CN115002604A - Method for synchronously rhythming with music by matching full-active suspension system with vehicle-mounted entertainment system - Google Patents
Method for synchronously rhythming with music by matching full-active suspension system with vehicle-mounted entertainment system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/20—Arrangements for obtaining desired frequency or directional characteristics
- H04R1/22—Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only
- H04R1/24—Structural combinations of separate transducers or of two parts of the same transducer and responsive respectively to two or more frequency ranges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
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- H—ELECTRICITY
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- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R27/00—Public address systems
- H04R27/04—Electric megaphones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04S—STEREOPHONIC SYSTEMS
- H04S7/00—Indicating arrangements; Control arrangements, e.g. balance control
- H04S7/30—Control circuits for electronic adaptation of the sound field
- H04S7/307—Frequency adjustment, e.g. tone control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2499/00—Aspects covered by H04R or H04S not otherwise provided for in their subgroups
- H04R2499/10—General applications
- H04R2499/13—Acoustic transducers and sound field adaptation in vehicles
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Abstract
The invention relates to a method for synchronously rhythmically moving a full-active suspension system and a vehicle-mounted entertainment system along with music, which comprises the steps of extracting power input pulses of a note loudspeaker to be used as input pulse frequency of an active suspension actuator, and activating an active suspension rhythm system; acquiring current sound system information, including sound main control system frequency divider information, sound total power, bass unit power, middle-tone unit power and treble unit power; dividing the actuation modes according to the current weighted value of the power of each pronunciation unit; controlling the music input of the left and right sound channels; threshold control of power. The invention relates to a method for a full-active suspension to cooperate with a vehicle-mounted entertainment system to rhythm synchronously along with music, which takes vehicle-mounted sound power as an input power signal of an active actuator, cooperates with a filtering algorithm, and cooperates through the dynamic real-time action of four actuators; the method can revolutionarily improve the entertainment system-human-vehicle interaction experience and realize the vehicle body motion control with smaller input delay, high dynamic and low computational cost.
Description
Technical Field
The invention belongs to the technical field of chassis electric control, and particularly relates to a method for synchronously rhythmically moving with music by utilizing a full-active suspension system in cooperation with a vehicle-mounted entertainment system.
Background
The existing vehicle is provided with at least 4 wheels, and actuators capable of generating vertical acting force are arranged between the left front wheel, the left rear wheel, the right front wheel and the vehicle body. Vehicles having an actuator (also referred to as an active shock absorber) mounted between the body and the wheel that generates a vertical force are often referred to as being equipped with a fully active suspension.
The current automobile full-active suspension technology is close to maturity, namely large-scale mass production. Traditional shock absorber on ordinary suspension is replaced by the actuator to can produce and do not rely on the effect power of shock absorber piston with a section of thick bamboo relative motion direction, the automobile body also can be up-and-down motion under the effect of actuator when the vehicle is traveling on level road, this kind of characteristic can cooperate on-vehicle entertainment system, exert control with suitable mode, realize the synchronous rhythm of music in the vehicle-mounted, the on-vehicle audio-visual experience that the formation is similar to the 4D cinema becomes to equip the unique charm point of initiative suspension vehicle.
The prior art discloses an obstacle avoidance system with an active suspension. The obstacle avoidance system uses one or more active suspensions to lift or jump one or more respective wheels over an obstacle in the path of the vehicle to avoid contact with the obstacle when the vehicle cannot actually drive over the obstacle, turn around the obstacle, or stop before hitting the obstacle.
The prior art also discloses a vehicle active suspension system modeling and control method based on high semi-Markov switching, and a vehicle active suspension dynamic equation is established; modeling a suspension system into a heterogeneous hidden semi-Markov random switching system, wherein damping and rigidity in a vehicle active suspension dynamic equation can be randomly switched among a plurality of submodes to adapt to different road conditions; carrying out stability analysis on the vehicle active suspension system; state feedback controllers that rely on observation modalities are designed.
