CN106515348A - Intelligent accelerated speed damping semi-active control method for vehicle suspension system - Google Patents
Intelligent accelerated speed damping semi-active control method for vehicle suspension system Download PDFInfo
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- CN106515348A CN106515348A CN201611202706.1A CN201611202706A CN106515348A CN 106515348 A CN106515348 A CN 106515348A CN 201611202706 A CN201611202706 A CN 201611202706A CN 106515348 A CN106515348 A CN 106515348A
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Classifications
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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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
-
- 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
- B60G17/0165—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 to an external condition, e.g. rough road surface, side wind
-
- 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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
-
- 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
- B60G2400/20—Speed
- B60G2400/206—Body oscillation speed; Body vibration frequency
-
- 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
- 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
- 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
- B60G2800/916—Body Vibration Control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an intelligent accelerated speed damping semi-active control method for a vehicle suspension system. The vertical accelerated speed signal (please see the specification for the symbol) of a vehicle body and the relative displacement signal Zdef of the vehicle body and tires are measured. The accelerated speed signal (please see the specification for the symbol) is input to a control system W. The signal transmitted into the control system is S, and the signal S and the relative movement speed signal (please see the specification for the formula) of the vehicle body and the tires are multiplied; when a result is larger than zero, a damper outputs the maximum damping Cmax (mode A) or the formula (please see the specification for the formula) (mode B); and when the result is equal to or smaller than zero, the damper outputs the minimum damping Cmin. In this way, dynamic damping adjustment of the damper damping is achieved. The intelligent accelerated speed damping semi-active control method for the vehicle suspension system has an on-off type damping control mode and a continuous damping control mode and is simple; and the vertical vibrating accelerated speed of the vehicle body can be effectively inhibited within all the road face driving frequency range, so that a vehicle has good riding comfort, the suspension property of the vehicle is obviously improved.
Description
Technical field
The present invention relates to a kind of intelligent acceleration damping semi-active control method for vehicle suspension system, belongs to vehicle
Vibration control field.
Background technology
Suspension is the indispensable ingredient of vehicle driving system, its performance directly determine vehicle riding comfort,
Control stability and driving safety, vehicle have urgent demand to the suspension system of superior performance.At this stage, based on master
Dynamic, the controllable suspension technology of semi- active control is to improve the effective way that suspension property is generally acknowledged, and simple effective, of good performance
Control method is always the key issue of controllable suspension system exploitation.
In terms of vibroshock species, while having switching mode soft or hard ride control shock absorber and continuouss damping adjustable damping
Device.Wherein damping continuously adjustabe vibroshock includes CDC (continuous damping control) vibroshocks and rheology liquid damping continuously adjustabe vibration damping
Device, such as MR fluid shock absorber and Electrorheological fluid vibration damper.
The control method for being applied to vehicle suspension at present is broadly divided into three classes：One is classical control method；Two is modern control
Method processed；Three is intelligent control method.All kinds of control methods can improve suspension property to some extent, but wherein also some sides
Method is not suitable for engineer applied due to calculating complicated.From the angle of engineer applied, classical control method has amount of calculation
Little, simple and practical the advantages of, with more the suitability, but the switching mode Sky-hook control of classics and acceleration damping control are not
Can all have outstanding control effect in whole excitation frequency domain.
The content of the invention
It is an object of the invention to propose a kind of intelligent acceleration damping semi- active control side for vehicle suspension system
Method, including switching mode damping dynamic control or continuouss damping dynamic control two ways, with vehicle body Vertical Acceleration and
Vehicle body is with tire relative displacement as input, semi-active control method of the resistance of shock absorber as output, in whole excitation frequency domain
Preferable control effect is attained by inside, the significant suspension property for improving vehicle.
To achieve these goals, present invention employs following technical approach：
1. a kind of intelligent acceleration damping semi-active control method for vehicle suspension system, including switching mode damping is dynamic
State is controlled or continuouss damping dynamic control two ways, is realized based on a quarter Vehicle Semi-active Suspension System, its feature
It is that the method comprises the steps：
Step 1：By corresponding above the wheel in a quarter Vehicle Semi-active Suspension System to be controlled
Body portion on acceleration transducer measure vehicle body vertical acceleration signalBy installed in a quarter to be controlled
Displacement transducer in Vehicle Semi-active Suspension System on suspension measures vehicle body and tire relative displacement Zdef；
Step 2：By the acceleration signal measured in step 1Control system W is accessed, and by acceleration signalIt is logical
The output signal crossed after control system W is defined as signal S, by the vehicle body to measuring in step 1 and the relative displacement Z of tiredef
Differentiate and obtain vehicle body and tire speed of related movement
Step 3：By the signal S obtained by step 2 and vehicle body and tire speed of related movement signalIt is multiplied, then
Form two kinds of control modes.
