CN101528525A - Vibration-damping control device for vehicle - Google Patents

Abstract

There is provided a vibration damping control device which suppresses pitching and bouncing vibration of a vehicle through a drive output control based on a wheel torque estimated value estimated with a wheel speed, etc., which device uses the estimated value of a wheel torque while taking into account conditions where no good estimation of the wheel torque is executable. The vibration damping control device comprises a wheel torque estimated value acquisition portion which acquires a wheel torque estimated value; and a driving torque control portion which controls a driving torque of the vehicle to suppress pitching or bouncing vibrational amplitudes based on the wheel torque estimated value, wherein the absolute value or the sign of the wheel torque estimated value is corrected in accordance with the degree of a slip of the wheel or the direction of movement of the vehicle. Further, there is provided a torque estimating device suitable for a vibration damping control and other running, motional or braking-driving force controls for a vehicle, etc.

Description

The damping control device of vehicle

Technical field

The present invention relates to the damping control device of vehicle, more specifically, the driving output (propulsive effort or driving torque) that relates to control vehicle is with damping control device of the vibration that suppresses vehicle body, and relates to and can be advantageously used in device described vehicle, infer wheel torque during the travelling of vehicle.

Background technology

During the travelling of vehicle, act in the acceleration of vehicle with when slowing down on the vehicle body and cause that the braking and the propulsive effort (or force of inertia) of pitching-beat are reflected in the torque (being called " wheel torque " in this specification sheets) that acts between wheel (particularly, the drive wheel between driver stage) and the road surface.Thereby, vibration damping control field at vehicle, proposed by control and regulation wheel torque, suppressed the vibration (for example, seeing that the Japanese Patent spy opens 2004-168148 and 2006-69472) of vehicle body during the travelling of vehicle the driving output of the driving engine of vehicle or other actuating devices.Control in the vibration damping control of carrying out by driving output this, by kinematic model based on the supposition structure of the kinetic model of the so-called sprung weight of vehicle body or unsprung weight vibration, predict when acceleration of sending vehicle or deceleration demand or the pitching that when external force (disturbance) has acted on vehicle body and changed wheel torque, in vehicle body, has produced-beat, then, regulate the driving output of the actuating device of vehicle, with the vibration that suppresses to predict.Under the situation of such vibration damping control, not like that by absorbing the vibrational energy that is produced in the vibration damping control of being undertaken by suspension, but, therefore can advantageously obtain effectiveness in vibration suppression and excellent energy efficient relatively rapidly by regulating the generation that vibration generation power source suppresses vibrational energy.In addition, controlling in the vibration damping control of carrying out by driving output, the control purpose concentrates on the driving output (driving torque) of actuating device, and therefore, the adjusting in the control is relatively easy.

Carrying out in the damping control device (or driving-force control apparatus) of vibration damping control by driving output control as mentioned above, the actual wheel torque that produces is used as the input parameter of the controlled reset that is used for disturbance suppression in the control in drive wheel.But, generally speaking, because the design of vehicle or the problem of cost aspect, except the vehicle (seeing JP 2005-69897) that is used to detect, the sensor (for example, wheel torque sensor, wheel six force component instrument etc.) that can directly detect wheel torque during vehicle ' be not installed on the conventional vehicles.Therefore, in aforesaid shock attenuation unit, will be used for wheel torque value based on the wheel torque value of inferring of the rotating speed of the output shaft of the actuating device of wheel speed, vehicle and/or other parameter estimations that detect easily as disturbance input feedback.In various controls (for example, TRC (traction control), ABS, VSC (vehicle stability control), VDIM (vehicle dynamics integrated management system)) the such wheel torque presumed value of middle supervision based on acquisitions such as wheel speeds, to be used to monitor the road surface reaction on the wheel or to detect the rideability (for example, seeing JP H11-37872) of vehicle.

Summary of the invention

In aforesaid damping control device, perhaps also in various other controls of being used for it and travelling, move or brake of vehicle-propulsive effort, when directly not detecting wheel torque but when using parameter such as wheel speed to infer to obtain wheel torque, the precision of inferring may be according to the operational situation of wheel or tire and variation, thereby the control of vehicle may not be worked well.For example, when inferring wheel torque based on the detected value of wheel speed, if wheel (drive wheel between the driver stage of vehicle) enters slip state, the precision of then inferring may variation.And, though most of wheel speed sensors of current common vehicles detects the rotating speed of wheel, but can not judge its hand of rotation (promptly, wheel is to rotate forward or rotate backward with respect to the moving direction of vehicle), therefore, in control and treatment, possible errors ground uses the wheel torque of inferring with respect to its direction.Particularly, under the situation of the control of exporting the vibration damping of carrying out pitching and/or beating vibration as mentioned above by controlling and driving, when the size of the size of the presumed value of wheel torque and/or direction and the actual wheel torque that on wheel, produces and/or direction not simultaneously, can't obtain the favorable damping effect, on the contrary, may make amplification of vibrations.But, in the damping control device of traditional vehicle and/or the presumed value that adopts wheel torque other the travelling, move or brake of vehicle-driving-force control apparatus, almost the situation of well inferring that can not carry out wheel torque is not considered as parameter.

Therefore, one of main purpose of the present invention provide a kind of in aforesaid damping control device appreciiable be used to infer the device of wheel torque, wherein, under the situation of well inferring that can not carry out wheel torque, this device produces the presumed value of wheel torque when this situation is considered.

In addition, another object of the present invention provides a kind of device, it comes the driving torque of control vehicle during the travelling of vehicle to carry out vibration damping control based on the wheel torque presumed value that is obtained by aforesaid wheel torque estimating device, wherein, under the situation of well inferring that can not carry out wheel torque, this device produces the presumed value of wheel torque when this situation is considered.

In brief, according to the present invention, a kind of damping control device of vehicle is provided, its be constructed to when travel, move or brake at other of vibration damping control and/or vehicle-drive controlling in because a variety of causes when making the size of the size of presumed value of wheel torque or the torque value of deviation in driction practical function on wheel or direction, suitably correction wheel torque presumed value.

According to one in the each side of wheel torque estimating device of the present invention, a kind of device is inferred the wheel that acts on vehicle and the wheel torque between the road surface, it is characterized in that comprising: part is inferred in torque, and it infers the wheel torque presumed value that is produced on wheel and the ground-surface ground contact position; Slip state amount calculating section, it calculates the wheelslip quantity of state of the slippage situation of the described wheel of expression; And the wheel torque correction portion, it proofreaies and correct described wheel torque presumed value, makes that the absolute value of described wheel torque presumed value becomes more little along with the slippage degree that is shown by described wheelslip quantity of state is big more.To this, in this specification sheets, what " slip state of wheel or situation " was illustrated in that wheel during the travelling of vehicle is applied to that power on the road surface surpasses wheel (or tire) grabs ground boundary (maximum friction circle), thereby on the road surface " slippage ", and " slippage degree " corresponding to the size of the friction force between wheel surface under slip state and the road surface (when between wheel surface and the road surface relative slippage taking place, along with friction force reduces, it is big that the slippage between wheel surface and the road surface becomes).Though the wheel torque presumed value depends on the mode of inferring, normally calculate based on the attached prerequisite of grabbing on the road surface of wheel.But if wheel enters slip state, it is invalid that described prerequisite becomes, and the precision of wheel torque presumed value is with variation.Therefore, in wheel torque estimating device of the present invention, calculate " the wheelslip quantity of state " of the slippage situation of expression wheel, and, along with the slippage degree that has the wheelslip quantity of state to represent becomes big, the wheel torque presumed value is proofreaied and correct to making its absolute value diminish.Infer the wheel torque presumed value based on the attached prerequisite of grabbing on the road surface of wheel, still, if wheelslip, the power or the torque that then are passed to wheel from the road surface will reduce.Thereby, when wheel is in this slip state, the wheel torque presumed value is proofreaied and correct to littler, thus, estimate that the wheel torque presumed value will become more near actual value.

Should be appreciated that " the wheelslip quantity of state " for the slippage situation of representing wheel just can adopt any amount, as long as this amount can be as detecting on the wheel from grabbing the desired value of ground state to the transition of slip state.For example, slip rate of wheel (slip ratio) or slippage can be used as the wheelslip quantity of state (though used word " slippage " in these terms than (ratio ofslippage), but, in the case, no matter whether tire grabs invests the road surface, gap between " slippage " expression speed of a motor vehicle and the wheel speed (by the value of acquisition that the rotating speed of wheel and radius of wheel are multiplied each other)), therefore, implication that should " slippage " was with before described " slip state " middle wheel situation of slippage on the road surface was different.But preferably, for example, between the driver stage of vehicle, the ratio of the wheel speed of the wheel speed of the drive wheel of vehicle and flower wheel (idle pulley) can be used as the wheelslip quantity of state (when the acceleration of vehicle, no matter whether drive wheel is in the ground state of grabbing, the wheel speed of flower wheel is and the corresponding value of the speed of a motor vehicle that still, the wheel speed of drive wheel when entering slip state is no longer corresponding to the speed of a motor vehicle).