The prior art also discloses a control method and a control device for a self-adaptive active suspension, wherein the method comprises the following steps: establishing N linear active suspension subsystem models, wherein N is a positive integer: obtaining N state feedback controller models corresponding to the N active suspension subsystem models: obtaining output error indexes of the N state feedback controller models: and selecting a corresponding state feedback controller model according to the output error index, so that the state feedback controller model controls an actuating mechanism of the active suspension system.
The control methods are all active suspension control methods, and do not relate to the control of the synchronous rhythm of the active suspension along with music. Based on this, there is a need to develop a method for synchronously rhythming with music by using a fully active suspension system in cooperation with a vehicle-mounted entertainment system so as to realize vehicle motion control with smaller input delay, high dynamics and low computational cost.
Disclosure of Invention
The invention aims to provide a method for synchronously rhythmically moving along with music by utilizing a full-active suspension system and a vehicle-mounted entertainment system, which takes vehicle-mounted sound power as an input power signal of an active actuator, cooperates with a filtering algorithm, and realizes the problems of smaller input delay, high dynamic and reduced computational cost of vehicle body motion control through the dynamic real-time cooperative action of four actuators.
The purpose of the invention is realized by the following technical scheme:
a method for synchronously rhythming along with music by matching a full-active suspension system with a vehicle-mounted entertainment system comprises the following steps:
a. active suspension rhythm system activation:
extracting power input pulses of the note loudspeaker to serve as input pulse frequency of an active suspension actuator, and activating an active suspension rhythm system;
b. active suspension actuation style classification with music:
acquiring current sound system information, including sound main control system frequency divider information, sound total power, bass unit power, middle-tone unit power and treble unit power; the weighted value of the bass unit power is P, the weighted value of the middle-pitch unit power is Q, and the weighted value of the treble unit frequency is R;
c. dividing the actuation modes according to the current weighted value of the power of each pronunciation unit;
d. controlling the music input of the left and right sound channels;
e. threshold control of power.
Further, step c specifically includes the following steps:
c1, judging whether the weighted value of the power of each pronunciation unit exceeds a threshold value a:
c2, if none of them exceeds, the active suspension system does not react, if it exceeds, the further judgment is made.
Further, the determining step is:
c21, if the weighted value of bass unit power is the highest, using low frequency synchronous rhythm, wherein the low frequency synchronous rhythm is the synchronous action of four actuators of the whole vehicle;
c22, if the weighted value of the power of the midrange unit is the highest, using the middle frequency synchronous rhythm, wherein the middle frequency synchronous rhythm is in the form of single-axis motion close to the listener;
c23, if the treble unit power weighting is highest, then the high frequency synchronous rhythm is used, the high frequency is single axis action away from the listener.
Further, step d specifically includes the following steps:
d1, distinguishing left and right sound channels of the loudspeaker for the middle and high pitch units, when the weighted value of the middle pitch unit power is the highest and the middle frequency synchronous rhythm function is used, determining whether the left and right actuators are synchronously actuated according to the power ratio of the left and right pronunciation units;
d2, when the weighted value of the high pitch unit power is the highest and the high frequency synchronous rhythm function is used, determining whether the left and right actuators are synchronously operated according to the power ratio of the left and right pronunciation units.
Further, in step d1, it is determined whether the left and right actuators are actuated synchronously according to the power ratio of the left and right sound-producing units, specifically:
d11, when the power ratio of the left channel to the right channel is larger than b, the left suspension actuator is actuated independently;
d12, when the power ratio of the left channel to the right channel is less than 1/b, the right suspension actuator is actuated independently;
d13, when the power ratio of the left channel and the right channel is between 1/b and b, the left and right actuators are actuated synchronously;
further, in step d2, it is determined whether the left and right actuators are actuated synchronously according to the power ratio of the left and right sound-producing units, specifically:
d21, when the power ratio of the left channel to the right channel is larger than B, the left suspension actuator is actuated independently;
d22, when the power ratio of the left channel to the right channel is less than 1/B, the right suspension actuator is actuated independently;
d23, when the power ratio of the left channel and the right channel is between 1/B and B, the left and right actuators are actuated synchronously.