Mode A:
Mode B：
For control system W, with following function：Work as acceleration signalFor low frequency signal when, through control system W
Output signal is the integration of acceleration signal, i.e. rate signal afterwardsWork as acceleration signalFor high-frequency signal when, through this be
After system W, output signal is former acceleration signal output, i.e., described control system W is when low frequency signal passes through equivalent to integration
Device, when high-frequency signal passes through equivalent to the proportioner that coefficient is 1.
Recommend the transmission function form of the control system such asWhereinMultiple changes of the s for Laplace transform
Amount, ω0For cut-off frequency, i.e. following formula：
Certainly the control system is not limited only to above-mentioned form.Described control system W is not only with to suspension system
High and low frequency dynamic select function, while with the function that phse conversion process is carried out to signal.
Damped coefficient C described in step 3maxIt is the predetermined hard damped coefficient of ride control shock absorber, damped coefficient CminIt is
The predetermined soft damped coefficient of ride control shock absorber, for the intelligent acceleration semi-active control method for proposing, its reality
Implementation method is to apply the control that can change shock absorber damping according to above-mentioned control method by appropriate controller
The electric current of extraction wire in the pwm signal control ride control shock absorber of the output variable duty cycle of signal, such as controller, it is right to realize
The regulation of shock absorber damping.
Advantages of the present invention and have the technical effect that：
The control method of the present invention is that a kind of intelligent acceleration damps semi-active control method, with switching mode damping dynamic
Control or continuouss damping dynamic control two ways, the two degrees of freedom vehicle based on a quarter Vehicle Semi-active Suspension System
Model realization, as shown in figure 1, feature specific as follows.
1st, control method proposed by the present invention combines the Sky-hook control in classical switching mode control method and acceleration
Degree damping control.Switching mode Sky-hook control effect in low frequency is preferable, and in high frequency, effect is bad.Low-and high-frequency separation existsNear, continuouss are improved capricorn bettle and encourage control effect in frequency domain preferable whole, butNearby control effect is poor.The switching mode and continuouss acceleration damping control effect in low frequency is bad, in high frequency
Shi Xiaoguo is good.Low-and high-frequency separation existsNear, and control method proposed by the present invention is in whole excitation frequency domain model
Enclose the interior riding comfort for reaching preferable control performance, significantly increasing vehicle.
2nd, the control method in the present invention is that the mode of control system W is accessed in body acceleration signal, to adding
Rate signal carries out the phse conversion of low frequency, high-frequency signal, works as acceleration signalFor low frequency signal when, through the control system
Integration of the output signal for acceleration signal, i.e. rate signal after WWork as acceleration signalFor high-frequency signal when, through this be
After system W, output signal is former acceleration signal output, and when road excitation is that low frequency is input into, the intelligent acceleration damping control is near
Sky-hook control method is similar to, when road excitation is that high frequency is input into, the intelligent acceleration damping control is similar to acceleration
Damping control, so combines the respective advantage of Sky-hook control and acceleration damping control, so that the control method
There is the suspension property for significantly increasing vehicle in whole frequency domain.And in low frequency, the switching of the control method of high frequency it is
Continuously.
3rd, control method of the invention is simple, and it is good, steady in the difficulty of line computation, simple, real-time to reduce
Qualitative high, suitable wide popularization and application.
Description of the drawings
Fig. 1 is the schematic diagram of a quarter Vehicle Semi-active Suspension System.
The implementing procedure figure of Fig. 2 the inventive method
Fig. 3 is single-degree-of-freedom vehicle vibration model.
Fig. 4 is under optimal passive damping coefficient, Sky-hook control, acceleration damping control and intelligent Acceleration Control
Body vibrations acceleration transmissibility frequency domain response figure.