In above-mentioned wheel torque estimating device, though can carry out inferring of wheel torque presumed value by any processing usually, but explain in the embodiments of the invention as described later, can infer based on the detected wheel speed of the wheel speed sensors of the wheel that utilizes vehicle (or vehicle wheel rotational speed).In the case, between the driver stage of vehicle, the wheel torque presumed value can be calculated as the function of differential value of the wheel speed of drive wheel.

In aspect another of wheel torque estimating device, the inventive system comprises: part is inferred in torque, and it is based on inferring wheel torque by the detected wheel speed of the wheel speed sensors of wheel; And the wheel torque correction portion, it is proofreaied and correct the wheel torque presumed value when vehicle rollback travels is negative value.As above briefly touch upon, when inferring the wheel torque presumed value based on the wheel speed that is provided by wheel speed sensors, major part is installed in the hand of rotation that wheel speed sensors (except some high end sensors) on the vehicle of common batch manufacturing can not detect wheel.Therefore, in using the control of wheel torque as its input, if directly use the wheel torque presumed value of inferring from wheel speed sensors, then following situation will take place: when wheel rotates (rotation) backward during vehicle rollback travels, the contribution of wheel torque will reflect in the opposite direction.Thereby, for among the present invention to one of aspect of the correction of wheel torque presumed value, when wheel rotation backward as mentioned above (can be or the switch that is used to change the gear of vehicle judges that retreating of vehicle travelled or the rotation backward of wheel), the wheel torque presumed value proofreaied and correct be negative value (keeping its size simultaneously) with the position of gear-shift lever.About this, should be appreciated that, preferably, can carry out the correction that the wheel torque presumed value is become negative value with the correction of carrying out based on the wheelslip amount.

In the present invention, as mentioned above it is carried out the driving torque that the wheel torque presumed value that retreats the correction of travelling based on the correction of wheelslip amount and/or vehicle especially is advantageously used in by control vehicle and suppressed the pitching of vehicle or the damping control device of the vehicle of the vibration of beating.Therefore, in aspect of damping control device of the present invention, the damping control device of vehicle comprises: the wheel torque presumed value obtains part, and it obtains to produce and act on the wheel torque presumed value on the described wheel on the wheel of vehicle and ground-surface ground contact position; And the driving torque control part, it controls the driving torque of described vehicle based on described wheel torque presumed value, to suppress the pitching or the vibration amplitude of beating; The slip state amount acquisition part of the wheelslip quantity of state of the slippage situation that obtains the described wheel of expression wherein, is set; Along with the slippage degree of being represented by described wheelslip quantity of state is big more, the absolute value of described wheel torque presumed value or the controlling quantity of described driving torque are corrected as more little; And the driving torque of coming control vehicle at the wheel torque presumed value after proofreading and correct.In addition, for optional aspect, in this Vehicle damper that has wheel torque presumed value acquisition partial sum driving torque control part is as mentioned above controlled, based on inferring under the situation of wheel torque with the detected wheel speed of the wheel speed sensors of wheel, can be during retreating of vehicle travelled will obtain that wheel torque presumed value that part obtains proofreaies and correct by the wheel torque presumed value be negative value, and the driving torque that can come control vehicle at the wheel torque presumed value after proofreading and correct.About this, above-mentioned damping control device can use the wheel torque presumed value that is produced by the device except that damping control device, and it is same, the device of torque estimating device or generation wheel torque presumed value can be based upon the inside of damping control device, and can proofread and correct the presumed value of its generation.

For example, as being explained in more detail among the following embodiment of the present invention, driving torque by control vehicle suppresses the pitching of vehicle or the above-mentioned Vehicle damper control setup of the vibration of beating can be as lower device: its based on wheel torque is considered as comprise the pitching of vehicle body or the situation of the external force of the vibration of beating under the dynam kinematic model set for the sprung weight vibration or the unsprung weight vibration of vehicle body, regulate the wheel torque (being driving torque) of vehicle, to reduce the amplitude of sprung weight vibration and/or unsprung weight vibration.The wheel torque presumed value wherein will be with the mode correction wheel torque presumed value identical with above-mentioned wheel torque estimating device when wheel is in slip state or rotates backward as feedback in this vibration damping control or disturbance input.It will be appreciated that as explanation from above-mentioned wheel torque estimating device, by be at wheel slip state or backward during the rotation to the correction of wheel torque presumed value, according to expection, the wheel torque presumed value that is used for damping control device will become aspect its size and/or the direction more near the actual wheel torque, therefore, even in the time can not realizing well the inferring of wheel torque, also expection can realize favorable damping control.About this, should be appreciated that the technical conceive that is used for correction wheel torque presumed value among the present invention can be applied to damping control device except above-mentioned damping control device, that use the wheel torque presumed value, and these situations also within the scope of the invention.

Of the present invention above-mentioned aspect in the damping control device carried out of driving torque control by vehicle, be based in the wheel torque presumed value under the situation of the value of inferring with the detected wheel speed of wheel speed sensors of the drive wheel of vehicle, if wheel speed sensors is not normally worked, then the wheel torque presumed value can be proofreaied and correct and be value based on the estimating rotation speed of the output shaft of the actuating device of vehicle.In theory, the rotating speed of the output shaft of the actuating device of wheel speed and vehicle be relative to each other (if wheel speed is owing to some factor changes, then " rotating speed " of the output shaft of actuating device should also change).Therefore, in wheel speed sensors, occur unusual, and can not be with enough accuracy detection wheel speed the time, relation between the rotating speed of the output shaft of the actuating device by wheel speed and vehicle, rotating speed based on the output shaft of actuating device obtains the wheel torque presumed value, thus, vibration damping control can also take place to carry out when unusual in wheel speed sensors.

In addition, in above-mentioned damping control device,, the control of the driving torque of carrying out based on the wheel torque presumed value is stopped even under being judged as situation about carrying out, can not carry out favorable damping control the time to the correction of wheel torque presumed value.In addition, the effect of vibration damping control is the operation stability for vehicle, and the raising of ride comfort, therefore, if do not need to carry out vibration damping control when wheel is in slip state during retreating of vehicle travelled and/or when taking place in the wheel speed sensors to be judged as when unusual, the control based on the driving torque of wheel torque presumed value is stopped.Particularly, this device can be suitable for being in slip state and the slippage degree represented by the wheelslip quantity of state stops control to driving torque based on the wheel torque presumed value during greater than predetermined extent when wheel.According to this structure, will avoid because inappropriate torque value is input to the generation that causes amplification of vibrations in the vibration damping control.

Incidentally, in recent years, in the vehicle such as automobile, the control setup of the brake system of control vehicle is installed, for example, the control setup (after this, being called " braking force control system ") of VSC, TRC, VDIM, ABS etc.These braking force control systems calculate " the wheelslip quantity of state " of the slippage situation of representing wheel as mentioned above, and based on computing value, carry out control according to each control and treatment, for example are used to reduce the control of the slip rate of vehicle.Therefore, damping control device of the present invention can be suitable for using as mentioned above " the wheelslip quantity of state " that is calculated by braking force control system, thereby provides simplification or efficient aspect the control structure on a vehicle to improve (avoiding the duplicate measurements or the calculating of same observed reading, control variable etc.).But, in the case, because under certain former thereby out-of-run situation, the information relevant with the slippage degree of wheel can not be input to damping control device, can not carry out vibration damping control thus suitably based on the wheel torque presumed value at braking force control system.As has been described, when wheel is in slip state, becomes based on the wheel torque presumed value of wheel speed and to surpass the actual torque that on wheel, produces.Therefore, if be in slip state at wheel but can not judge under the situation of slip state and carry out driving torque control based on this wheel torque presumed value, then not only effectiveness in vibration suppression weakens, and the longitudinal vibration of vehicle also can strengthen owing to the great fluctuation process of crossing of driving torque.The purpose of the operation stability of the raising vehicle of expection and ride comfort is opposite in the control of this situation and vibration damping.