Further, step e specifically includes: the power of the actuator of the suspension is in the same proportion with the weighted value of the input power of the main pronunciation unit during synchronous rhythm, and the proportionality coefficient is k.
Furthermore, when the weighted value of the power of the bass unit is the highest, and thus the weighted value of the input power of the bass unit is smaller than the threshold value C1, the power of the suspension actuator keeps the lowest power input and does not change in proportion to the input power of the pronunciation unit; when the weighted value of the input power of the bass unit is greater than the threshold value D1, the power of the suspension actuator keeps the highest power input and does not change in proportion to the input power of the vocal unit.
Furthermore, when the weighted value of the power of the middle voice unit is the highest, and when the weighted value of the input power of the middle voice unit is smaller than the threshold value C2, the power of the suspension actuator keeps the lowest power input and does not change in the same proportion with the input power of the pronunciation unit; when the weighted value of the input power of the mediant unit is larger than the threshold value D2, the power of the suspension actuator keeps the highest power input and does not change in proportion to the input power of the pronunciation unit.
Further, when the treble unit power weighting is highest, such that the treble unit input power weighting is less than the threshold C3, the suspension actuator power remains at the lowest power input and no longer varies proportionally with the articulation unit input power; when the treble unit input power weighting is greater than the threshold D3, the suspension actuator power remains at the highest power input and no longer varies proportionally with the tone generating unit input power.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to a method for a full-active suspension to cooperate with a vehicle-mounted entertainment system to rhythm synchronously along with music, which takes vehicle-mounted sound power as an input power signal of an active actuator, cooperates with a filtering algorithm, and cooperates through the dynamic real-time action of four actuators;
the method can revolutionarily improve the entertainment system-human-vehicle interaction experience and realize the vehicle body motion control with smaller input delay, high dynamic and low computational cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of the control of the synchronization of the full active suspension system with the vehicle entertainment system with music.
Detailed Description
The invention is further illustrated by the following examples:
the invention utilizes a method that a full-active suspension system is matched with a vehicle-mounted entertainment system to move with music in a synchronous rhythm, takes the vehicle-mounted sound power as an input power signal of an active actuator, is matched with a filtering algorithm, and realizes the functions of vehicle body movement and music synchronous rhythm with smaller input delay, high dynamic and low computational cost through the dynamic real-time cooperative action of four actuators. The related vehicle is provided with at least 4 wheels, and actuators capable of generating vertical acting force are arranged between the left front wheel, the left rear wheel, the right front wheel and the right rear wheel and the vehicle body.
The invention discloses a method for synchronously rhythming a full-active suspension system and a vehicle-mounted entertainment system along with music, which comprises the following steps of:
extracting music tone (note) conversion rhythm (loudspeaker power input pulse) as input pulse frequency of an active suspension actuator;
secondly, acquiring current sound system information including sound main control system frequency divider information, sound total power, bass unit power, alto unit power and treble unit power; the weighted value of bass unit power is P, the weighted value of middle-tone unit power is Q, and the weighted value of treble unit frequency is R.
Thirdly, dividing the actuating mode according to the current power weighted value of each pronunciation unit, firstly judging whether the power weighted value of each pronunciation unit exceeds a threshold value a, and if not, the active suspension system does not react. If the judgment result exceeds the preset value, the following judgment is made: if the weighted value of the bass unit power is the highest, using low-frequency synchronous rhythm, wherein the form of the low-frequency synchronous rhythm is that four actuators of the whole vehicle synchronously act simultaneously; if the weighted value of the power of the middle-tone unit is the highest, the intermediate-frequency synchronous rhythm is used, and the form of the intermediate-frequency synchronous rhythm is the single-axis motion close to the listener; if the power weighting of the treble unit is the highest, then the high frequency synchronous rhythm is used, the high frequency is a single axis action away from the listener.
