CN1746803A - Semi-active suspension electronic controller with magnetic current variable liquid - Google Patents
Semi-active suspension electronic controller with magnetic current variable liquid Download PDFInfo
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- CN1746803A CN1746803A CN 200510030561 CN200510030561A CN1746803A CN 1746803 A CN1746803 A CN 1746803A CN 200510030561 CN200510030561 CN 200510030561 CN 200510030561 A CN200510030561 A CN 200510030561A CN 1746803 A CN1746803 A CN 1746803A
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Abstract
An electronic controller of magnetorhoological liquid semiactive suspension frame consists of offset circuit, microcontroller, current regulation circuit, driving circuit, current detection and protection circuit. It features that microcontroller software can use pseudo integration algorithm and high pass filtering algorithm to estimate out vertical vibration speed of spring carried mass and absolute vibration speed between spring carried and nonspring carried masses as per vertical acceleration signal of spring carried mass, then use ceiling damper control algorithm and interpolation operation to calculate out target current value of vibration - absorber coil.
Description
Technical field
The present invention relates to damping technology, particularly relate to a kind of electron controls technology of MR fluid shock absorber of automotive semi-active suspension.
Background technology
Suspension is the important component part of Modern Car, and it is also being born and isolating the vital role that encourages caused Vehicular vibration from Uneven road except bearing the vehicle body static load lotus.Whether adjustable according to suspension elasticity and damping parameter, automotive suspension can be divided into passive suspension, semi-active suspension and Active suspension.Semi-active suspension system generally is made up of spring and controllable damping vibration damper, the controllable damping vibration damper can in time be regulated the resistance of shock absorber coefficient according to the vehicle operating condition, the optimum matching of realization and flexible member is to improve vehicle driving comfort, control stability and security.Along with the development of fast car, people have proposed more and more higher requirement to the ride comfort of its enforcement and the multiple usabilities such as stability of manipulation.
Along with novel " intelligence " Development of Materials, with current liquid and magnetic rheological liquid is that the vibration damper of damping fluid has obtained application, this vibration damper is regulated with the continuous stepless that obtains damping by the yield stress and the viscosity that apply working fluid in electric field or the magnetic field change vibration damper, magnetic rheological liquid is compared with current liquid, has high yield stress, control voltage and electric current is low, operating temperature range is wide and to advantages such as impurity insensitivities.The magneto-rheological vibration damper of developing based on magnetic rheological liquid, obtain the magnetic field of varying strength by the size that changes the field coil electric current, the apparent viscosity of magnetic flow liquid in its working cylinder is changed, thereby change the size of damping force, have compact conformation, low in energy consumption, damping change is obvious, dynamic range is wide, response speed is fast, regulating device is simple in structure, cost is low and conventional damper structure is changed characteristics such as little.
The control relation of MR fluid shock absorber is to the accurate control of vibration damper dynamic response and damping force, directly influence the performance of magnetic flow liquid semi-active suspension system, thereby the development of the controller of the MR fluid shock absorber low-cost, that performance is remarkable is significant for Application and Development magnetic flow liquid semi-active suspension.And in the development of controller, how to obtain the absolute vibration speed of spring carried mass and spring carries and nonspring carried mass between absolute vibration speed, be the maximum difficult point of implementing the skyhook damping control in the controller.
Summary of the invention
At the defective that exists in the above-mentioned prior art, technical matters to be solved by this invention provides a kind of low cost, control is accurate, dynamic response is fast, can effectively implement the semi-active suspension electronic controller with magnetic current variable liquid that skyhook damping is controlled.