Therefore, in another aspect of this invention, a kind of damping control device, the control of execution vibration damping, wherein the driving output control by vehicle suppresses the pitching of described vehicle body or the vibration of beating, this damping control device comprises: the wheel torque presumed value obtains part, and it obtains to produce and act on the wheel torque presumed value on the described wheel on the wheel of described vehicle and ground-surface ground contact position; The driving torque control part, it controls the driving torque of described vehicle based on described wheel torque presumed value, to suppress the pitching or the vibration amplitude of beating; And the slip state amount obtains part, and its described vehicle braked control setup from the slippage that is used to reduce described wheel obtains the wheelslip quantity of state of the slippage situation of the described wheel of expression; Wherein based on the slippage degree that shows by described wheelslip quantity of state, proofread and correct the controlling quantity of described driving torque, and with when described braking force control system can be worked, compare, when described braking force control system can not be worked, reduce the described controlling quantity of described driving torque.

According to said structure, the damping control device of the wheelslip quantity of state of the slippage situation that obtains the expression wheel from the vehicle braked control setup, when braking force control system can not be worked or when its work is under an embargo, promptly, in the time can not monitoring the slippage situation, with when braking force control system can be worked, compare, reduce the controlling quantity of driving torque, thereby will avoid when wheel enters slip state because the disadvantageous generation that the work of damping control device causes.

In addition, aspect above-mentioned, particularly, based on the wheel torque presumed value with require drive amount (for example from the chaufeur of vehicle, based on pressing down of acceleration pedal) come to determine under the situation of controlling quantity of the driving torque that provides by the driving torque control part, if braking force control system can not be worked, then the controlling quantity based on the driving torque of wheel torque presumed value can be reduced to 0 in fact.Thus, the situation that can not detect wheel and can not situation with enough accuracy computation wheel torque presumed value under, stop in fact at the vibration damping control of disturbance, and will suppress any disadvantageous generation that the work owing to damping control device causes.On the other hand, for based on the vibration damping control (corresponding to " controlled reset " in following examples) that requires drive amount to carry out, because its controlling quantity does not depend on the precision of wheel torque presumed value, so this control can be carried out from the chaufeur of vehicle.But, when the tire of wheel is in slip state, wheel is not carried out the control of good driving torque, can carry out reducing or control stopping of execution of controlling quantity thus.

In said structure, braking force control system can be can optionally carry out by the chaufeur of vehicle work, from the group that forms by ABS control, VSC and TRC, select at least a.With when braking force control system can be worked, compare, when the selection according to chaufeur causes braking force control system to work, reduce the controlling quantity of driving torque.In addition, so-called VDIM is equipped with (promptly at vehicle, the device behavior stability of integrated control vehicle, that comprise ABS control, VSC and TRC) under the situation, braking force control system can be the part of VDIM, and when the selection according to chaufeur causes VDIM to work, reduce the controlling quantity of driving torque.In these cases, when reducing the controlling quantity of driving torque, control and to stop in fact based on the vibration damping of wheel torque presumed value.

In addition, also aspect above-mentioned in, and when braking force control system can be worked, compare, when because unusual when causing braking force control system to work in the brake equipment, the situation of wheel becomes and can not detect, and can reduce the controlling quantity of driving torque thus.Equally, in the case, when reducing the controlling quantity of driving torque, control and to stop in fact based on the vibration damping of wheel torque presumed value.

Generally speaking, according to the present invention, even in the time can not carrying out well the inferring of wheel torque, also can obtain near the presumed value the actual wheel torque value, expection will be carried out the vibration damping control of vehicle more well than the past thus.In addition, should be appreciated that, as advantage of the present invention, promptly, even the past need be provided with any device such as torque sensor in order to be in slip state at wheel or also to obtain wheel torque when rotating backward on wheel, but according to the present invention, under the situation that does not have this sensor, can obtain employed wheel torque value in to the control of the travelling of vehicle, motion, braking and drive force or vibration damping.Because do not need specially to prepare the torque sensing apparatus for obtaining the wheel torque value, thus the cost that will reduce vehicle or control setup also/or be reduced to the work of its design.

In addition, for above-mentioned aspect of the present invention, be suitable for using at damping control device of the present invention under the situation of the wheelslip quantity of state that calculates by braking force control system, and when can working, braking force control system compares, when braking force control system can not be worked, reduce the controlling quantity of driving torque.According to this structure, the disadvantageous generation that can avoid under the situation that braking force control system can not be worked the work by damping control device to cause.Therefore particularly, on vehicle in recent years, the integrated ride control such as VDIM can be used to carry out various controls, for the cost that reduces vehicle with make manpower and alleviate burden between the vehicle used life, needs designs simplification and efficient to improve.Can think that be installed under the situation on the vehicle in this a plurality of control structures, structure of the present invention has prevented the generation of the improper work of not expecting of damping control device.

In the explanation of following the preferred embodiments of the present invention, other purposes of the present invention and advantage will become clear.

Description of drawings

Fig. 1 (A) shows the scheme drawing of automobile, has realized the preferred embodiment according to damping control device of the present invention in this automobile.Fig. 1 (B) is the more detailed maps of inner structure of the electronic control package of Fig. 1 (A).

Fig. 2 (A) is the figure that explains the state variable of the body vibrations that will suppress in the damping control device of a preferred embodiment of the present invention.Fig. 2 (B) is the figure that the form with the control block diagram illustrates the structure in the vibration damping control in the preferred embodiments of the present invention.

Fig. 3 is the figure that explains the dynam kinematic model of the body vibrations of supposing in the damping control device of the preferred embodiments of the present invention.Fig. 3 (A) shows the sprung weight model of vibration, and Fig. 3 (B) shows sprung weight and unsprung weight model of vibration.

Fig. 4 shows contrast figure with coefficient of correction κ slip at the form of the diagram of curves of the wheel torque presumed value that changes according to the wheelslip quantity of state.

Fig. 5 is the figure that the structure of wheel torque estimator is shown with the form of control block diagram.The structure of C6a-C6e can be constructed separately with driving control device or braking force control system.

The specific embodiment

Below with reference to accompanying drawing, explain the present invention in detail at several preferred embodiments.In the accompanying drawings, same reference numerals is represented same section.

The structure of device

Fig. 1 (A) schematically shows the vehicle such as automobile, and the preferred embodiment of damping control device of the present invention wherein has been installed.In this figure, in vehicle 10 with left and right sides front-wheel 12FL and 12FR and left and right sides trailing wheel 12RL and 12RR, actuating device 20 is installed, and actuating device 20 is produced propulsive effort or driving torque with common mode basis in trailing wheel by chaufeur press down accelerator pedal 14.In the example shown, actuating device 20 is made driving torque or rotary driving force be passed to trailing wheel 12RL and 12RR from driving engine 22 by tor-con 24, automatic transmission with hydraulic torque converter 26, differential gear 28 etc. by the structure conduct.But, replacing driving engine 22, actuating device can be to use the electrodynamic type of electrical motor or have driving engine and the hybrid power formula of electrical motor.In addition, vehicle can be 4Wdvehicle or f-w-d vehicle.About this, though purpose does not for the sake of simplicity make an explanation, as conventional vehicle, this vehicle set has the steering hardware that produces the brake equipment of braking force and be used to control the deflection angle of front-wheel or front and back wheel on each wheel.

Work by electronic control package 50 accessory drives 20.Electronic control package 50 can comprise the microcomputer and the driving circuit of general type, and it has and utilizes two-way versabus CPU connected to one another, ROM, RAM and input/output port apparatus.Input in the electronic control package 50 is following signal: from the wheel speed sensors 30i (i=FL, FR, RL, RR) expression wheel speed Vwi (i=FL, FR, RL, signal RR) that are installed in each wheel; From the signal of the sensor on the various piece that is arranged on vehicle, volume under pressure θ a of engine speed ne, change-speed box rotation speed n o, acceleration pedal etc. for example.About this, should be appreciated that, except above signal, can import various detection signals, with the required parameter of various controls that is used for obtaining carrying out at the vehicle of this embodiment.Illustrate schematically in more detail as Fig. 1 (B), electronic control package 50 can be constructed to comprise driving control device 50a and braking force control system 50b, the work of driving control device 50a accessory drive 20, the work of braking force control system 50b control brake device (not shown).