Specific embodiment
The inventive method is by summarizing existing classical semi-active control method in two degrees of freedom semi-active suspension system
The application Shortcomings of model and design, be described as follows：
As shown in Figure 1：The semi-active suspension system model of typical a quarter vehicle, including wheel 3 and the wheel 3 pairs
The vehicle body 5 answered.The wheel 3 refers to a wheel in vehicle.Vehicle body 5 refers to the corresponding vehicle body of the whole vehicle corresponding to wheel 3
Part.Connection between vehicle body 5 and wheel 3 is equivalent to bearing spring 6, and its rigidity is ks, it is vertical between wheel 3 and ground 1 to connect
Touch and be equivalent to wheel spring 2, rigidity is kt.Here have ignored the damping of tire.Vibration damping is installed between vehicle body 5 and wheel 3
Device 4, damps as c (t), is variable-damping shock.
For a quarter Vehicle Semi-active Suspension System above, mainly there is following classics control method：
Classical Sky-hook control method is：
Wherein,For vehicle body catenary motion speed, it is the acceleration letter measured by the acceleration transducer installed in vehicle body
NumberIntegration is obtained；For vehicle body and tire speed of related movement, it is by vehicle body and tire relative displacement (Zdef=Zt-Zr)
Derivation is obtained.
Classical switching mode Sky-hook control can significantly reduce the vertical vibration of vehicle in low-frequency excitation.But
The vertical vibration of vehicle can not be significantly reduced during high frequency pumping.
Classical acceleration damping control method such as following formula
Wherein,For vehicle body catenary motion acceleration, measured by the acceleration transducer installed in vehicle body；For car
Body and tire speed of related movement, are by vehicle body and tire relative displacement (Zdef=Zt-Zr) derivation acquisition.
Classical Acceleration Control can significantly reduce the vertical vibration of vehicle in high frequency pumping.But in low-frequency excitation
Shi Buneng significantly reduces the vertical vibration of vehicle.
The two kinds of damping dynamic control methods of switching mode and continuouss for proposing in this patent can be in whole excitation frequency domain
It is interior with good control effect, specific embodiment is as shown in Fig. 2 specific as follows：
Step 1：According to the semi-active suspension system of a quarter vehicle in Fig. 1, respectively in wheel of vehicle to be controlled
Acceleration transducer is installed on body portion corresponding to top, vehicle body vertical acceleration signal is measuredSimultaneously in correspondence car
Displacement transducer is installed on the suspension of wheel, vehicle body and tire relative displacement Z is measureddef；
Step 2：By the acceleration signal for measuringControl system W is accessed, the control system can be realized working as acceleration
SignalFor low frequency signal when, integration of the output signal for acceleration signal, i.e. rate signal after control system WWhen
Acceleration signalFor high-frequency signal when, after system W, output signal is former acceleration signal output, i.e., described control
System W when low frequency signal passes through equivalent to integrator, when high-frequency signal passes through equivalent to the proportioner that coefficient is 1.
Recommend the transmission function form of the control system such asWhereinMultiple changes of the s for Laplace transform
Amount, ω0For cut-off frequency, i.e. following formula：
Certainly the control system is not limited only to above-mentioned form.Described control system W is not only with to suspension system
High and low frequency dynamic select function, while with the function that phse conversion process is carried out to signal.Cut-off frequency in above formula
ω0, i.e. the separation of high and low frequency takes from the fixed point of single-degree-of-freedom vehicle Vertical Kinetics Model, shifts onto as follows：
The definition of suspension fixed point is given first
Fixed point：For a transfer function H (j ω, c), whereinc∈R+In for transmission function it is
Number, (c) there is fixed point with regard to coefficient c in j ω to claim transfer function H if following formula is met.
Wherein η is constant.
As shown in figure 3, the kinetics equation for setting up the system is
Wherein, M is body quality, and k is spring rate, and c is shock absorber damping.Z be vehicle body vertical deviation, zrFor road
The unevenness function in face.
Pull-type conversion is carried out to above formula to obtain
Obtained by above formula
There is following formula to above formula delivery
In order that the value of c does not affect to obtain following formula on above formula
Following formula can be obtained by above formula
The vibration fixed point that single-degree-of-freedom can be obtained by above formula is
For automobile.Here the boundary dot frequency of low frequency and high frequency is typically between 1.5 and 2.5Hz.Preferably
1.8Hz。
By acceleration signalOutput signal after control system W is defined as signal S, by the car to above measuring
The relative displacement Z of body and tiredefDifferentiate and obtain vehicle body and tire speed of related movement
Step 3：By by previously obtained signal S and vehicle body and tire speed of related movement signalIt is multiplied, then shape
Into two kinds of control modes.
Switching mode intelligence acceleration damping control mode be：
Wherein S is body acceleration signalAs the output signal after input after control system W.The control method
Suitable for switching mode soft or hard ride control shock absorber.