In order to solve the problems of the technologies described above, a kind of semi-active suspension electronic controller with magnetic current variable liquid provided by the present invention, the vibration damper loop of semi-active suspension is composed in series by vehicle power, device for power switching MOSFET, vibration damper coil and sampling resistor, the positive pole of diode connects the source electrode of MOSFET, the minus earth of diode;
One 8 8-digit microcontroller chip and interface circuits thereof are used to produce digital controlled signal;
One filtering and biasing circuit, its output terminal connects microcontroller, is used for sensor signal is carried out the processing of filtering and voltage bias;
It is characterized in that, also comprise:
At least one road MOSFET control channel connects the grid of MOSFET in the output terminal of microcontroller and the snubber circuit respectively, is used to control the conducting electric current of MOSFET;
Every road MOSFET control channel is provided with:
One PWM vibration damper coil current regulating circuit, a width modulation (PWM) signal output part of microcontroller connect the input end of current regulating circuit through smoothed filter circuit;
One MOSFET grid power driving circuit, the output terminal of current regulating circuit is through being connected the input end of MOSFET grid power driving circuit with door, and the output terminal of MOSFET grid power driving circuit connects the grid of MOSFET;
One vibration damper coil current testing circuit, the sampling resistor in vibration damper loop connects an end of vibration damper coil, and input is amplified through filtering, and its output terminal connects another input end of current regulating circuit;
One current foldback circuit, by the grid input of MOSFET, its output terminal connects one of microcontroller and interrupts the protection input end, and the overcurrent protection control of microcontroller exports another input end with door to;
Sensor signal exports microcontroller to after the processing of the filtering of voltage offset electric circuit and voltage bias, the software section of described microcontroller, vertical acceleration signal according to spring carried mass, use pseudo integration algorithm, high pass filtering algorithm to estimate the vertical vibrating velocity of spring carried mass respectively and spring carries and nonspring carried mass between absolute vibration speed, the target current value that utilize again that real-time is higher, the skyhook damping control algolithm of Gain Adjustable and complicated interpolation arithmetic calculates the vibration damper coil; The current feedback value of described target current value and the input of described vibration damper coil current testing circuit, the relatively back gate drive signal that produces MOSFET in described current regulating circuit, and drive the conducting (action) of the described switching device MOSFET of described snubber circuit with door, described MOSFET grid power driving circuit through described, with the reliable adjustment of realization vibration damper coil current; When the full conducting of MOSFET; described current foldback circuit produces look-at-me; and the overcurrent protection control output end (general delivery outlet) by described microcontroller blocks gate-on voltage on the MOSFET through described and door, is not damaged with the protection power MOSFET.
Preferably, the snubber circuit of described MOSFET control channel and corresponding control is two the tunnel.
Preferably, width modulation (PWM) technology is adopted in the output of the target current value of described microcontroller, to improve the degree of regulation of MR fluid shock absorber coil current.
Preferably, the software section of described microcontroller, mainly realize data acquisition, the spring carried mass absolute vibration speed of spring carried mass absolute vibration acceleration and spring carries and nonspring carried mass between the table look-up functions such as output of interpolation and pwm signal of Filtering Estimation, the vibration damper coil target current of relative velocity; Described software program flow process:
1) initialization system starts and interrupts input/output port;
2) master routine begins regularly;
3) do you judge the whether full conducting of MOSFET? be then to go to 10), otherwise go to 4);
4) data sampling of spring carried mass absolute vibration acceleration;
5) spring carried mass absolute vibration speed and spring carry and nonspring carried mass between the Filtering Estimation of relative velocity;
6) enforcement of the skyhook damping control algolithm of Gain Adjustable;
7) the Fu Za interpolation vibration damper coil current desired value of tabling look-up determines;
8) calculating of output pwm signal dutycycle;
9) output pwm signal; Go to 11);
10) block MOSFET;
11) be timed to not? be then to go to 12), otherwise go to 3);
12) close output.