Braking force control system 50b can be a device of carrying out the known control of braking of those skilled in the art (for example ABS control, VSC and TRC), promptly, its friction force that suppresses between wheel and the road surface becomes beyond the mark, and/or longitudinal force on the control wheel or slip rate surpass the behavior deterioration of the vehicle that its boundary causes to avoid friction force by wheel.Perhaps, braking force control system can be the part of VDIM, comprises that the wheel slip control that turns to control etc. and comprise ABS control, VSC and TRC is so that the vehicle behavior is stable.As shown in the figure, the electric signal of the impulse form that produces in proper order when the rotation of each scheduled volume in each wheel inputs to this braking force control system from the wheel speed sensors of each wheel 30FR, FL, RR and RL; And, the rotating speed of wheel and corresponding wheel radius calculate wheel speed value r ω by being multiplied each other.In addition, as hereinafter describing in detail, for the calculating of wheel torque presumed value, in braking force control system 50b, whether the tire that can carry out wheel is in the judgement of slip state, and calculates " wheelslip quantity of state " (desired value of expression slippage degree) when wheel is in slip state.Wheel speed value r ω and wheelslip quantity of state are passed to driving control device 50a, to be used to calculate the wheel torque presumed value.About this, can in driving control device 50a, carry out the calculating from the vehicle wheel rotational speed to the wheel speed.In the case, from braking force control system 50b vehicle wheel rotational speed is sent to driving control device 50a.

Aforesaid such as ABS control and VSC, TRC control of braking or the control of carrying out by VDIM (it can be provided with respectively for each executable control by ON-OFF switch 52, but only show one for simple and clear purpose among the figure) optionally become the state that can work, ON-OFF switch 52 is arranged on by the palp position of the chaufeur of vehicle (for example, the optional position on the front panel of chaufeur vehicle seat).Therefore,, these control of brakings only can be worked during for ON at switch 52, and can not work during for OFF at switch 52 according to the intention of chaufeur.In addition, though not shown, under the situation of the operation irregularity of brake equipment or under the unusual situation of wheel speed sensors, with the known mode of those skilled in the art detect control of braking become impossible, and in this case, forbid the work of above-mentioned braking force control system.Then, when the work of braking force control system becomes when being under an embargo, also no longer carry out the calculating of wheelslip amount.Thereby as described below in this case, the vibration damping control of being carried out based on the wheel torque presumed value by damping control device can stop.For this reason, expression is controlled each signal that whether can work of various controls of slip rate of wheel and wheel speed value and wheelslip quantity of state being used to such as VSC, ABS or TRC and is sent to driving control device 50a from braking force control system 50b.

In addition, as explained below, can adopt device of the present invention, only make that when actual just permission is based on the correction of the degree execution wheel torque presumed value of the slippage situation of wheel when carrying out the control of VSC, ABS or TRC.In this case, expression is controlled information and the above-mentioned a series of signal whether execution of each control of the slip rate of wheel exist being used to such as VSC, ABS or TRC and is sent to driving control device 50a from braking force control system 50b.In addition, anyly feasiblely can not obtain wheel speed value unusually if in wheel speed sensors, take place, then need to change the mode of inferring of wheel torque presumed value, and therefore, the unavailable disarmed state information of expression wheel speed value can be sent to driving control device 50a from braking force control system 50b.

In driving control device 50a, determine by driver requested target output torque (requiring driving torque) for actuating device based on the volume under pressure θ a of acceleration pedal.But, in driving control device of the present invention, to requiring driving torque to proofread and correct, carrying out the control of controlling the pitching that suppresses (decay) vehicle body/beat by driving torque, and be sent to actuating device 20 with the corresponding control command of torque that requires of such correction.In this pitching/vibration damping of beating control, carry out the calculating of presumed value of the wheel torque of one or more drive wheels that (1) caused by the opposing road surface power on the drive wheel that acts on; (2) calculating of the quantity of state of the pitching/vibration of beating carried out of the kinematic model by body vibrations; And (3) be used to suppress the calculating for the correcting value of wheel torque of the pitching/vibrational state amount of beating, and based on its carry out to requiring the correction of torque.Can calculate wheel torque presumed value (1) based on the wheel speed value (or vehicle wheel rotational speed of drive wheel) of the drive wheel that receives from braking force control system 50b or engine speed ne.About this, should be appreciated that damping control device of the present invention is realized with the work of treatment of (1)-(3), and wheel torque estimating device of the present invention is with the work of treatment realization of (1).

Execution is used to make the structure of driving torque control of the control of the pitching of the vehicle body/decay of beating

In vehicle, when actuating device based on the driving demand work of chaufeur and when the fluctuation of wheel torque occurring, in the vehicle body 10 shown in Fig. 2 (A), appear at the vibration and of beating on the vertical direction (z direction) of the barycenter Cg of vehicle body at the pitch vibration on the pitch orientation (θ direction) of the barycenter of vehicle body.In addition, when external force during the vehicle ' or torque (disturbance) acted on the wheel from the road surface, disturbance can be passed to vehicle, and the vibration of also can occur beating in vehicle body direction and pitch orientation.Then, in the embodiment shown, constructed the pitching of vehicle body and the kinematic model of the vibration of beating, wherein the displacement z when vehicle body when the presumed value that requires wheel torque value that driving torque is converted to and current wheel torque is transfused to this model and θ and their change rate dz/dt and d θ/dt (, the state variable of body vibrations) are calculated; Then, regulate the driving torque (proofreading and correct) of actuating device, make the state variable that obtains from this model will converge to 0, that is, suppress the pitching/vibration of beating requiring driving torque.

Fig. 2 (B) schematically shows the structure (about this, the work of each controller chassis (except C0 and C3) is by any one execution of driving control device 50a in the electronic control package 50 and braking force control system 50b) of driving torque control in the embodiments of the invention with the form of control block diagram.With reference to figure 2 (B), usually, in the driving torque control of embodiments of the invention, be provided with driving governor and vibration damping controller, driving governor is sent to vehicle with the driving demand of chaufeur, the vibration damping controller be used to proofread and correct chaufeur go can demand, make the pitching/vibration of beating that can suppress vehicle body.In driving governor, after the driving demand of chaufeur, the volume under pressure (C0) that promptly will speed up pedal in due form is converted to and requires driving torque (C1) afterwards, will require driving torque to be converted to control command (C2) for actuating device, and it then is transferred into actuating device (C3).(control command will be target throttle valve for engine petrol; To target fuel injection amount for diesel motor; To the target current amount for electrical motor, or the like.)

On the other hand, the vibration damping controller comprises feed forward control partial sum controlled reset part.Feed forward control partly has the structure of so-called optimal regulator (Optimal Regulator), wherein as explained below, the wheel torque value (by driver requested wheel torque Tw0) that requires driving torque to be converted to from C1 is input to the pitching of vehicle body and the kinematic model part (C4) of the vibration of beating; In described kinematic model part (C4), calculate response for the input torque in the state variable of vehicle body; And calculating is used to make state variable to converge to the correcting value that requires the drive wheels torque (C5) of its minimum value.In addition, in the controlled reset part, as hereinafter explaining, in wheel torque estimator (C6), calculate wheel torque presumed value Tw, and will and feedback control gain FB (being used for the wheel torque presumed value of adjusting motion model after multiplying each other from the gain that requires the partition equilibrium between wheel torque Tw0 and the wheel torque presumed value Tw of chaufeur-C7) imports as disturbance, with require the wheel torque addition in, be imported in the kinematic model part (C4), thus, also calculated and required the correction component of wheel torque for disturbance.The correcting value for requiring wheel torque of C5 is converted into the unit that requires torque for actuating device, and be passed to adder (C1a), thus, make the driving torque that requires pitching can not occur and to beat be converted into control command (C2) being corrected, and be sent to actuating device (C3).

The principle of vibration damping control

Have been noted that, in the vibration damping control of embodiments of the invention, at first, assumed vehicle body its beat and pitch orientation on the dynam kinematic model, the equation of state of the state variable on the direction of wherein beating and the pitch orientation is built as and makes and to require wheel torque Tw0 and wheel torque presumed value Tw (disturbance) as input from chaufeur.Then, equation of state by using the theory of optimal regulator, is determined to make the state variable on beat direction and the pitch orientation converge to 0 input (torque value) thus, and based on the torque value that obtains, the alignment requirements driving torque.

