CN102770334A - Vehicle - Google Patents
Vehicle Download PDFInfo
- Publication number
- CN102770334A CN102770334A CN2011800094874A CN201180009487A CN102770334A CN 102770334 A CN102770334 A CN 102770334A CN 2011800094874 A CN2011800094874 A CN 2011800094874A CN 201180009487 A CN201180009487 A CN 201180009487A CN 102770334 A CN102770334 A CN 102770334A
- Authority
- CN
- China
- Prior art keywords
- car body
- vehicle
- lateral acceleration
- sensor
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The disclosed vehicle increases safety, achieves a stable travelling state, provides good riding comfort, does not make an occupant feel any sense of unease, and maintains vehicle body stability and improves turning performance. The vehicle comprises: a vehicle body which is provided with a mutually connected steering unit and drive unit; a steering wheel which steers the vehicle body; a drive wheel which drives the vehicle body; a tilting actuator device which tilts the steering wheel or the drive wheel in the turning direction; a sensor which either directly or indirectly detects the lateral acceleration acting on the vehicle body; and a control device which controls the tilting actuator device and controls the tilt of the vehicle body. The control device controls the tilt of the vehicle body so as to balance the centrifugal force and the gravity acting on the vehicle, on the basis of the lateral acceleration detected by the sensor.
Description
Technical field
The present invention relates to have at least the vehicle of pair of right and left wheel.
Background technology
In recent years, in view of the exhausted problem of energy resource, province's oil consumptionization of strong request vehicle.On the other hand, because of low price of vehicle etc., there is the trend that vehicle owner increases, 1 people has 1 vehicle.Therefore, for example exist the vehicle of driving staffing 4 people because of chaufeur 1 people only to make energy by the problem points of unnecessary consumption.As province's oil consumptionization that the miniaturization through vehicle realizes, we can say that vehicle is constituted staffing 1 people's the mode of three-wheel vehicle or four-wheeled is the most effective.
, the stability of vehicle reduces because of motoring condition sometimes.Given this, proposed a kind ofly through car body is tilted at transverse direction, the stability-enhanced technology that makes the vehicle when turning is (for example with reference to patent documentation 1.）。
Patent documentation 1: TOHKEMY 2008-155671 communique
Yet in above-mentioned vehicle in the past, though can make car body tilt in turn direction for turning performance is improved, owing to make the operation of tilting of car body difficult, turning performance is lower, thus exist the occupant to feel bad, the situation that the state of mind is uneasy.
Summary of the invention
The objective of the invention is to; Solve the problem points of above-mentioned vehicle in the past, provide a kind of angle of inclination to control, to become centnifugal force and the such angle of the mutual balance of gravity that acts on car body car body; Thereby can keep the stable of car body; Verticity is improved, and can not feel under the situation of inharmonious sense, realize driving the safe vehicle of better, the stable motoring condition of impression the occupant.
, in vehicle of the present invention, have for this reason: car body, it possesses the turning part and the drive division of mutual binding; Wheel flutter, it is the wheel that can be installed in above-mentioned turning part rotatably, is used to make above-mentioned car body to turn to; Drive wheel, it is the wheel that can be installed in above-mentioned drive division rotatably, is used to drive above-mentioned car body; Tilt to use actuator devices, it makes above-mentioned turning part or drive division tilt to turn direction; Sensor, it detects the transverse acceleration that acts on above-mentioned car body directly or indirectly; And control setup, it controls the inclination of above-mentioned car body with actuator devices to above-mentioned inclination; This control setup is controlled the inclination of above-mentioned car body based on the transverse acceleration that the sensor detected, so that act on the centnifugal force and the mutual balance of gravity of above-mentioned car body.
Formation according to technical scheme 1 and 2; Owing to can control to the angle of inclination of car body; To become the such angle of the mutual balance of centnifugal force and gravity; The masterpiece of the direction parallel with the longitudinal axis of car body is used for car body and occupant, so can not feel under the situation of inharmonious sense the occupant, realizes driving better, the stable motoring condition of impression.
Formation according to technical scheme 3～5; Owing to can remove the N/R component of acceleration; So can not receive condition of road surface influence prevent the vibration of control system, the generation of dispersing etc., the ride gain of tilting of car body control system increases, and the responsibility of control is improved.
According to the formation of technical scheme 6 and 7, even simple car body constitutes, also can keep the stable of car body, and turning performance is improved.
Description of drawings
Fig. 1 is the figure of the formation of the vehicle in expression the 1st embodiment of the present invention.
Fig. 2 is the figure of formation of the connecting rod mechanism of the vehicle of expression in the 1st embodiment of the present invention.
Fig. 3 is the block diagram of the formation of the tilting of car body control system in expression the 1st embodiment of the present invention.
The figure of the tilting action of the car body when Fig. 4 is the turning driving in explanation the 1st embodiment of the present invention.