Utilize semi-active suspension electronic controller with magnetic current variable liquid provided by the invention, because the software section of employing microcontroller can be according to the vertical acceleration signal of spring carried mass, use pseudo integration algorithm respectively, high pass filtering algorithm estimates the vertical vibrating velocity of spring carried mass and spring carries and nonspring carried mass between absolute vibration speed, utilize real-time higher again, the skyhook damping control algolithm of Gain Adjustable and complicated interpolation arithmetic calculate the target current value of vibration damper coil, with the conducting (action) of controlling described switching device MOSFET, thereby the skyhook damping of effectively implementing vibration damper is controlled; Owing to adopt the simple electronic controller of circuit, make the present invention have low cost, control accurately, characteristics such as dynamic response is fast and control procedure is stable; Because width modulation (PWM) technology is adopted in the output of the target current value of described microcontroller, thereby improve the degree of regulation of MR fluid shock absorber coil current; In embodiments of the present invention, this magnetic flow liquid semi-active suspension control system can guarantee that the vibration damper coil current is adjustable continuously in 0～3A scope, control controller dynamic response time is less than 3ms, become to be installed on Passat B5 car with certain enterprise's MR fluid shock absorber coupling union, by vehicle road test, can make the vehicle driving comfort improve 15%.This electronic controller ECU can be used as constant current source by wire jumper in addition, under the vehicle-mounted voltage of 12V, makes the controllable current of vibration damper coil output 0A～3A.Soft, hardware makes improvements slightly, just can and apply to various vehicles with various MR fluid shock absorber couplings.
Description of drawings
Fig. 1 is the semi-active suspension electronic controller with magnetic current variable liquid of the embodiment of the invention and the theory diagram of constant-current source circuit structure;
Fig. 2 is the software program flow process block diagram of the semi-active suspension electronic controller with magnetic current variable liquid of the embodiment of the invention.
Embodiment
Below in conjunction with description of drawings embodiments of the invention are described in further detail, but present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar variation thereof all should be listed protection scope of the present invention in.
Referring to shown in Figure 1, a kind of semi-active suspension electronic controller with magnetic current variable liquid that the embodiment of the invention provides, the vibration damper loop of semi-active suspension is composed in series by vehicle power, device for power switching MOSFET, vibration damper coil and sampling resistor, the positive pole of diode connects the source electrode of MOSFET, the minus earth of diode; Described electronic controller comprises:
One 8 8-digit microcontroller chips (Atmel 89C51CC01) and interface circuit thereof are used to produce control signal;
One filtering and biasing circuit, its output terminal connects microcontroller, is used for sensor signal is carried out the processing of filtering and voltage bias;
Two-way MOSFET control channel connects the control utmost point (grid) of MOSFET in the output terminal of microcontroller and the snubber circuit respectively, is used for the conducting electric current of control (adjusting) switching device MOSFET; Every road MOSFET control channel is provided with:
One PWM vibration damper coil current regulating circuit (TL494), a width modulation (PWM) signal output part of microcontroller connect the input end of current regulating circuit through smoothed filter circuit;
One MOSFET grid power driving circuit (IR2103), the output terminal of current regulating circuit is through being connected the input end of MOSFET grid power driving circuit with door, and the output terminal of MOSFET grid power driving circuit connects the grid of MOSFET;
One vibration damper coil current testing circuit, the sampling resistor in vibration damper loop connects an end of vibration damper coil, and input is amplified through filtering, and its output terminal connects another input end of current regulating circuit;
One current foldback circuit, by the grid input of MOSFET, its output terminal connects one of microcontroller and interrupts the protection input end, and the overcurrent protection control of microcontroller exports another input end with door to;
In an embodiment of the present invention, also can be provided with the snubber circuit of one (or four) road MOSFET control channel and corresponding control.
Because the supply voltage of described microcontroller ATMEL89C51CC01 employing+3V, can only carry out the A/D sampling to the signal of 0～3V, so 1. and 2. the signal of sensor input needs just can deliver to described microprocessor after the filtering and voltage bias of described (filtering reaches) voltage offset electric circuit; Described microprocessor is according to the vertical acceleration signal of the spring carried mass of input, Filtering Estimation goes out car body vertical velocity and suspension relative deformation, and the skyhook damping control algolithm of higher according to real-time again, Gain Adjustable and complicated interpolation arithmetic calculate the target current value I of vibration damper coil
1 *And I
2 *, described target current value I
1 *And I
2 *Current feedback value i with the input of vibration damper coil current testing circuit
1fAnd i
2fThe relatively back gate drive signal that produces MOSFET in described current regulating circuit, and through with the conducting (action) of door, MOSFET grid power drive integrated circuit (IR2103) driving switch device MOSFET, with the reliable adjustment of realization vibration damper coil current.When the full conducting of MOSFET, described current foldback circuit produces look-at-me, and the overcurrent protection control output end (general delivery outlet) by microcontroller is not damaged with the protection power MOSFET through blocking gate-on voltage on the MOSFET with door.