Fourthly, distinguishing the loudspeakers of the left and right sound channels for the middle-tone unit, the high-tone unit and the like, wherein the power weighted value of the middle-tone unit is highest, and when the middle-frequency synchronous rhythm function is used, whether the left and right side actuators synchronously actuate is determined according to the power ratio of the left and right pronunciation units: when the power ratio of the left sound channel to the right sound channel is larger than b, the left suspension actuator independently acts; when the power ratio of the left sound channel to the right sound channel is smaller than 1/b, the right suspension actuator independently acts; when the power ratio of the left sound channel to the right sound channel is between 1/b and b, the left actuator and the right actuator synchronously act;
when the high pitch unit power weighted value is the highest, when using the synchronous rhythm function of high frequency, whether synchronous action is moved to left and right side actuator is decided according to pronunciation unit power ratio about: when the power ratio of the left channel to the right channel is greater than B, the left suspension actuator independently acts; when the power ratio of the left channel to the right channel is less than 1/B, the right suspension actuator independently acts; when the power ratio of the left sound channel to the right sound channel is between 1/B and B, the left actuator and the right actuator synchronously act;
fifthly, the power of an actuator of the suspension is in the same proportion with the weighted value of the input power of the main pronunciation unit during synchronous rhythm, and the proportionality coefficient is k; when the weighted value of the power of the bass unit is the highest, and the weighted value of the input power of the bass unit is smaller than a threshold value C1, the power of the suspension actuator keeps the lowest power input and does not change in the same proportion with the input power of the pronunciation unit; when the weighted value of the input power of the bass unit is larger than a threshold value D1, the power of the suspension actuator keeps the highest power input and does not change in the same proportion with the input power of the pronunciation unit;
when the weighted value of the power of the middle voice unit is the highest, and thus the weighted value of the input power of the middle voice unit is smaller than a threshold value C2, the power of the suspension actuator keeps the lowest power input and does not change in the same proportion with the input power of the pronunciation unit; when the weighted value of the input power of the mediant unit is larger than the threshold value D2, the power of the suspension actuator keeps the highest power input and does not change in the same proportion with the input power of the pronunciation unit;
when the weighted value of the power of the high-pitch unit is the highest, and the weighted value of the input power of the high-pitch unit is smaller than a threshold value C3, the power of the suspension actuator keeps the lowest power input and does not change in the same proportion with the input power of the pronunciation unit; when the treble unit input power weighting is greater than the threshold D3, the suspension actuator power remains at the highest power input and no longer varies proportionally with the tone generating unit input power.
Example 1
A method for synchronously rhythming along with music by matching a full-active suspension system with a vehicle-mounted entertainment system comprises the following steps:
first step, active suspension rhythm system activation strategy:
extracting power input pulses of the note loudspeaker to serve as input pulse frequency of an active suspension actuator;
secondly, classifying the active suspension along with the action form of music:
acquiring current sound system information, including sound main control system frequency divider information, sound total power, bass unit power, middle-tone unit power and treble unit power; wherein, the weighted value of the bass unit power is P, the weighted value of the middle-tone unit power is Q, and the weighted value of the treble unit frequency is R.
And thirdly, activating strategies and actuation modes in high-frequency, medium-frequency and low-frequency actuation modes. Dividing the action mode according to the current weighted value of each pronunciation unit power.
Firstly, judging whether the weighted value of the power of each pronunciation unit exceeds a threshold value a:
if none of them exceeds, the active suspension system does not react. If the judgment result exceeds the preset value, the following judgment is made:
1. if the weighted value of the bass unit power is the highest, using low-frequency synchronous rhythm, wherein the form of the low-frequency synchronous rhythm is that four actuators of the whole vehicle synchronously act simultaneously;
2. if the weighted value of the power of the middle-tone unit is the highest, the middle-frequency synchronous rhythm is used, and the form of the middle-frequency synchronous rhythm is a single-axis action close to the listener;
3. if the treble unit power weighting is highest, then the high frequency synchronous rhythm is used, the high frequency being a single axis action away from the listener.