Fig. 5 is the diagram of circuit of action of the tilting of car body control and treatment of the vehicle of expression in the 1st embodiment of the present invention.
Fig. 6 is the figure of the influence that receives of the detected value of the lateral acceleration sensor of explanation in the 2nd embodiment of the present invention.
Fig. 7 is the figure at the back side of the vehicle in expression the 2nd embodiment of the present invention.
Fig. 8 is the block diagram of the formation of the tilting of car body control system in expression the 2nd embodiment of the present invention.
Fig. 9 is the figure of the mechanical model in expression the 2nd embodiment of the present invention.
Figure 10 is the block diagram of control system in the 2nd embodiment of the present invention.
Figure 11 is the diagram of circuit of the action of the transverse acceleration calculation process in expression the 2nd embodiment of the present invention.
Figure 12 is the diagram of circuit of action of the tilting of car body control and treatment of the vehicle of expression in the 2nd embodiment of the present invention.
Figure 13 is the figure at the back side of the vehicle in expression the 3rd embodiment of the present invention.
Figure 14 is the block diagram of the formation of the tilting of car body control system in expression the 4th embodiment of the present invention.
Figure 15 is the figure of the mechanical model in expression the 4th embodiment of the present invention.
Figure 16 is the diagram of circuit of the action of the transverse acceleration calculation process in expression the 4th embodiment of the present invention.
Figure 17 is the scheme drawing that the size to each one of the vehicle in the 5th embodiment of the present invention describes.
The specific embodiment
Below, with reference to accompanying drawing, embodiment of the present invention is elaborated.
Fig. 1 is the figure of the formation of the vehicle in expression the 1st embodiment of the present invention; Fig. 2 is the figure of formation of the connecting rod mechanism of the vehicle of expression in the 1st embodiment of the present invention, and Fig. 3 is the block diagram of the formation of the tilting of car body control system in expression the 1st embodiment of the present invention.Wherein, in Fig. 1, (a) being right elevation, (b) is back view.
Among the figure, the 10th, the vehicle in this embodiment, tool: main part 20 is arranged, and it is as the drive division of car body; Take portion 11, it takes the occupant, as the turning part that turns to; As the wheel 12F of wheel flutter, be the front-wheel that is equipped on the center of Width in the place ahead of car body; With the wheel 12L in left side and the wheel 12R on right side, be the drive wheel that is provided in the rear as trailing wheel.And above-mentioned vehicle 10 has: connecting rod mechanism 30, its as the tilt mechanism that is used to that car body is tilted to the left and right and promptly carries out deflection, be tilting of car body mechanism, to about wheel 12L and 12R support; Tilt with the connecting rod electrical motor 25 of actuator devices with conduct, it is the actuator that makes these connecting rod mechanism 30 work.In addition; Above-mentioned vehicle 10 can be two take turns about front-wheel is, trailing wheel is the three-wheel vehicle of taking turns, and also can be two four-wheeleds of taking turns about front-wheel and trailing wheel are, in this embodiment; As shown in the figure, to front-wheel be take turns, trailing wheel be about the situation of two three-wheel vehicles of taking turns describe.
When turning; Through the wheel 12L about making and 12R with respect to the angle on road surface 18, be camber-angle variation; And make the car body that comprises portion of taking 11 and main part 20 in turning, take turns tilt, thereby can realize raising and the occupant's of turning performance the guaranteeing of traveling comfort.That is, above-mentioned vehicle 10 also can make car body tilt at transverse direction (left and right directions).Wherein, in example as shown in the figure, about wheel 12L and 12R 18 upright with respect to the road surface, be that camber angle is 0 degree.
And; Above-mentioned rotating driving device 51 as driving with actuator devices is the so-called built-in motors of taking turns; Matrix (body) as stator is fixed on vertical connecting rod unit 33; Can be installed in being connected with the axle of wheel 12 as the S. A. of rotor on the above-mentioned matrix rotatably, the rotation through above-mentioned S. A. is rotated wheel 12.In addition, above-mentioned rotating driving device 51 also can be the electrical motor of the kind beyond the wheel built-in motor.
In addition; Above-mentioned connecting rod electrical motor 25 is the revolving electric actuators that comprise electrical motor etc.; Possess as the matrix cylindraceous of stator and can be installed in the S. A. on this matrix rotatably as rotor; Above-mentioned matrix is fixed on main part 20 by mounting flange 22, and above-mentioned S. A. is fixed on the tranverse connecting rod unit 31U of the upside of connecting rod mechanism 30.Wherein, the S. A. of connecting rod electrical motor 25 is as main part 20 bevelled tilting axiss being played a role and the rotating shaft coaxle of central longitudinal parts 21 and the linking portion of the tranverse connecting rod unit 31U of upside.And if drive link electrical motor 25 makes S. A. rotate with respect to matrix, then the tranverse connecting rod unit 31U of upside rotates with respect to main part 20 and the central longitudinal parts 21 that are fixed on this main part 20, and connecting rod mechanism 30 work are are promptly bent and stretched.Thus, main part 20 is tilted.In addition, the S. A. of connecting rod electrical motor 25 also can be fixed on main part 20 and central longitudinal parts 21, and its matrix can be fixed on the tranverse connecting rod unit 31U of upside.