Dynam kinematic model for beat direction and pitch orientation, for example, shown in Fig. 3 (A), vehicle body is considered as having the rigid body S of mass M and moment of inertia I, and supposition rigid body S is that kf and extinguishing coefficient are that the front wheel suspension of cf and coefficient of elasticity are that kr and extinguishing coefficient are that the rear wheel suspension of cr supports (the sprung weight model of vehicle body) by coefficient of elasticity.In the case, the equation of motion on the beat direction and the pitch orientation of the barycenter of vehicle body can be by following (1a) and the The Representation Equation (1b):

$M\frac{d^{2}z}{d{t}^2}=-\mathrm{kf}(z+\mathrm{Lf}\·\mathrm{\θ})-\mathrm{cf}(\frac{\mathrm{dz}}{\mathrm{dt}}+\mathrm{Lf}\·\frac{\mathrm{d\θ}}{\mathrm{dt}})-\mathrm{kr}(z-\mathrm{Lr}\·\mathrm{\θ})-\mathrm{cr}(\frac{\mathrm{dz}}{\mathrm{dt}}-\mathrm{Lr}\·\frac{\mathrm{d\θ}}{\mathrm{dt}})...\left(1a\right)$

$I\frac{d^2\mathrm{\θ}}{d{t}^2}=-\mathrm{Lf}\{\mathrm{kf}(z+\mathrm{Lf}\·\mathrm{\θ})-\mathrm{cf}(\frac{\mathrm{dz}}{\mathrm{dt}}+\mathrm{Lf}\·\frac{\mathrm{d\θ}}{\mathrm{dt}})\}+\mathrm{Lr}\{\mathrm{kr}(z-\mathrm{Lr}\·\mathrm{\θ})+\mathrm{cr}(\frac{\mathrm{dz}}{\mathrm{dt}}-\mathrm{Lr}\·\frac{\mathrm{d\θ}}{\mathrm{dt}})+\frac{h}{r}\·T...\left(1b\right)$

Wherein Lf and Lr are respectively the distance of barycenter to front wheel spindle and hind axle; R is a radius of wheel; H is that barycenter is apart from the ground-surface height.About this, in expression formula (1a), first and second is the force component from front wheel spindle, third and fourth is the force component from hind axle, and in expression formula (1b), first is the moment components from front wheel spindle, and second is the moment components from hind axle.In the expression formula (1b) the 3rd is by the wheel torque T that produces in the drive wheel (=moment components that Tw0+Tw) applies around the barycenter of vehicle body.

Above-mentioned equation (1a) and (1b) can be rewritten as the form of (linear system) equation of state under the situation that the displacement z in the vehicle body and θ and change rate dz/dt thereof and d θ/dt is considered as state variable vector X (t) is as following equation (2a)

dX(t)/dt＝A·X(t)+B·u(t) ...(2a)，

Wherein X (t), A and B each be respectively

$X\left(t\right)=\left(\begin{array}{c}z\\ \mathrm{dz}/\mathrm{dt}\\ \mathrm{\θ}\\ \mathrm{d\θ}/\mathrm{dt}\end{array}\right),$ $A=\left(\begin{array}{cccc}0& 1& 0& 0\\ a1& a2& a3& a4\\ 0& 0& 0& 1\\ b1& b2& b3& b4\end{array}\right),$ $B=\left(\begin{array}{c}0\\ 0\\ 0\\ p1\end{array}\right)$

By coefficient z, θ among expression formula (1a), (1b), dz/dt and d θ/dt being summarized each component a1-a4 and the b1-b4 that obtains in the matrix A:

a1＝-(kf+kr)/M；a2＝-(cf+cr)/M；

a3＝-(kf·Lf-kr·Lr)/M；a4＝-(cf·Lf-cr·Lr)/M；

b1＝-(Lf·kf-Lr·kr)/I；b2＝-(Lf·cf-Lr·cr)/I；

b3＝-(Lf ²·kf+Lr ²·kr)/I；b4＝-(Lf ²·cf+Lr ²·cr)/I。

In addition, u (t) is:

u(t)＝T，

This is system's input of being expressed by equation of state (2a).Therefore according to expression formula (1b), the component p1 of matrix B is:

p1＝h/(I·r)。

In equation of state (2a), if input

u(t)＝-K·X(t) ...(2b)，

Then equation of state (2a) will become

dX(t)/dt＝(A-BK)·X(t) ...(2c)。

Therefore, when being set to X0 (t)=(0 at the initial value X0 of X (t) (t), 0,0, when finding the solution the differential equation (2c) of state variable vector X (t) when 0) (supposing before the torque input and not having vibration), will by determine to make X (t) (that is, displacement and change rate in time thereof) beat and pitch orientation on size converge to 0 gain K, determine pitching and beat and vibrate the torque value u (t) that suppresses.

Can use the principle of so-called optimal regulator to determine gain K.According to this principle, known evaluation function when quadric form:

J＝1/2·(∫X ^TQX+u ^TRu)dt ...(3a)

(wherein the scope of integration is to ∞ from 0.)

When becoming minimum value, X (t) stable convergence in equation of state (2a), and the matrix K that makes evaluation function J reach its minimum value can be provided by following formula:

K＝R ^-1·B ^T·P，

Wherein P is separating of Riccati equation (Riccati equiation):

-dP/dt＝A ^TP+PA+Q-PBR ^-1B ^TP。

Can come Riccati equation is found the solution by any processing in linear system field, therefore will determine the K that gains.

Q in evaluation function J and the Riccati equation and R are respectively positive semidefinite symmetric matrix or the positive definite symmetric matrices that can at random be set up, and they are weight matrix for the treatment of among the evaluation function J that the designer by system determines.For example, under the situation of the kinematic model of Kao Lving, Q and R can be established as respectively herein

$Q=\left(\begin{array}{cccc}1& 0& 0& 0\\ 0& {10}^3& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& {10}^2\end{array}\right),R=\left(1\right)$

And, in expression formula (3a), if (for example, the norm (size) of dz/dt, d θ/dt) is set to (for example z, the θ) norm greater than other components, and then its norm is set to the convergence more stably of bigger component in the component of state vector specific one.In addition, by Q component is set higher value, the instantaneity in the system will be considered greatly, promptly, the value of state vector will more promptly converge to stationary value, and by R is set higher value, will reduce the energy consumption (consumption energy) in the system.

In the real work of damping control device, shown in the block diagram of Fig. 2 (B),, come rated condition variable vector X (t) by in kinematic model C4, using the differential equation of torque input value to equation (2a).Then, by (promptly with state variable vector X (t), output from kinematic model C4) with as mentioned above for make the vectorial X of state variable (t) converge to 0 or the definite gain K of its minimum value multiply each other, come acquisition value U (t) in C5, and in adder (C1a), from requiring driving torque to deduct value U (t) (value U (t) can also feed back to the torque input value of kinematic model C4, with the computing (feedback of status) that is used for kinematic model C4) after the torque unit that is converted into actuating device.By expression formula (1a) and the system of (2a) expressing be resonator system, therefore, for any input, the value of state variable vector is that the resonance frequency with system is the frequency component of the frequency band with specific frequency spectrum characteristic at center basically.Therefore, by wherein from requiring driving torque to deduct the structure of U (t) (its conversion after value), the component of the resonance frequency of system in requiring driving torque (that is, causing the component of pitching in the vehicle body-vibration of beating) is corrected the feasible pitching-vibration of beating that will suppress in the vehicle body.And, when occurring the Tw (disturbance) that transmits from the wheel torque estimator causing the fluctuation of the pitching-vibration of beating, with-U (t) torque-demand that requires that will input in the actuating device is proofreaied and correct, made because the vibration that Tw (disturbance) causes will restrain.

Resonance frequency on the pitching of vehicle and the direction of beating is about 1-2Hz for conventional automobile for example, and level for the vibration velocity in this frequency band, according to the control response speed of wheel torque in this vehicle for demand, can detect the torque disturbance in the wheel, and make compensation rate (correcting value) U be reflected in the driving torque of wheel disturbance rejection.Therefore, by the correction that requires driving torque being changed from the driving torque of actuating device output, can offset and on wheel, produce and can cause pitching-the beat perturbing torque of vibration and by its pitching that the causes-vibration of beating by vibration damping control.