And fourthly, inputting a control strategy for the left and right channel music.
To distinguishing left and right sound channel's speaker such as well sound and high pitch unit, well sound unit power weighted value is the highest, when using the synchronous rhythm function of intermediate frequency, whether synchronous action is moved to pronunciation unit power ratio about according to deciding left and right sides actuator:
1. when the power ratio of the left channel to the right channel is greater than b, the left suspension actuator independently acts;
2. when the power ratio of the left channel to the right channel is less than 1/b, the right suspension actuator independently acts;
3. when the power ratio of the left sound channel to the right sound channel is between 1/b and b, the left and right actuators synchronously operate;
when the high pitch unit power weighted value is the highest, when using the synchronous rhythm function of high frequency, whether synchronous action is moved to left and right side actuator is decided according to pronunciation unit power ratio about:
1. when the power ratio of the left sound channel to the right sound channel is larger than B, the left suspension actuator independently acts;
2. when the power ratio of the left sound channel to the right sound channel is smaller than 1/B, the right suspension actuator independently acts;
3. when the power ratio of the left sound channel to the right sound channel is between 1/B and B, the left and right actuators synchronously operate;
and fifthly, controlling the threshold of the power.
The power of an actuator of the suspension is in the same proportion with the weighted value of the input power of the main pronunciation unit during synchronous rhythm, and the proportionality coefficient is k; when the weighted value of the power of the bass unit is the highest, and the weighted value of the input power of the bass unit is smaller than a threshold value C1, the power of the suspension actuator keeps the lowest power input and does not change in the same proportion with the input power of the pronunciation unit; when the weighted value of the bass unit input power is greater than the threshold value D1, the suspension actuator power maintains the highest power input and no longer varies proportionally with the pronunciation unit input power.
When the weighted value of the power of the middle voice unit is the highest, and thus the weighted value of the input power of the middle voice unit is smaller than a threshold value C2, the power of the suspension actuator keeps the lowest power input and does not change in the same proportion with the input power of the pronunciation unit; when the weighted value of the input power of the mediant unit is larger than the threshold value D2, the power of the suspension actuator keeps the highest power input and does not change in the same proportion with the input power of the pronunciation unit;
when the weighted value of the power of the high-pitch unit is the highest, and the weighted value of the input power of the high-pitch unit is smaller than a threshold value C3, the power of the suspension actuator keeps the lowest power input and does not change in the same proportion with the input power of the pronunciation unit; when the treble unit input power weighting is greater than the threshold D3, the suspension actuator power remains at the highest power input and no longer varies proportionally with the tone generating unit input power.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. A method for synchronously rhythming along with music by matching a full-active suspension system with a vehicle-mounted entertainment system is characterized by comprising the following steps:
a. active suspension rhythm system activation:
extracting power input pulses of the note loudspeaker to serve as input pulse frequency of an active suspension actuator, and activating an active suspension rhythm system;
b. active suspension actuation style classification with music:
acquiring current sound system information which comprises sound main control system frequency divider information, sound total power, bass unit power, middle-pitch unit power and treble unit power; wherein, the weighted value of the bass unit power is P, the weighted value of the middle-tone unit power is Q, and the weighted value of the treble unit frequency is R;
c. dividing the actuation modes according to the current weighted value of the power of each pronunciation unit;
d. controlling the music input of the left and right sound channels;
e. threshold control of power.
2. The method for synchronously rhythming with music by a fully active suspension system in cooperation with a vehicle-mounted entertainment system according to claim 1, wherein the step c specifically comprises the following steps:
c1, judging whether the weighted value of the power of each pronunciation unit exceeds a threshold value a:
c2, if none of them exceeds, the active suspension system does not react, if it exceeds, the further judgment is made.