Wherein, connecting rod electrical motor 25 possesses not shown lockout mechanism, and this lockout mechanism is fixed into S. A. with respect to matrix and can not rotates.Preferred this lockout mechanism is the mechanism of machinery, S. A. is fixed into can not rotate with respect to matrix during consumes electric power not.Through above-mentioned lockout mechanism, can the fixed angle of S. A. with regulation be become can not rotate with respect to matrix.
Above-mentioned front end binding of taking portion 11 by not shown connecting part and main part 20.This connecting part can have that the portion of taking 11 and main part 20 are connected to can be to the function of the direction relative displacement of regulation.
In addition, the above-mentioned portion 11 of taking possesses seat 11a, stretcher 11b and windproof 11c.Above-mentioned seat 11a is used for the position that the occupant that goes at vehicle 10 takes.In addition, above-mentioned stretcher 11b is the position that is used to support occupant's foot, is provided in front side (right side among Fig. 1 (a)) below of seat 11a.
And, the rear of the portion of taking 11 or below or main part 20 be equipped with not shown cell apparatus.This cell apparatus is the energy supply source of rotating driving device 51 and connecting rod electrical motor 25.In addition, the rear of the portion of taking 11 or below or main part 20 contain not shown control setup, DC-to-AC converter, various sensors etc.
And, be equipped with operating control 41 in the place ahead of seat 11a.On this operating control 41, be equipped with instrument, indicating device, switches such as handle 41a as steering hardware, speed measuring instrument etc. and handle required parts.The occupant operates above-mentioned handle 41a and miscellaneous part, indicates the motoring condition (for example direct of travel, moving velocity, turn direction, turn radius etc.) of vehicle 10.In addition, be steering hardware as the unit of the requirement turning amount that is used to detect the desired car body of occupant, also can replace handle 41a and use other devices, for example use devices such as steered wheel, runner, touch panel, button as steering hardware.
Wherein, wheel 12F is connected with the portion of taking 11 via the front-fork 17 as the part of draft hitch (levitation device).Above-mentioned draft hitch for example be with general motor bike, bicycle etc. in employed front-wheel with the identical device of draft hitch, above-mentioned front-fork 17 for example is the fork that is built-in with the scalability types of spring.And, identical with situation such as general motor bike, bicycles, to the operation of handle 41a deflection angle is changed according to the occupant as the wheel 12F of wheel flutter, thus, the direct of travel of vehicle 10 changes.
Particularly, above-mentioned handle 41a is connected with the upper end of not shown steering shaft section, is connecting the upper end of front-fork 17 in the lower end of steering shaft section.Above-mentioned steering shaft section can be installed in the not shown frame parts that the portion of taking 11 is possessed rotatably to be inclined to the upper end than the state of lower end by the rear.
In this embodiment, vehicle 10 has lateral acceleration sensor 44.This lateral acceleration sensor 44 is the sensors that are made up of general acceleration pick-up, gyrosensor etc., to the transverse acceleration of vehicle 10, promptly the acceleration/accel as the transverse direction (left and right directions among Fig. 1 (b)) of the Width of car body detects.
Make car body tilt to make car body stable owing to turning to turning medial, thus when vehicle 10 is turned through tilting of car body being controlled as become to the centnifugal force in the outside of turning and the angle of the mutual balance that kind of gravity.Through carrying out such control,, also can make car body maintenance level all the time even for example road surface 18 tilts to the direction vertical with direct of travel (with respect to the left and right directions of direct of travel).Thus, apparent upward gravity vertical all the time imposes on car body and occupant downwards, can reduce inharmonious sense, and the stability of vehicle 10 improves.
Given this; In this embodiment; For the acceleration/accel to the transverse direction of bevelled car body detects; Lateral acceleration sensor 44 is installed on car body, and is carried out controlled reset so that lateral acceleration sensor 44 is output as zero (expected value that makes the output of lateral acceleration sensor 44 is zero).Thus, can make tilting of car body arrive the centnifugal force of effect when turning and the leaning angle of the mutual balance of gravity.In addition, though on road surface 18 under the direction bevelled situation vertical with direct of travel, also can be controlled to be the leaning angle that becomes the car body vertical.
In example shown in Figure 1, lateral acceleration sensor 44 is provided in the back side of the portion of taking 11.And above-mentioned lateral acceleration sensor 44 set center for the Width that is positioned at car body, is on the longitudinal axis of car body, and the acceleration/accel of the direction vertical with the longitudinal axis of car body (transverse direction) is detected.That is, by set into the detection direction of principal axis of lateral acceleration sensor 44 consistent with the transverse direction of car body.