In the embodiments of the invention, electronic controller ECU adopts the Atmel company first generation to have the high-performance 8 8-digit microcontroller chip 89C51CC01 of CAN controller, be to satisfy under the preceding topic of request for utilization, take all factors into consideration factors such as the convenience of the complicated speed of cost performance, control algolithm and real-time, IO channel number, memory span, online programming and extensibility.In the embodiments of the invention, also adopt width modulation (PWM) technology to improve MR fluid shock absorber coil current degree of regulation; Described current regulating circuit, adopt TL494 single-phase PWM control chip, this chip is by regulating external capacitor and resistance, can change the oscillation frequency of saw-toothed wave generator, and its inside carries the 5V stabilized voltage supply, and be integrated with operational amplifier, only need seldom RC discrete component just can realize the Current Regulation of current regulator, have simple, the with low cost and control procedure of circuit and characteristics such as stablize.
Referring to shown in Figure 2, the software of a kind of semi-active suspension electronic controller with magnetic current variable liquid that the embodiment of the invention provides adopts the C51 programming language, mainly realize data acquisition, the spring carried mass absolute vibration speed of spring carried mass absolute vibration acceleration and spring carries and nonspring carried mass between the table look-up functions such as output of interpolation and pwm signal of Filtering Estimation, the vibration damper coil target current of relative velocity; Described software program flow process:
1) initialization system starts and interrupts input/output port;
2) master routine begins regularly;
3) do you judge the whether full conducting of MOSFET? be then to go to 10), otherwise go to 4);
4) data sampling of spring carried mass absolute vibration acceleration;
5) spring carried mass absolute vibration speed and spring carry and nonspring carried mass between the Filtering Estimation of relative velocity;
6) enforcement of the skyhook damping control algolithm of Gain Adjustable;
7) the Fu Za interpolation vibration damper coil current desired value of tabling look-up determines;
8) calculating of output pwm signal dutycycle;
9) output pwm signal; Go to 11);
10) block MOSFET;
11) be timed to not? be then to go to 12), otherwise go to 3);
12) close output.
Claims (4)
1, a kind of semi-active suspension electronic controller with magnetic current variable liquid, wherein the vibration damper loop is composed in series by vehicle power, device for power switching MOSFET, vibration damper coil and sampling resistor, and the positive pole of diode connects the source electrode of MOSFET, the minus earth of diode;
Described electronic controller comprises:
One 8 8-digit microcontroller chip and interface circuits thereof are used to produce digital controlled signal;
One filtering and biasing circuit, its output terminal connects microcontroller, is used for sensor signal is carried out the processing of filtering and voltage bias;
It is characterized in that, also comprise:
At least one road MOSFET control channel connects the grid of MOSFET in the output terminal of microcontroller and the snubber circuit respectively, is used to control the conducting electric current of MOSFET;
Every road MOSFET control channel is provided with:
One PWM vibration damper coil current regulating circuit, a width modulation (PWM) signal output part of microcontroller connect the input end of current regulating circuit through smoothed filter circuit;
One MOSFET grid power driving circuit, the output terminal of current regulating circuit is through being connected the input end of MOSFET grid power driving circuit with door, and the output terminal of MOSFET grid power driving circuit connects the grid of MOSFET;
One vibration damper coil current testing circuit, the sampling resistor in vibration damper loop connects an end of vibration damper coil, and input is amplified through filtering, and its output terminal connects another input end of current regulating circuit;
One current foldback circuit, by the grid input of MOSFET, its output terminal connects one of microcontroller and interrupts the protection input end, and the overcurrent protection control of microcontroller exports another input end with door to;
Sensor signal exports microcontroller to after the processing of the filtering of voltage offset electric circuit and voltage bias, the software section of described microcontroller, vertical acceleration signal according to spring carried mass, use pseudo integration algorithm, high pass filtering algorithm to estimate the vertical vibrating velocity of spring carried mass respectively and spring carries and nonspring carried mass between absolute vibration speed, utilize skyhook damping control algolithm and interpolation arithmetic to calculate the target current value of vibration damper coil again; The current feedback value of described target current value and the input of described vibration damper coil current testing circuit, relatively the back produces the gate drive signal of MOSFET in described current regulating circuit, and drives the conducting of the described switching device MOSFET of described snubber circuit through described and door, described MOSFET grid power driving circuit; When the full conducting of MOSFET, described current foldback circuit produces look-at-me, and the overcurrent protection control output end by described microcontroller blocks gate-on voltage on the MOSFET through described and door, is not damaged to protect power MOSFET.
