultaneously The maximum usable flow rate change amount when changing to the steady-state target flow rate, Δv ₁ (k) _rl is the maximum usable flow rate change amount when the left rear suspension oil flow rate simultaneously changes to the steady-state target flow rate, Δv ₁ (k) _rr is The right rear suspension oil flow rate changes simultaneously to the maximum usable flow rate change amount of the steady-state target flow rate, and β(k) is the suspension oil flow rate control coefficient. 8. The four-wheel hydraulic suspension oil flow rate protection control method as claimed in claim 1, characterized in that, according to the formula: Determine the current target flow rate of each suspension oil; Among them, v(k) _fl is the current target flow rate of the left front suspension oil, v(k) _fr is the current target flow rate of the right front suspension oil, v(k) _rl is the current target flow rate of the left rear suspension oil. , v(k) _rr is the target flow rate of the right rear suspension oil at the current moment, v(k-1) _fl is the target flow rate of the left front suspension oil at the previous moment, v(k-1) _fr is the right front suspension oil The target flow rate at the last moment, v(k-1) _rl is the target flow rate of the left rear suspension oil at the last moment, v(k-1) _rr is the target flow rate of the right rear suspension oil at the last moment, Δv ₂ (k ) _fl is the execution flow rate change amount when the left front suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _fr is the execution flow rate change amount when the right front suspension oil flow rate changes to the steady-state target flow rate at the same time, Δv ₂ (k) _rl is the execution flow rate change when the left rear suspension oil flow rate simultaneously changes to the steady-state target flow rate, Δv ₂ (k) _rr is the execution flow rate change when the right rear suspension oil flow rate simultaneously changes to the steady-state target flow rate quantity. 9. The four-wheel hydraulic suspension oil flow rate protection and control method as claimed in claim 1, characterized in that the maximum usable flow rate of each suspension is determined based on the change amount of the maximum usable flow rate per unit time and the task execution cycle of each suspension. The amount of change in flow rate. 10. A four-wheel hydraulic suspension oil flow rate control system, characterized by including: The minimum number of steps determination module is used to determine the simultaneous changes in the flow rate of each suspension oil based on the steady-state target flow rate of each suspension oil, the target flow rate of each suspension oil at the previous moment, and the maximum usable flow rate change of each suspension. The minimum number of steps required to reach the steady-state target flow rate; Execute the flow rate change amount determination module, which is used to determine the minimum number of steps required for the flow rate of each suspension oil to simultaneously change to the steady-state target flow rate, the steady-state target flow rate of each suspension oil, and the previous target of each suspension oil. Flow rate, determine the execution flow rate change amount when the flow rate of each suspension oil simultaneously changes to the steady-state target flow rate; The target flow rate determination module at the current moment is used to determine the target flow rate of each suspension oil at the current moment based on the execution flow rate change amount of each suspension oil flow rate that simultaneously changes to the steady-state target flow rate and the target flow rate of each suspension oil at the previous moment. flow rate; The judgment module is used to update the target flow rate value of each suspension oil at the previous moment to the target flow rate value of each suspension oil at the current moment, and loop the above steps until the target flow rate of each suspension oil at the current moment is consistent with the current target flow rate of each suspension oil. The liquid steady state target flow rate difference is less than the set value.