In addition, the vehicle in this embodiment 10 has the tilting of car body control system as the part of control setup.This tilting of car body control system is a kind of computer system, and is as shown in Figure 3, possesses inclination control ECU (the Electronic Control Unit: electronic control unit) 46 that plays a role as incline controller.This inclination control ECU46 possesses memory cell such as arithmetic element, disk, semiconductor memory, IO interfaces etc. such as treater, and is connected with lateral acceleration sensor 44 and connecting rod electrical motor 25.In addition, above-mentioned inclination control ECU46 comprises inclination control part 47, and this inclination control part 47 is exported the torque instruction value that is used to make 25 work of connecting rod electrical motor based on lateral acceleration sensor 44 detected transverse accelerations.
When turning driving, the angle of inclination of 47 pairs of car bodies of this inclination control part is controlled, to become centnifugal force and the such angle of the mutual balance of gravity to the rotation outside.Particularly, making connecting rod electrical motor 25 work, and carry out controlled reset, is near such angle zero or zero so that the angle of inclination of car body becomes the value of the transverse acceleration that lateral acceleration sensor 44 detected.That is, the angle of inclination of car body is controlled so that to centnifugal force and the mutual balance of gravity in the rotation outside, become lateral acceleration sensor 44 the axial component of acceleration of detection, be that the component of acceleration of transverse direction is near the angle of that kind zero or zero.That is, be expected value with the value zero of the component of acceleration of transverse direction, the angle of inclination of car body is controlled.Thus, the masterpiece of the direction parallel with the longitudinal axis of car body is used for car body and takes the occupant that portion 11 is taken.Therefore, can keep the stable of car body, and, turning performance is improved.In addition, the occupant can not feel inharmonious sense, drives impression and improves.
Next, the action to the vehicle 10 of above-mentioned formation describes.The action of the tilting of car body control and treatment during here, only to turning driving describes.
The figure of the tilting action of the car body when Fig. 4 is the turning driving of explanation in the 1st embodiment of the present invention, Fig. 5 are the diagram of circuits of action of the tilting of car body control and treatment of the vehicle in expression the 1st embodiment of the present invention.
If the beginning turning driving, then the tilting of car body control system begins the tilting of car body control and treatment.Through carrying out ability of posture control, as shown in Figure 4, vehicle 10 utilizes connecting rod mechanism 30 when turning driving, makes car body to turn to turning medial (being the right side among the figure) bevelled state.In addition, when turning driving, in car body, and tilt to produce the transverse direction component of gravity to turning medial because of car body to the centrifugal action in the outside of turning.And, lateral acceleration sensor 44 detect above-mentioned centnifugal forces and gravity the transverse direction component with joint efforts, as the acceleration/accel of transverse direction, and detected value a exported to inclination control part 47 as the lateral acceleration sensor value.So this inclination control part 47 carries out controlled reset, value from detected value a to connecting rod electrical motor 25 that export is the controlling valu of zero that kind.
Wherein, the tilting of car body control and treatment be power supply at vehicle 10 be switched on during by the tilting of car body control system with regulation control cycle T
SThe processing that (for example 5 (ms)) carry out repeatedly is when turning, to improve turning performance and the processing of guaranteeing occupant's traveling comfort.
Then, inclination control part 47 carries out a
OldAccess (step S2).a
OldBe the lateral acceleration sensor value a that when tilting of car body control and treatment is last time carried out, preserves.Wherein, when initial setting, a
Old=0.
Then, inclination control part 47 obtains control cycle T
S(step S3) calculates the differential value (step S4) of a.If the differential value of a is made as da/dt, then can calculate this da/dt here, through following formula (1).
Da/dt=(a-a
Old)/T
SFormula (1)
Then, inclination control part 47 saves as a
Old=a (step S5).That is the lateral acceleration sensor value a that, will when current tilting of car body control and treatment is carried out, obtain is as a
Old, be stored in memory cell.
Then, inclination control part 47 calculates the 1st controlling valu U
P(step S6).Here, if with the ride gain of proportional control action, be that proportional gain is made as C
P, then calculate the 1st controlling valu U through following formula (2)
P
U
P=C
PA ... Formula (2)
Then, inclination control part 47 calculates the 2nd controlling valu U
D(step S7).Here, if with the ride gain of differential control action, be to be made as C derivative time
D, then calculate the 2nd controlling valu U through following formula (3)
D
U
D=C
DDa/dt ... Formula (3)
Then, inclination control part 47 calculates controlling valu U (step S8).This controlling valu U is the 1st controlling valu U
PWith the 2nd controlling valu U
DTotal, calculate through following formula (4).