2, semi-active suspension electronic controller with magnetic current variable liquid according to claim 1 is characterized in that, the vibration damper loop of described MOSFET control channel and corresponding control is two the tunnel.
3, semi-active suspension electronic controller with magnetic current variable liquid according to claim 1 is characterized in that, width modulation (PWM) technology is adopted in the output of the target current value of described microcontroller, to improve the degree of regulation of MR fluid shock absorber coil current.
4, semi-active suspension electronic controller with magnetic current variable liquid according to claim 1, it is characterized in that, the software section of described microcontroller, realize data acquisition, the spring carried mass absolute vibration speed of spring carried mass absolute vibration acceleration and spring carries and nonspring carried mass between the table look-up functions such as output of interpolation and pwm signal of Filtering Estimation, the vibration damper coil target current of relative velocity; Described software program flow process:
1) initialization system starts and interrupts input/output port;
2) master routine begins regularly;
3) do you judge the whether full conducting of MOSFET? be then to go to 10), otherwise go to 4);
4) data sampling of spring carried mass absolute vibration acceleration;
5) spring carried mass absolute vibration speed and spring carry and nonspring carried mass between the Filtering Estimation of relative velocity;
6) enforcement of the skyhook damping control algolithm of Gain Adjustable;
7) the Fu Za interpolation vibration damper coil current desired value of tabling look-up determines;
8) calculating of output pwm signal dutycycle;
9) output pwm signal; Go to 11):
10) block MOSFET;
11) be timed to not? be then to go to 12), otherwise go to 3);
12) close output.
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| CN 200510030561 CN1746803A (en) | 2005-10-14 | 2005-10-14 | Semi-active suspension electronic controller with magnetic current variable liquid |
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| CN 200510030561 CN1746803A (en) | 2005-10-14 | 2005-10-14 | Semi-active suspension electronic controller with magnetic current variable liquid |
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Cited By (16)
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| CN101242163B (en) * | 2007-02-05 | 2011-11-02 | 索尼株式会社 | Variable-gain amplification circuit, receiver and receiver integrated circuit |
| CN103066840A (en) * | 2013-01-06 | 2013-04-24 | 富通集团有限公司 | Power output control circuit of plastic extruding machine |
| CN103303087A (en) * | 2013-06-25 | 2013-09-18 | 吉林大学 | Control system for semi-active suspension frame of magnetorheological damper |
| CN104948646A (en) * | 2015-03-25 | 2015-09-30 | 华东交通大学 | Current control device and method thereof in suspension control system of magneto-rheological damper |
| US9205717B2 (en) | 2012-11-07 | 2015-12-08 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| CN105667240A (en) * | 2014-11-14 | 2016-06-15 | 孙欣 | Giant magnetostictive vehicle suspension shock absorption device |
| US9662954B2 (en) | 2012-11-07 | 2017-05-30 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US10124709B2 (en) | 2015-05-15 | 2018-11-13 | Polaris Industries Inc. | Utility vehicle |
| US10406884B2 (en) | 2017-06-09 | 2019-09-10 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US10946736B2 (en) | 2018-06-05 | 2021-03-16 | Polaris Industries Inc. | All-terrain vehicle |
| US10987987B2 (en) | 2018-11-21 | 2021-04-27 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
| CN112793375A (en) * | 2019-11-14 | 2021-05-14 | 上海保隆汽车科技股份有限公司 | Automobile damping continuously adjustable semi-active suspension electric control device and control method thereof |
| CN113110186A (en) * | 2021-04-19 | 2021-07-13 | 华东交通大学 | Magneto-rheological damper controller capable of being adjusted along with road surface excitation for automobile suspension system |