3. The method of claim 2, wherein the determining step comprises:
c21, if the weighted value of bass unit power is the highest, using low frequency synchronous rhythm, wherein the low frequency synchronous rhythm is the synchronous action of four actuators of the whole vehicle;
c22, if the weighted value of the power of the midrange unit is the highest, using the middle frequency synchronous rhythm, wherein the middle frequency synchronous rhythm is in the form of single-axis motion close to the listener;
c23, if the treble unit power weighting is highest, then the high frequency synchronous rhythm is used, the high frequency being a single axis of motion away from the listener.
4. The method for synchronously rhythming with music by a fully active suspension system in cooperation with a vehicle-mounted entertainment system according to claim 1, wherein the step d specifically comprises the following steps:
d1, distinguishing left and right sound channels of the loudspeaker for the middle and high pitch units, when the weighted value of the middle pitch unit power is the highest and the middle frequency synchronous rhythm function is used, determining whether the left and right actuators are synchronously actuated according to the power ratio of the left and right pronunciation units;
d2, when the weighted value of the high pitch unit power is the highest and the high frequency synchronous rhythm function is used, determining whether the left and right actuators are synchronously operated according to the power ratio of the left and right pronunciation units.
5. The method of claim 4, wherein the step d1 is to determine whether the left and right actuators are synchronously actuated according to the ratio of the power of the left and right sound emitting units, specifically:
d11, when the power ratio of the left channel to the right channel is larger than b, the left suspension actuator is actuated independently;
d12, when the power ratio of the left channel to the right channel is less than 1/b, the right suspension actuator is actuated independently;
d13, when the power ratio of the left channel and the right channel is between 1/b and b, the left and right actuators are actuated synchronously.
6. The method as claimed in claim 4, wherein step d2, according to the ratio of the power of the left and right articulation units, determines whether the left and right actuators are actuated synchronously, which comprises:
d21, when the power ratio of the left channel to the right channel is larger than B, the left suspension actuator is actuated independently;
d22, when the power ratio of the left channel to the right channel is less than 1/B, the right suspension actuator is actuated independently;
d23, when the power ratio of the left channel and the right channel is between 1/B and B, the left and right actuators are actuated synchronously.
7. The method for the synchronous rhythm of the full active suspension system matched with the vehicle-mounted entertainment system along with the music according to claim 1, wherein the step e is specifically as follows: the power of an actuator of the suspension is in the same proportion with the weighted value of the input power of the main pronunciation unit during synchronous rhythm, and the proportionality coefficient is k.
8. The method of claim 7, wherein the suspension actuator power remains at a minimum power input when the bass unit power weighting is highest such that the bass unit input power weighting is less than the threshold C1, and no longer varies proportionally with the sonification unit input power; when the weighted value of the input power of the bass unit is greater than the threshold value D1, the power of the suspension actuator keeps the highest power input and does not change in proportion to the input power of the vocal unit.
9. The method of claim 7, wherein the power weighting of the midrange unit is the highest, such that when the weighting of the input power of the midrange unit is less than the threshold C2, the power of the suspension actuator remains the lowest power input and does not change proportionally with the input power of the articulation unit; when the weighted value of the input power of the mediant unit is larger than the threshold value D2, the power of the suspension actuator keeps the highest power input and does not change in proportion to the input power of the pronunciation unit.
10. The method of claim 7, wherein the full active suspension system is synchronized with the vehicle entertainment system to beat with music, and the method comprises the following steps: when the weighted value of the power of the high-pitch unit is the highest, and the weighted value of the input power of the high-pitch unit is smaller than a threshold value C3, the power of the suspension actuator keeps the lowest power input and does not change in the same proportion with the input power of the pronunciation unit; when the weighted value of the input power of the treble unit is greater than the threshold D3, the suspension actuator power remains at the highest power input and no longer varies proportionally with the sound unit input power.
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