U=U
P+ U
DFormula (4)
At last, inclination control part 47 is exported controlling valu U (step S9) to connecting rod electrical motor 25, and processing is finished.
Like this, in this embodiment, the angle of inclination to car body when turning driving is controlled, to become centnifugal force and the such angle of the mutual balance of gravity to the rotation outside.Thus, can keep the stable of car body, verticity is improved, and the occupant can not feel inharmonious sense, drive impression and improve.
Particularly, the angle of inclination of car body is controlled, so that the value of the transverse acceleration that lateral acceleration sensor 44 is detected is near zero or zero.That is, be expected value with the value zero of the component of acceleration of transverse direction, the angle of inclination of car body is controlled.
Thus; Can control to become centnifugal force and the such angle of the mutual balance of gravity the angle of inclination of car body to the rotation outside; The component of acceleration of transverse direction is near zero or zero, and the masterpiece of the direction parallel with the longitudinal axis of car body is used for car body and occupant.
Therefore, can keep the stable of car body, and, turning performance is improved.In addition, the occupant can not feel inharmonious sense, drives impression and improves.Thus, can realize stable motoring condition, the higher vehicle of safety 10 can be provided.
Next, the 2nd embodiment of the present invention is described.Wherein, about having the part with the 1st embodiment identical construction, omit its explanation through giving identical symbol.In addition, about action identical and identical effect, also omit its explanation with above-mentioned the 1st embodiment.
Fig. 6 is the figure of the influence that receives of the detected value of the lateral acceleration sensor of explanation in the 2nd embodiment of the present invention; Fig. 7 is the figure at the back side of the vehicle in expression the 2nd embodiment of the present invention, and Fig. 8 is the block diagram of the formation of the tilting of car body control system in expression the 2nd embodiment of the present invention.Wherein, in Fig. 6, (a)～(c) be the figure of the state that falls of the one-sided wheel of expression; (d) be the figure of influence in the gap etc. of explanation vehicle each one; In Fig. 7, (a) figure of the upright state of expression car body (b) is the figure of the state of expression tilting of car body.
In above-mentioned the 1st embodiment, the situation that detects the acceleration/accel of transverse direction through mono-lateral acceleration sensor 44 is illustrated., if lateral acceleration sensor 44 is one, then there is the situation that also can detect the N/R component of acceleration.
The weight component that the information that is detected by lateral acceleration sensor 44 not only comprises the centnifugal force that causes because of rotation and causes because of tilting of car body comprises that also connecting rod mechanism 30 makes the component of acceleration of the Zhou Fangxiang that the action of tilting of car body produces, only of wheel 12R on wheel 12L or the right side in left side falls the component of acceleration of the identical Zhou Fangxiang that produces under the situation of recess on road surface 18 because of utilizing.The component of acceleration of these all directions, promptly directly origin make controlled variation in the component of acceleration of centnifugal force, gravity.For example, increase ride gain though want to make responsibility to improve,, under the worst situation, cause dispersing, so can not increase ride gain owing to, cause the vibration of control system because of observing these not direct origin in the component of acceleration of centnifugal force, gravity.
For example, shown in Fig. 6 (a)～(c), in the going of vehicle 10, might there be any situation of falling the hollow (depression) on road surface 18 among left and right wheels 12L only and the 12R.Under this situation, because tilting of car body, so shown in the arrow among Fig. 6 (c), lateral acceleration sensor 44 detects the acceleration/accel of this Zhou Fangxiang along the Zhou Fangxiang displacement.That is, caused detecting direct origin in the component of acceleration of centnifugal force, gravity, be the N/R component of acceleration.
In addition, vehicle 10 for example comprises as the tyre portion of left and right wheels 12L and 12R, possessing elasticity, and the part that plays a role as spring, and, comprise inevitable gap at connecting portion of each parts etc.Therefore, such shown in Fig. 6 (d) signal, owing to think that lateral acceleration sensor 44 is installed in car body via inevitable gap, spring, so also detect acceleration/accel that the displacement because of gap, spring produces as the N/R component of acceleration.
Such N/R component of acceleration might make the controlled variation of tilting of car body control system.For example, if increase the ride gain of tilting of car body control system, then since produce the control system that causes because of the N/R component of acceleration vibration, disperse etc., so, can not increase ride gain even want to make responsibility to improve.
Given this, in this embodiment, lateral acceleration sensor 44 is a plurality of, is provided in mutual different height.In example shown in Figure 7; Lateral acceleration sensor 44 is these 2 of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b, and the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b are provided in mutual different height position.Through suitably selecting the position of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b, can remove the N/R component of acceleration effectively.