Continuouss intelligence acceleration damping control mode be：
Wherein S is body acceleration signalAs the output signal after input after control system W, the control method
Suitable for continuouss ride control shock absorber.
Wherein cinIt is the control signal for controlling ride control shock absorber, the dynamic regulation for damping is realized with this.For
For the intelligent acceleration semi-active control method of proposition, its actual implementation method is according to above-mentioned control by appropriate controller
Method applies a control signal that can change shock absorber damping, the such as pwm signal of the output variable duty cycle of controller
In control ride control shock absorber, the electric current of extraction wire, realizes the regulation to shock absorber damping.
Certainly, those skilled in the art can also carry out some changes and adjustment to above-mentioned control system W, to meet spy
Fixed and subsidiary demand, but within all these changes and adjustment entirely fall in the protection domain of accompanying claims definition.
Draw from actual enforcement, the normal acceleration of vehicle body can react the ride comfort of vehicle, be to weigh ride comfort
Property important indicator, as shown in figure 4, using switching mode damping dynamic control mode under illustrate as an example, swept with sine wave
Under the excitation of frequency signal, driving frequency is transverse axis, and the transport of vehicle body acceleration is the longitudinal axis, obtains the frequency domain response figure of system,
It can be found that Sky-hook control is preferable in low frequency control effect, high frequency control effect is bad；Acceleration damping control is in low frequency
Control effect is bad, preferable in high frequency control effect；And intelligent acceleration damping control can be with reference to the excellent of two kinds of control effects
Point, in whole excitation frequency domain all has preferable control effect, can significantly reduce vehicle vertical vibration acceleration, and raising is taken advantage of
Sit comfortableness.
Claims (3)
1. a kind of intelligent acceleration for vehicle suspension system damps semi-active control method, and the method is based on a quarter car
Semi-active suspension system is realized, it is characterised in that：Dynamic control or continuouss damping dynamic control two are damped including switching mode
Control mode is planted, the method comprises the steps：
Step 1：By corresponding car above the wheel in a quarter Vehicle Semi-active Suspension System to be controlled
Acceleration transducer on body part measures vehicle body vertical acceleration signalBy installed in a quarter vehicle to be controlled
Displacement transducer in semi-active suspension system on suspension measures vehicle body and tire relative displacement Zdef；
Step 2：By the acceleration signal measured in step 1Control system W is accessed, and by acceleration signalBy control
Output signal after system W processed is defined as signal S, by the vehicle body to measuring in step 1 and the relative displacement Z of tiredefAsk micro-
Get vehicle body and tire speed of related movement
Step 3：By the signal S obtained by step 2 and vehicle body and tire speed of related movement signalIt is multiplied, is then formed
Two kinds of control modes；
Mode A:
Mode B：
2. a kind of intelligent acceleration for vehicle suspension system as claimed in claim 1 damps semi-active control method, its
It is characterised by：
Control system W described in step 2 has following function：Work as acceleration signalFor low frequency signal when, through the control system
Integration of the output signal for acceleration signal, i.e. rate signal after WWork as acceleration signalFor high-frequency signal when, through the control
After system W processed, output signal is former acceleration signal output, i.e., described control system W is when low frequency signal passes through equivalent to product
Divide device, when high-frequency signal passes through equivalent to the proportioner that coefficient is 1；
Recommend the transmission function form of control system W such asWhereinComplex variables of the s for Laplace transform, ω0
For cut-off frequency, i.e. following formula：
Described control system W not only with to suspension system high and low frequency dynamic select function, while with entering to signal
The function of line phase conversion process, certain control system W are not limited only to above-mentioned form.
3. a kind of intelligent acceleration for vehicle suspension system as claimed in claim 1 damps semi-active control method, its
It is characterised by：
Damped coefficient C described in step 3maxIt is the predetermined hard damped coefficient of ride control shock absorber, damped coefficient CminIt is damping
The predetermined soft damped coefficient of adjustable shock absorber.