| US11110913B2 (en) | 2016-11-18 | 2021-09-07 | Polaris Industries Inc. | Vehicle having adjustable suspension |
| US11285964B2 (en) | 2014-10-31 | 2022-03-29 | Polaris Industries Inc. | System and method for controlling a vehicle |
| US11904648B2 (en) | 2020-07-17 | 2024-02-20 | Polaris Industries Inc. | Adjustable suspensions and vehicle operation for off-road recreational vehicles |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101242163B (en) * | 2007-02-05 | 2011-11-02 | 索尼株式会社 | Variable-gain amplification circuit, receiver and receiver integrated circuit |
| US11400786B2 (en) | 2012-11-07 | 2022-08-02 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11400784B2 (en) | 2012-11-07 | 2022-08-02 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11124036B2 (en) | 2012-11-07 | 2021-09-21 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US9205717B2 (en) | 2012-11-07 | 2015-12-08 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11400785B2 (en) | 2012-11-07 | 2022-08-02 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US9662954B2 (en) | 2012-11-07 | 2017-05-30 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US10005335B2 (en) | 2012-11-07 | 2018-06-26 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11970036B2 (en) | 2012-11-07 | 2024-04-30 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11400787B2 (en) | 2012-11-07 | 2022-08-02 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| CN103066840A (en) * | 2013-01-06 | 2013-04-24 | 富通集团有限公司 | Power output control circuit of plastic extruding machine |
| CN103303087A (en) * | 2013-06-25 | 2013-09-18 | 吉林大学 | Control system for semi-active suspension frame of magnetorheological damper |
| US11919524B2 (en) | 2014-10-31 | 2024-03-05 | Polaris Industries Inc. | System and method for controlling a vehicle |
| US11285964B2 (en) | 2014-10-31 | 2022-03-29 | Polaris Industries Inc. | System and method for controlling a vehicle |
| CN105667240A (en) * | 2014-11-14 | 2016-06-15 | 孙欣 | Giant magnetostictive vehicle suspension shock absorption device |
| CN104948646A (en) * | 2015-03-25 | 2015-09-30 | 华东交通大学 | Current control device and method thereof in suspension control system of magneto-rheological damper |
| US11752860B2 (en) | 2015-05-15 | 2023-09-12 | Polaris Industries Inc. | Utility vehicle |
| US10124709B2 (en) | 2015-05-15 | 2018-11-13 | Polaris Industries Inc. | Utility vehicle |
| US11110913B2 (en) | 2016-11-18 | 2021-09-07 | Polaris Industries Inc. | Vehicle having adjustable suspension |
| US11878678B2 (en) | 2016-11-18 | 2024-01-23 | Polaris Industries Inc. | Vehicle having adjustable suspension |
| US11912096B2 (en) | 2017-06-09 | 2024-02-27 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US10406884B2 (en) | 2017-06-09 | 2019-09-10 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US10987989B2 (en) | 2017-06-09 | 2021-04-27 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US11479075B2 (en) | 2017-06-09 | 2022-10-25 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US10946736B2 (en) | 2018-06-05 | 2021-03-16 | Polaris Industries Inc. | All-terrain vehicle |
| US10987987B2 (en) | 2018-11-21 | 2021-04-27 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
| US11884117B2 (en) | 2018-11-21 | 2024-01-30 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
| US11975584B2 (en) | 2018-11-21 | 2024-05-07 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
| CN112793375A (en) * | 2019-11-14 | 2021-05-14 | 上海保隆汽车科技股份有限公司 | Automobile damping continuously adjustable semi-active suspension electric control device and control method thereof |
| US11904648B2 (en) | 2020-07-17 | 2024-02-20 | Polaris Industries Inc. | Adjustable suspensions and vehicle operation for off-road recreational vehicles |
| CN113110186A (en) * | 2021-04-19 | 2021-07-13 | 华东交通大学 | Magneto-rheological damper controller capable of being adjusted along with road surface excitation for automobile suspension system |
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