Concrete as Fig. 7 (a) shown in, the 1st lateral acceleration sensor 44a is provided in the distance on the middle distance road surface, the back side 18 of the portion of taking 11, promptly highly is L
1The position.In addition, the 2nd lateral acceleration sensor 44b be provided in the portion of taking 11 the back side or main part 20 top middle distance road surface 18 distance, promptly highly be L
2The position.Wherein, L
1＞L
2And when turning driving, if shown in Fig. 7 (b), so that car body is turned to turning medial (being the right side among the figure) bevelled state, then the 1st lateral acceleration sensor 44a detects the acceleration/accel of transverse direction and exports detected value a
1, the 2nd lateral acceleration sensor 44b detects the acceleration/accel of transverse direction and exports detected value a
2In addition, the center of the banking motion during tilting of car body, roll center are positioned at strictly speaking than road surface 18 and slightly lean on the below, but in fact can think the position that roughly equates with road surface 18.
Preferred above-mentioned the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b are installed in the sufficiently high parts of rigidity.And, if L
1With L
2Difference little, then because detected value a
1And a
2Difference diminish, so preferred enough greatly, for example be more than 0.3 (m).And under the situation of the spring-loaded car body that utilizes suspension etc., preferred above-mentioned the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b are equipped on so-called " on the spring ".And preferred above-mentioned the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b are provided in as between the axletree of the wheel 12F of front-wheel and the axletree as the left and right wheels 12L of trailing wheel and 12R.And, preferred above-mentioned the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b all be provided in as far as possible the occupant near.And preferred above-mentioned the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b observe from upside and are positioned on the center shaft that follows the car body that direction into extends, promptly do not squint at direct of travel.
In addition, the tilting of car body control system in this embodiment is as shown in Figure 8.The control ECU46 that tilts possesses transverse acceleration operational part 48, and this transverse acceleration operational part 48 calculates synthetic transverse acceleration based on the 1st lateral acceleration sensor 44a and the detected transverse acceleration of the 2nd lateral acceleration sensor 44b.Then, inclination control part 47 is exported the torque instruction value that is used to make 25 work of connecting rod electrical motor based on the synthetic transverse acceleration of the transverse acceleration that calculates as transverse acceleration operational part 48.
In addition, about the formation of other points, since identical with above-mentioned the 1st embodiment, so omit its explanation.
Next, the action to the vehicle in this embodiment 10 describes.The action of the tilting of car body control and treatment during here, only to turning driving describes.
Fig. 9 is the figure of the mechanical model in expression the 2nd embodiment of the present invention; Figure 10 is the block diagram of the control system in the 2nd embodiment of the present invention; Figure 11 is the diagram of circuit of the action of the transverse acceleration calculation process of expression in the 2nd embodiment of the present invention, and Figure 12 is the diagram of circuit of action of the tilting of car body control and treatment of the vehicle in expression the 2nd embodiment of the present invention.
In Fig. 9,44A is the 1st sensor station that is illustrated in the position that sets the 1st lateral acceleration sensor 44a in the car body, and 44B is the 2nd sensor station that is illustrated in the position that sets the 2nd lateral acceleration sensor 44b in the car body.
Detect and export the acceleration/accel of its detected value about the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b, can consider following 4: < 1>acts on the centnifugal force (component of the centnifugal force that causes because of turning) of car body when turning; < 2>because of car body to the tilt transverse direction component (component of gravity) of the gravity produce of turning medial; < 3>acceleration/accel (rotary acceleration that does not cause) that because of displacement of inclination, gap or the spring of any car body that depression caused of falling road surface 18 among only left and right wheels 12L and the 12R etc. the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b is produced along the Zhou Fangxiang displacement because of connecting rod electrical motor 25; And < 4>make the acceleration/accel that the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b produced along the Zhou Fangxiang displacement (rotary acceleration that causes because of connecting rod electrical motor 25) because of the work of connecting rod electrical motor 25 or its counteraction.The height of above-mentioned<1>in these 4 acceleration/accels and<2>and the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b, be L
1And L
2Irrelevant.On the other hand because above-mentioned<3>and<4>be the acceleration/accel that produces because of along the Zhou Fangxiang displacement, so proportional with distance apart from roll center, promptly roughly with L
1And L
2Proportional.
The acceleration/accel that the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b is detected and export<3>of its detected value here, is made as a
X1And a
X2, the acceleration/accel that the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b is detected and export<4>of its detected value is made as a
M1And a
M2In addition, the acceleration/accel that the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b is detected and export<1>of its detected value is made as a
T, the acceleration/accel that the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b is detected and export<2>of its detected value is made as a
GNeed to prove; Because above-mentioned < 1>and < 2>is irrelevant with the height of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b, so the detected value of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b equates.
And the cireular frequency of the displacement of the Zhou Fangxiang that displacement of inclination, gap or the spring of the car body that will cause because of any depression of falling road surface 18 among only left and right wheels 12L and the 12R etc. is produced is made as ω
R, its angular acceleration is made as ω
R'.The cireular frequency of the displacement of the Zhou Fangxiang that will produce because of work or its counteraction of connecting rod electrical motor 25 in addition, is made as ω
M, its angular acceleration is made as ω
M'.