About this, as vehicle body beat and pitch orientation on the dynam kinematic model, for example, shown in Fig. 3 (B), can adopt wherein the elasticity of the tire of front-wheel and trailing wheel and the model (sprung weight of vehicle body and unsprung weight model of vibration) of the structure shown in Fig. 3 (A).Shown in Fig. 3 (B), when the tire of front-wheel and trailing wheel has coefficient of elasticity ktf and ktr respectively, represent by following formula (4) for the equation of motion and the equation of motion on pitch orientation of barycenter on the spring direction of vehicle body:

$M\frac{d^{2}z}{d{t}^2}=-\mathrm{kf}(z+\mathrm{Lf}\·\mathrm{\θ}-\mathrm{xf})-\mathrm{cf}(\frac{\mathrm{dz}}{\mathrm{dt}}+\mathrm{Lf}\·\frac{\mathrm{d\θ}}{\mathrm{dt}}-\frac{\mathrm{dxf}}{\mathrm{dt}})$

$-\mathrm{kr}(z-\mathrm{Lr}\·\mathrm{\θ}-\mathrm{xr})-\mathrm{cr}(\frac{\mathrm{dz}}{\mathrm{dt}}-\mathrm{Lr}\·\frac{\mathrm{d\θ}}{\mathrm{dt}}-\frac{\mathrm{dxr}}{\mathrm{dt}})...\left(4a\right)$

$I\frac{d^2\mathrm{\θ}}{d{t}^2}=-\mathrm{Lf}\{\mathrm{kf}(z+\mathrm{Lf}\·\mathrm{\θ}-\mathrm{xf})-\mathrm{cf}(\frac{\mathrm{dz}}{\mathrm{dt}}+\mathrm{Lf}\·\frac{\mathrm{d\θ}}{\mathrm{dt}}-\frac{\mathrm{dxf}}{\mathrm{dt}})\}$

$-\mathrm{Lr}\{\mathrm{kr}(z-\mathrm{Lr}\·\mathrm{\θ}-\mathrm{xr})-\mathrm{cr}(\frac{\mathrm{dz}}{\mathrm{dt}}-\mathrm{Lr}\·\frac{\mathrm{d\θ}}{\mathrm{dt}}-\frac{\mathrm{dxr}}{\mathrm{dt}})\}+\frac{h}{r}\·T...\left(4b\right)$

$\mathrm{mf}\frac{d^2\mathrm{xf}}{d{t}^2}=\mathrm{kf}(z+\mathrm{Lf}\·\mathrm{\θ}-\mathrm{xf})-\mathrm{cf}(\frac{\mathrm{dz}}{\mathrm{dt}}+\mathrm{Lf}\·\frac{\mathrm{d\θ}}{\mathrm{dt}}-\frac{\mathrm{dxf}}{\mathrm{dt}})+\mathrm{ktf}\·\mathrm{xf}...\left(4c\right)$

$\mathrm{mr}\frac{d^2\mathrm{xr}}{d{t}^2}=\mathrm{kr}(z-\mathrm{Lr}\·\mathrm{\θ}-\mathrm{xr})+\mathrm{cr}(\frac{\mathrm{dz}}{\mathrm{dt}}-\mathrm{Lr}\·\frac{\mathrm{d\θ}}{\mathrm{dt}}-\frac{\mathrm{dxr}}{\mathrm{dt}})+\mathrm{ktr}\·\mathrm{xr}...\left(4d\right)$

Wherein xf and xr each be respectively the displacement of the unsprung weight of front-wheel and trailing wheel, and mf and mr each be respectively the unsprung weight of front-wheel and trailing wheel.Similar to the situation of Fig. 3 (A), expression formula (4a)-(4d) has constituted equation of state, wherein z, θ, xf, xr and their time diffusion value are used in the state variable vector as expression formula 2 (a) (still, matrix A becomes eight row, eight row, matrix B becomes eight row, one row), and, can determine to make the size of state variable vector to converge to 0 gain matrix K according to the principle of optimal regulator.Similarly carry out actual vibration damping control with the situation of Fig. 3 (A).

The calculating of wheel torque presumed value

In the controlled reset part of the vibration damping controller of Fig. 2 (B), though desirable situation is will be input to wheel torque in the controlled reset part as disturbance with the torque sensor actual detected that is installed in each wheel place, but as has been described, be difficult on each wheel of common vehicle, torque sensor is set, therefore, adopt and to utilize wheel torque estimator C6 other are worth and infer the wheel torque presumed value Tw that obtains arbitrarily according to can be in the vehicle that travels detected.Fig. 5 shows structure and the work of wheel torque estimator C6 with the form of control block diagram.

Usually, vehicle wheel rotational speed ω that can obtain with the wheel speed sensors from drive wheel or the time diffusion of wheel speed value r ω are inferred wheel torque presumed value Tw, and be as follows:

Tw＝M·r ²·dω/dt ...(5)

(Fig. 5, C6a), wherein M is the quality of vehicle, r is a radius of wheel.[suppose that the summation of the propulsive effort that is produced on the ground contact position on the road surface by each drive wheel equals total propulsive effort MG (wherein G is an acceleration/accel) of vehicle, then wheel torque Tw is provided by following formula:

Tw＝M·G·r ...(5a)。

Because the acceleration/accel G of vehicle can be provided by the differential value of wheel speed r ω, and is as follows:

G＝r·dω/dt ...(5b)，

So will shown in expression formula (5), infer wheel torque.]

In the inferring of aforesaid wheel torque, when grabbing attached road surface at the tire of the drive wheel that travels of vehicle when producing propulsive effort, expection expression formula (5) usually will be consistent with the wheel torque that reality produces.But the road surface reaction on drive wheel increases and surpasses the maximum friction bowlder, and tire will enter slip state (wherein tire begins slippage), thereby expression formula (5b) will be false, so the precision of the presumed value of expression formula (5) is with variation.In addition, unless some high-performance sensors, according to from the signal that is installed in the wheel speed sensors on the wheel usually, the rotating speed of wheel can detect, but is to rotate forward or the information that rotates backward but can not obtain about wheel.Therefore, consider structure vibration damping controller under the prerequisite that wheel moves forward usually, so will above-mentioned presumed value during retreating of vehicle travelled by himself being input in the vibration damping controller, can cause along the input of the wheel torque of the direction opposite to the vibration damping controller with actual direction.In addition, also in the time can not correctly detecting wheel speed, for example, when wheel speed sensors damaged, the precision of the wheel torque presumed value of expression formula (5) was also with variation.Then, in the present invention,, carry out correction as described below to the wheel torque presumed value supposing the inferring under the situation of precision with variation of the wheel torque presumed value of being undertaken as mentioned above by wheel torque estimator (C6).

The correction 1 of wheel torque presumed value

When the tire of drive wheel enters slip state, will become greater than actual acceleration the accekeration G that the time diffusion of wheel speed calculates by expression formula (5b), therefore, estimate that inferring the wheel torque presumed value that obtains by wheel speed will become greater than actual value.Therefore, when the tire of drive wheel enters slip state, (C6b) come downward correction wheel torque presumed value based on any desired value (wheelslip amount) of the situation of expression tire.In the case, for example, the wheel torque presumed value of expression formula (5) can be corrected as:

Tw＝κslip·M·r ²·dω/dt ...(6)

Kslip is the amount that is presented as the function of wheelslip quantity of state, and provides by contrast figure as shown in Figure 4.In Fig. 4, emphasis is noted that when tire and is in when grabbing attached state that κ slip is set to κ slip=1, if tire enters slip state and enters wheel slip state (not having wheel torque to be applied to state on the vehicle) fully, then it is set to κ slip=0.

For example, wheelslip quantity of state (desired value of slippage degree of the tire of expression wheel) can be the ratio of aviation value of the wheel speed of the aviation value of wheel speed of left and right sides flower wheel and left and right sidesing driving wheel.In the case, when drive wheel enters slip state, the wheel speed of drive wheel will raise relatively, the result, and the wheel speed ratio, promptly the wheelslip quantity of state will reduce.In addition, the slip rate of tire or slippage are than also being used as the wheelslip quantity of state.About this, when the wheelslip quantity of state is defined as along with the slippage degree becomes big and during the value that increases, the value of κ slip increases along with the wheelslip quantity of state and reduces, and shown in the example of Fig. 4, when the wheelslip quantity of state being defined as the value that reduces greatly along with the change of slippage degree, the value of κ slip should reduce and reduce along with the wheelslip quantity of state, it should be understood that both of these case all within the scope of the invention.

As in the expression formula (6), can carry out by the value that monitors the wheelslip quantity of state the correction of wheel torque presumed value, but also can when following condition (a)-(c) is set up, carry out based on the wheelslip quantity of state with κ slip:

(a) when carrying out VSC, TRC or ABS control

(when carrying out these controls, usually, tire is changed into slip state with its state from grabbing attached state);

(b) when the difference between the aviation value of the wheel speed of the aviation value of the wheel speed of flower wheel and drive wheel surpasses scheduled volume and reaches scheduled time slot;

(c) when the time diffusion value of wheel speed reaches scheduled time slot above predetermined threshold.About this, predetermined threshold can be set to the acceleration/accel that vehicle can not produce.