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Cited By (13)
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| CN107323199A (en) * | 2017-06-22 | 2017-11-07 | 南京航空航天大学 | A kind of new half active hydro pneumatic suspension control system and method |
| CN108253075A (en) * | 2018-01-22 | 2018-07-06 | 东北大学 | A kind of MR damper with multiband vibration energy regeneration ability |
| CN109203900A (en) * | 2018-10-31 | 2019-01-15 | 清华大学 | Automobile electrically-controlled semi-active suspension system and its control method based on magnetic converting technique |
| CN109774399A (en) * | 2019-01-15 | 2019-05-21 | 南昌大学 | A kind of hydraulic interconnection suspension semi-active control method of road surface excited frequency range identification |
| CN110001336A (en) * | 2019-03-12 | 2019-07-12 | 江苏大学 | A kind of vehicle ISD suspension single order ideal model based on the just real network optimization of ADD |
| CN110143108A (en) * | 2019-03-26 | 2019-08-20 | 江西科技学院 | Automotive suspension semi-active control method and system |
| CN111152616A (en) * | 2020-01-08 | 2020-05-15 | 合肥工业大学 | Magnetorheological damping suspension and measurement and control method thereof |
| CN111169247A (en) * | 2020-01-18 | 2020-05-19 | 燕山大学 | Vehicle active suspension coordinated anti-saturation control method based on command filtering |
| CN112287465A (en) * | 2020-11-23 | 2021-01-29 | 吉林大学 | Method for realizing real-time simulation of in-plane tire flexible ring model |
| CN113771709A (en) * | 2020-11-04 | 2021-12-10 | 扬州市高升机械有限公司 | Vibration control intelligent seat according to frequency selection and control strategy thereof |
| CN114312202A (en) * | 2022-03-10 | 2022-04-12 | 成都九鼎科技(集团)有限公司 | Semi-active suspension control method and system based on road condition recognition |
| CN115871398A (en) * | 2022-10-11 | 2023-03-31 | 厦门大学 | Vibration reduction control method for semi-active suspension of vehicle and semi-active suspension of vehicle |
| US11897300B2 (en) | 2020-12-22 | 2024-02-13 | Huawei Digital Power Technologies Co., Ltd. | Vehicle, control method for vehicle suspension, and related device |
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| CN107323199A (en) * | 2017-06-22 | 2017-11-07 | 南京航空航天大学 | A kind of new half active hydro pneumatic suspension control system and method |
| CN107323199B (en) * | 2017-06-22 | 2023-09-26 | 南京航空航天大学 | Novel semi-active hydro-pneumatic suspension control system and method |
| CN108253075A (en) * | 2018-01-22 | 2018-07-06 | 东北大学 | A kind of MR damper with multiband vibration energy regeneration ability |
| CN109203900A (en) * | 2018-10-31 | 2019-01-15 | 清华大学 | Automobile electrically-controlled semi-active suspension system and its control method based on magnetic converting technique |
| CN109774399A (en) * | 2019-01-15 | 2019-05-21 | 南昌大学 | A kind of hydraulic interconnection suspension semi-active control method of road surface excited frequency range identification |
| CN109774399B (en) * | 2019-01-15 | 2021-12-14 | 南昌大学 | Semi-active control method for hydraulic interconnected suspension for identifying pavement excitation frequency range |
| CN110001336B (en) * | 2019-03-12 | 2021-11-23 | 江苏大学 | Vehicle ISD suspension first-order ideal model based on ADD real network optimization |
| CN110001336A (en) * | 2019-03-12 | 2019-07-12 | 江苏大学 | A kind of vehicle ISD suspension single order ideal model based on the just real network optimization of ADD |
| CN110143108A (en) * | 2019-03-26 | 2019-08-20 | 江西科技学院 | Automotive suspension semi-active control method and system |
| CN111152616B (en) * | 2020-01-08 | 2022-09-27 | 合肥工业大学 | Magnetorheological damping suspension and measurement and control method thereof |
| CN111152616A (en) * | 2020-01-08 | 2020-05-15 | 合肥工业大学 | Magnetorheological damping suspension and measurement and control method thereof |
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| CN112287465B (en) * | 2020-11-23 | 2022-03-18 | 吉林大学 | Method for realizing real-time simulation of in-plane tire flexible ring model |
| US11897300B2 (en) | 2020-12-22 | 2024-02-13 | Huawei Digital Power Technologies Co., Ltd. | Vehicle, control method for vehicle suspension, and related device |
| CN114312202A (en) * | 2022-03-10 | 2022-04-12 | 成都九鼎科技(集团)有限公司 | Semi-active suspension control method and system based on road condition recognition |
| CN114312202B (en) * | 2022-03-10 | 2022-06-03 | 成都九鼎科技(集团)有限公司 | Semi-active suspension control method and system based on road condition recognition |
| CN115871398A (en) * | 2022-10-11 | 2023-03-31 | 厦门大学 | Vibration reduction control method for semi-active suspension of vehicle and semi-active suspension of vehicle |
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