So, a
X1=L
1ω
R', a
X2=L
2ω
R', a
M1=L
1ω
M', a
M2=L
2ω
M'.
In addition, if the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b are detected and the detected value of the acceleration/accel of output is made as a
1And a
2, then because a
1And a
2Be the total of 4 acceleration/accels<1 >～<4 >, so by following formula (5) and (6) expression.
a
1=a
T+ a
G+ L
1ω
R'+L
1ω
M' ... Formula (5)
a
2=a
T+ a
G+ L
2ω
R'+L
2ω
M' ... Formula (6)
And, if deduct formula (6), then can access following formula (7) from formula (5).
a
1-a
2=(L
1-L
2) ω
R'+(L
1-L
2) ω
M' ... Formula (7)
Here, because L
1And L
2Value be the height of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b, so known.In addition, because ω
M' value be the angular velocity omega of connecting rod electrical motor 25
MDifferential value, so known.So, the right in above-mentioned formula (7), only the 1st ω
R' value be unknown, other value all is known.Therefore, can be according to the detected value a of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b
1And a
2Obtain ω
R' value.That is, based on the detected value a of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b
1And a
2, can remove the N/R component of acceleration.
In the tilting of car body control and treatment of this embodiment, carry out the controlled reset of that kind shown in Figure 10.In Figure 10, f
1The represented transfer function of the formula of stating after being (10).In addition, G
PBe the ride gain of proportional control action, G
DBe the ride gain of differential control action, s is the differential key element.
If the tilting of car body control system begins the tilting of car body control and treatment, then transverse acceleration operational part 48 beginning transverse acceleration calculation process at first, are obtained the 1st lateral acceleration sensor value a
1(step S11), and obtain the 2nd lateral acceleration sensor value a
2(step S12).Then, transverse acceleration operational part 48 calculates acceleration/accel difference Δ a (step S13).Represent this Δ a through following formula (8).
Δ a=a
1-a
2Formula (8)
Then, transverse acceleration operational part 48 carries out Δ L and accesses (step S14), and carries out L
2Access (step S15).Represent above-mentioned Δ L through following formula (9).
Δ L=L
1-L
2Formula (9)
Then, transverse acceleration operational part 48 calculates synthetic transverse acceleration a (step S16).Wherein, as above-mentioned the 1st embodiment, synthetic transverse acceleration a be with lateral acceleration sensor 44 be the cooresponding value of lateral acceleration sensor value a under one the situation, be with the 1st lateral acceleration sensor value a
1With the 2nd lateral acceleration sensor value a
2The value that is synthesized into obtains through following formula (10) and (11).
A=a
2-(L
2/ Δ L) Δ a ... Formula (10)
A=a
1-(L
1/ Δ L) Δ a ... Formula (11)
In theory; No matter through type (10) still is a formula (11) can both obtain identical value; But because the acceleration/accel that produces because of the displacement of Zhou Fangxiang is with proportional apart from the distance of roll center, so in fact preferably with from the nearer lateral acceleration sensor 44 of roll center, promptly the detected value of the 2nd lateral acceleration sensor 44b is a
2Be benchmark.Given this, in this embodiment, through type (10) calculates synthetic transverse acceleration a.
At last, transverse acceleration operational part 48 is seen synthetic transverse acceleration a (step S17) off to inclination control part 47, and the transverse acceleration calculation process is finished.
In addition, inclination control part 47 beginning tilting of car body control and treatment at first receive synthetic transverse acceleration a (step S21) from transverse acceleration operational part 48.
Then, inclination control part 47 carries out a
OldAccess (step S22).a
OldBe the synthetic transverse acceleration a that when tilting of car body control and treatment is last time carried out, preserves.Wherein, when initial setting, a
Old=0.
Owing to the action after this, be that the action of step S23～S29 shown in Figure 12 is identical with the action of step S3～S9 illustrated in above-mentioned the 1st embodiment, so omit its explanation.
Like this, in this embodiment, the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b are provided in mutual different height position, calculate the 1st lateral acceleration sensor value a
1With the 2nd lateral acceleration sensor value a
2The synthetic transverse acceleration a that is synthesized into, and the angle of inclination of car body controlled is so that value that should synthetic transverse acceleration a is near zero or zero.That is, zero with the value of synthetic transverse acceleration a is expected value, the angle of inclination of control car body.
We can say that above-mentioned synthetic transverse acceleration a removes above-mentioned < 3>and < 4>from the detected acceleration/accel of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b, only extract the value behind above-mentioned < 1>and < 2>out.That is the axial component of acceleration of detection of the lateral acceleration sensor in the hand of rotation acceleration/accel outwardly that, optionally only the turning because of vehicle 10 is produced, the value that calculates with the composite value of the axial component of acceleration of detection of lateral acceleration sensor in the gravity that produces because of tilting of car body are the values of synthetic transverse acceleration a.