Can realize carrying out the slip state amount calculating section (C6c) of the calculating of wheelslip quantity of state by the work of CPU and miscellaneous part, and carry out the wheel torque correction portion (C6b) of proofreading and correct with κ slip.Though preferably, slip state amount calculating section C6c is arranged among the braking force control system 50b, and it is not limited thereto, and portion C 6c can be arranged in the driving control device.

The correction 2 of wheel torque presumed value

As mentioned above, can not detect the direction of wheel in the wheel speed sensors of routine, still, be to calculate under the prerequisite that wheel rotates forward by the given presumed value of inferring of carrying out with expression formula (5) in the wheel torque estimator.Therefore, when wheel rotated backward, the symbol of presumed value was opposite with actual value.Therefore, wheel torque estimator of the present invention detects according to other information except wheel speed sensors when wheel rotates backward, and if detect, then the wheel torque estimator is modified to expression formula (5)

Tw＝-M·r ²·dω/dt ...(7)，

And output wheel torque presumed value (C6d).

Can be according to for example

(d) for the automatic transmission vehicle, the gear-shift lever of change-speed box is set to the R shelves; And

(e) for manual vehicle, reversing switch is set to ON,

Detect rotating backward of wheel.

About this, be installed under the situation of hand of rotation that wheel speed sensors on the wheel can detect wheel, during the rotating backward of wheel, vehicle wheel rotational speed ω is become under the situation of negative value, can use expression formula (5).

The correction 3 of wheel torque presumed value

If thereby the accuracy of detection variation of any unusual wheel speed takes place in wheel speed sensors, also variation of the precision of the wheel torque presumed value that obtains by expression formula (5) then, therefore, in the case, will calculate the vehicle wheel rotational speed or the wheel speed (seeing the C6e among Fig. 5) of drive wheel according to the rotating speed of actuating device.When the rotational speed N e of the output shaft of driving engine that uses actuating device or electrical motor, the vehicle wheel rotational speed of drive wheel will be provided by following formula:

ω e=Ne * change-speed box (gear shift) speed ratio * differential speed ratio ... (8)

In addition, when the rotational speed N o of the output shaft that uses change-speed box, it will be provided by following formula:

ω o=No * differential speed ratio ... (9)

Then, will in expression formula (8) or (9), the presumed value of the vehicle wheel rotational speed ω of drive wheel replace (C6e → C6a), thus, will calculate the wheel torque presumed value in the expression formula (5).

For example, when the arbitrary establishment of following condition (f)-(i), can carry out by expression formula (8) or (9) calculating to the wheel torque presumed value:

(f) when taking place unusual in the signal of wheel speed sensors and being judged as " unusual condition ";

(g) when in other control systems (for example ABS, VSC and TRC) or braking force control system 50b (Figure 1B), being judged as wheel speed sensors unusual;

(h) when the difference between wheel speed that the calculated signals according to wheel speed sensors obtains and the wheel speed that obtains according to the revolution speed calculating of the output shaft of actuating device by expression formula (8) surpasses predetermined value and reaches scheduled time slot; And

(i) when the difference between wheel speed that the calculated signals according to wheel speed sensors obtains and the wheel speed that obtains according to the revolution speed calculating of the output shaft of change-speed box by expression formula (9) surpasses predetermined value and reaches scheduled time slot.

About this, in the present embodiment, come any unusual in the detection wheel speed sensors in the known mode of those skilled in the art as mentioned above, and represent that the signal of this situation will be sent to driving control device 50a from braking force control system 50b.

In addition, should be appreciated that, can adopt wheel speed torque estimator (C6), feasible whole above-mentioned correction to the wheel torque presumed value can become the (see figure 5) that can carry out.In the case, with the wheel torque presumed value of following correction expression formula (5):

Tw＝κslip·κsign·M·r ²·dω/dt ...(10)，

Wherein κ slip is generally κ slip=1, and, when any one all is false when above-mentioned condition (a)-(c), provide κ sign according to the contrast figure (C6b, C6c) of Fig. 4 and be generally κ sign=1, and when when above condition (d) or (e) setting up, it changes into κ sign=-1 (C6d).In addition, the vehicle wheel rotational speed that ω normally obtains according to the signal of wheel speed sensors, and when the arbitrary establishment of condition (f)-(i), it is replaced (C6e) by ω e that is provided by expression formula (8) or (9) or ω o.Therefore, for example, when when condition (a), (d) and (f) setting up, the wheel torque presumed value will be:

Tw＝-κslip·M·r ²·dωe/dt。

The correction of vibration damping control

At above-mentioned calculating to the wheel torque presumed value, under the situation of the wheelslip quantity of state that calculates the slippage degree of representing wheel by braking force control system (for example ABS control, VSC, TRC or VDIM), when these work are under an embargo, can not calculate the wheelslip quantity of state.In the case, κ slip that also can not calculation expression (6).Therefore, when above-mentioned various controls can not be worked, the feedback gain FB of Fig. 2 (B) is reduced, perhaps be set at 0, make to reduce or interrupt to inputing to of the wheel torque presumed value Tw of kinematic model C4.Particularly, when any one is set up when following condition (j)-(l), reduce feedback control gain FB:

(j) when the ON-OFF switch that is used for ABS control, VSC and TRC all transfers OFF to;

(k) when the ON-OFF switch that is used for VDIM transfers OFF to; And

(l) when unusually forbidding the work of ABS control, VSC, TRC or VDIM owing to any in the brake equipment.

About this, usually, when any one was set up when condition (j)-(l), FB was set at FB=0 with feedback control gain, and still, the possibility that slippage takes place when wheel speed is low is lower, and therefore, along with wheel speed raises, feedback gain FB can reduce, for example

FB＝λ/ω ...(9)，

Wherein λ is the positive constant of determining with experiment or theoretical mode.In the case, if wheel speed uprises, then the value of FB will be set at 0 substantially.

On the other hand, based on the controlling quantity of vibration damping control being carried out timing from the requiring driving torque of the driving demand of chaufeur conversion, promptly, by feed forward control controlling quantity is being carried out timing, do not use wheel torque presumed value when kinematic model (because linear model), therefore, even any one establishment of above-mentioned condition (j)-(l) also makes by feed forward control the correction of controlling quantity is carried out by himself.But, can not detect under the situation whether wheel be in slip state, if wheel has entered slip state, the increase of driving torque will make slippage situation variation.Therefore, the amplitude of the controlling quantity of vibration damping control is reduced, perhaps can stop vibration damping control itself.For example, can be similar to expression formula (9), along with wheel speed raises, reduce the amplitude of controlling quantity.

In addition, be judged as in above condition (j) even-do not improve by the correction 1-3 that carries out the wheel torque presumed value when (l) any one all is false under the situation of precision of wheel torque presumed value yet, can interrupt to kinematic model C4 input wheel torque presumed value.In addition, consider the purpose of vibration damping of the present invention control at the raising of the ride comfort of the operation stability of vehicle and chaufeur, (for example: wheel enters the situation of slip state to carry out the situation of the correction 1-3 of wheel torque presumed value; The situation that vehicle rollback travels; Any unusual situation etc. takes place in the wheel speed sensors) special status when being vehicle ', and, in some cases, can carry out be used to make vehicle driving stability also/or guarantee any other control of its safety, therefore, can interrupt to kinematic model C4 input wheel torque presumed value.Therefore, in the control structure of Fig. 2 (B), when the condition of (a)-(i) is set up, can interrupt to kinematic model C4 input wheel torque presumed value.In addition, enter at wheel under the situation of slip state, when the slippage degree of representing by the wheelslip quantity of state during greater than predetermined extent, for example, when the wheelslip quantity of state is lower than predetermined value S among the contrast figure of Fig. 4, shown in dotted line, can set κ slip, can interrupt in fact thus to kinematic model C4 input wheel torque presumed value.In addition, when the condition of (a)-(i) is set up, can be by setting the execution (can stop) that U (t)=0 stops vibration damping control to correction by driver requested torque.

Though described above explanation at embodiments of the invention, but be clear that to those skilled in the art, can carry out various modifications and change, and the invention is not restricted to the foregoing description, and can under the situation that does not depart from design of the present invention, be applied to various devices and equipment.

For example, though wheel torque estimator (estimating device) is combined in the vibration damping controller in the above-described embodiments, the wheel torque estimating device can be configured to separate unit.In addition, though the wheel torque estimator is interpreted as inferring the wheel torque of drive wheel in the above-described embodiments between the driver stage of vehicle, but can whether rotate backward according to the wheelslip quantity of state or according to wheel, come during its braking the wheel torque presumed value of each wheel of being inferred by the response wheel speed is proofreaied and correct, inferring the wheel torque of drive wheel and flower wheel, and this situation also within the scope of the invention.

In addition, though infer wheel torque presumed value in the foregoing description by wheel speed, but the wheel torque presumed value can be those values as described below: by the parameter estimation except wheel speed, and also can have the possibility that can depart from each other in its presumed value during the slippage of wheel or during the rotating backward of wheel and its actual value.

In addition, though the control of the vibration damping in the foregoing description is the vibration damping control of wherein adopting sprung weight kinematic model or sprung weight and unsprung weight kinematic model for the kinematic model that will use and using the principle of optimal regulator, but design of the present invention can be applied to carry out the control (if it utilizes the wheel torque presumed value) of vibration damping under the situation of using arbitrary motion model except those kinematic models that this paper introduced and/or the control method except optimal regulator, and comprises within the scope of the invention under these situations.

Claims (21)

1. the damping control device of a vehicle, export the pitching that suppresses described vehicle or the vibration of beating by the driving of controlling described vehicle, it is characterized in that comprising: the wheel torque presumed value obtains part, and it obtains to produce and act on the wheel torque presumed value on the described wheel on the wheel of described vehicle and ground-surface ground contact position; And the driving torque control part, it controls the driving torque of described vehicle based on described wheel torque presumed value, to suppress the pitching or the vibration amplitude of beating; Wherein, the slip state amount that the wheelslip quantity of state of the slippage situation that obtains the described wheel of expression is set obtains part, and along with the slippage degree of being represented by described wheelslip quantity of state is big more, the absolute value of described wheel torque presumed value or the controlling quantity of described driving torque are corrected as more little.

2. device according to claim 1 is characterized in that, when described wheel rotates backward, makes described wheel torque presumed value become negative value.

3. device according to claim 1 is characterized in that, the ratio of the wheel speed of the wheel speed of the drive wheel that described wheelslip quantity of state is described vehicle and the flower wheel of described vehicle.

4. device according to claim 1 is characterized in that, described wheel torque presumed value is to utilize the function of differential value of the detected wheel speed of wheel speed sensors of the drive wheel of described vehicle.

5. device according to claim 1, it is characterized in that, described wheel torque presumed value is based on the value that the detected wheel speed of wheel speed sensors of the drive wheel that utilizes described vehicle is inferred, and when described wheel speed sensors was unusual, described wheel torque presumed value was based on the value that the rotating speed of output shaft of the actuating device of described vehicle is inferred.

6. device according to claim 1, it is characterized in that, described wheel torque presumed value is based on the value that the detected wheel speed of wheel speed sensors of the drive wheel that utilizes described vehicle is inferred, and when described wheel speed sensors is unusual, stop the control of carrying out based on described wheel torque presumed value to described driving torque.

7. the damping control device of a vehicle, export the pitching that suppresses described vehicle or the vibration of beating by the driving of controlling described vehicle, it is characterized in that comprising: the wheel torque presumed value obtains part, its obtain based on infer by the detected wheel speed of the wheel speed sensors of described wheel, on the wheel of described vehicle and ground-surface ground contact position, produce and act on the wheel torque presumed value on the described wheel; And the driving torque control part, it controls the driving torque of described vehicle based on described wheel torque presumed value, to suppress the pitching or the vibration amplitude of beating; Wherein, described device is in the described driving torque of described wheel torque presumed value being controlled described vehicle when described vehicle rollback travels as negative value.

8. device according to claim 7, it is characterized in that, described wheel torque presumed value is based on the value that the detected wheel speed of wheel speed sensors of the drive wheel that utilizes described vehicle is inferred, and when described wheel speed sensors was unusual, described wheel torque presumed value was based on the value that the rotating speed of output shaft of the actuating device of described vehicle is inferred.

9. device according to claim 7, it is characterized in that, described wheel torque presumed value is based on the value that the detected wheel speed of wheel speed sensors of the drive wheel that utilizes described vehicle is inferred, and when described wheel speed sensors is unusual, stop the control of carrying out based on described wheel torque presumed value to described driving torque.

10. the damping control device of a vehicle, export the pitching that suppresses described vehicle or the vibration of beating by the driving of controlling described vehicle, it is characterized in that comprising: the wheel torque presumed value obtains part, and it obtains to produce and act on the wheel torque presumed value on the described wheel on the wheel of described vehicle and ground-surface ground contact position; And the driving torque control part, it controls the driving torque of described vehicle based on described wheel torque presumed value, to suppress the pitching or the vibration amplitude of beating; Wherein, when during greater than predetermined extent, perhaps when described vehicle rollback travels, stopping the control of carrying out based on described wheel torque presumed value to described driving torque by the indicated slippage degree of the wheelslip quantity of state of slippage situation of the described wheel of expression.

11. the damping control device of a vehicle, export the pitching that suppresses described vehicle or the vibration of beating by the driving of controlling described vehicle, it is characterized in that comprising: the wheel torque presumed value obtains part, and it obtains to produce and act on the wheel torque presumed value on the described wheel on the wheel of described vehicle and ground-surface ground contact position; The driving torque control part, it controls the driving torque of described vehicle based on described wheel torque presumed value, to suppress the pitching or the vibration amplitude of beating; And the slip state amount obtains part, and its described vehicle braked control setup from the slippage that is used to reduce described wheel obtains the wheelslip quantity of state of the slippage situation of the described wheel of expression; And described device is based on the slippage degree that is shown by described wheelslip quantity of state, proofread and correct the controlling quantity of described driving torque, wherein with when described braking force control system can be worked compare, when described braking force control system can not be worked, reduce the described controlling quantity of described driving torque.

12. device according to claim 11, it is characterized in that, determine the described controlling quantity of the described driving torque of described driving torque control part based on described wheel torque presumed value with by the drive amount that requires that the chaufeur of described vehicle provides, and when described braking force control system can not be worked, will be reduced to 0 in fact based on the described controlling quantity of the described driving torque of described wheel torque presumed value.

13. device according to claim 11 is characterized in that, described braking force control system be can optionally carry out by the chaufeur of described vehicle work, from the group that forms by ABS control, VSC and TRC, select at least a; And with when described braking force control system can be worked, compare, when the selection by described chaufeur causes described braking force control system to work, reduce the described controlling quantity of described driving torque.

14. device according to claim 11 is characterized in that, described braking force control system is the part that can optionally carry out the VDIM of work by the chaufeur of described vehicle; And when the selection by described chaufeur causes described VDIM to work, reduce the described controlling quantity of described driving torque.

15. device according to claim 11, it is characterized in that, with when described braking force control system can be worked, compare, when because described vehicle braked device when causing described braking force control system to work unusually, reduces the described controlling quantity of described driving torque.

16. device according to claim 11 is characterized in that, along with the slippage degree that is shown by described wheelslip quantity of state is big more, the absolute value of described wheel torque presumed value or the described controlling quantity of described driving torque is proofreaied and correct to more little.

17. one kind is used to infer the wheel that acts on vehicle and the device of the wheel torque between the road surface, it is characterized in that comprising: part is inferred in torque, and it infers the wheel torque presumed value that produces and act on the described wheel on described wheel and described ground-surface ground contact position; Slip state amount calculating section, it calculates the wheelslip quantity of state of the slippage situation of the described wheel of expression; And the wheel torque correction portion, it proofreaies and correct described wheel torque presumed value, makes that the absolute value of described wheel torque presumed value becomes more little along with the slippage degree that is shown by described wheelslip quantity of state is big more.

18. device according to claim 17 is characterized in that, when described wheel rotates backward, described wheel torque presumed value is calculated as negative value.

19. device according to claim 17 is characterized in that, the ratio of the wheel speed of the wheel speed of the drive wheel that described wheelslip quantity of state is described vehicle and the flower wheel of described vehicle.

20. device according to claim 17 is characterized in that, described wheel torque presumed value is the function by the differential value of the detected wheel speed of wheel speed sensors of the drive wheel of described vehicle.

21. one kind is used to infer the wheel that acts on vehicle and the device of the wheel torque between the road surface, it is characterized in that comprising: part is inferred in torque, it infers the wheel torque presumed value that produces and act on the described wheel based on by the detected wheel speed of the wheel speed sensors of described wheel on described wheel and described ground-surface ground contact position; And the wheel torque correction portion, it is proofreaied and correct described wheel torque presumed value when described vehicle rollback travels is negative value.

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