Thus, owing to can remove the N/R component of acceleration, thus can not receive the influence ground of condition of road surface to prevent the vibration of control system, the generation of dispersing etc., and the ride gain that can increase the tilting of car body control system makes the responsibility raising of control.
In addition, in this embodiment, be that 2 situation is illustrated, but lateral acceleration sensor 44 also can be several as long as for a plurality of and be provided in mutual different height, can be more than 3 to lateral acceleration sensor 44.
Next, the 3rd embodiment of the present invention is described.Wherein, about having the part with the 1st and the 2nd embodiment identical construction, omit its explanation through giving identical symbol.In addition, about action identical and identical effect, also omit its explanation with the above-mentioned the 1st and the 2nd embodiment.
Figure 13 is the figure at the back side of the vehicle in expression the 3rd embodiment of the present invention.Wherein, in the drawings, (a) being the figure of the upright state of expression car body, (b) is the figure of the state of expression tilting of car body.
Through when turning; Left and right wheels 12L and 12R with respect to the angle on road surface 18, be camber angle also make invariably the portion of taking 11 with as the wheel 12F of front-wheel with respect to main part 20 swings; In turning, take turns tilt, can realize raising and the occupant's of turning performance the guaranteeing of traveling comfort.Wherein, in embodiment illustrated, when still turning when no matter advancing, left and right wheels 12L and 12R be upright with respect to road surface 18, be that camber angle is 0 degree.
About the formation of other points, since identical with above-mentioned the 1st embodiment, so omit its explanation.
Wherein, Lateral acceleration sensor 44 is identical with above-mentioned the 2nd embodiment; Comprise the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b, above-mentioned the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b are provided in mutual different height position.
In this embodiment, center, the roll center of the banking motion when taking portion's 11 inclinations are consistent with axis of roll 20a.Given this, the height L of the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b
1And L
2Be set to distance apart from axis of roll 20a.
Preferred above-mentioned the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b both are provided in upside or the downside of axis of roll 20a.In addition, one of preferred above-mentioned the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b is configured in approaching with axis of roll 20a as far as possible position.
About lateral acceleration sensor 44, owing to other points are identical with above-mentioned the 2nd embodiment, so omit its explanation.In addition, about the tilting of car body control system, since also identical with above-mentioned the 2nd embodiment, so omit its explanation.And, about the action of the vehicle in this embodiment 10, since also identical with above-mentioned the 2nd embodiment, so omit its explanation.
Next, the 4th embodiment of the present invention is described.Wherein, about having the part with the 1st～the 3rd embodiment identical construction, omit its explanation through giving identical symbol.In addition, about action identical and identical effect, also omit its explanation with above-mentioned the 1st～the 3rd embodiment.
Figure 14 is the block diagram of the formation of the tilting of car body control system in expression the 4th embodiment of the present invention.
In the above-mentioned the 2nd and the 3rd embodiment, to through 2 lateral acceleration sensors 44, promptly the 1st lateral acceleration sensor 44a and the 2nd lateral acceleration sensor 44b situation that detects the acceleration/accel of transverse direction is illustrated., if can detect the sensor of the acceleration/accel of transverse direction, then also can use the sensor of the kind beyond the acceleration pick-up.Wherein, The sensor of acceleration/accel that can detect transverse direction except the sensor of direct sense acceleration as acceleration pick-up, also comprise as speed sensor detected value carried out differential and can access acceleration/accel sensor, be the sensor of indirect detection acceleration/accel.
In this embodiment, use example to describe to replacing above-mentioned the 2nd lateral acceleration sensor 44b as the roll rate sensor 44c of the sensor of indirect detection acceleration/accel.Wherein, this roll rate sensor 44c is the general roll rate sensor that the cireular frequency to the banking motion of car body detects, and for example is that gyrosensor is mounted to the sensor that can detect the spin velocity in the face of direction perpendicular to the ground.
The tilting of car body control system of this embodiment is shown in figure 14.On the control ECU46 that tilts, be connected with the 1st lateral acceleration sensor 44a and roll rate sensor 44c.And transverse acceleration operational part 48 calculates synthetic transverse acceleration based on the differential value and the detected transverse acceleration of the 1st lateral acceleration sensor 44a of the cireular frequency of the banking motion of the detected car body of roll rate sensor 44c.Then, the synthetic transverse acceleration as transverse acceleration that calculates based on transverse acceleration operational part 48 of inclination control part 47 is exported the torque instruction value that is used to make 25 work of connecting rod electrical motor.
Wherein, about the formation of other points, since identical with the above-mentioned the 2nd and the 3rd embodiment, so omit its explanation.
Next, the action to the vehicle in this embodiment 10 describes.The action of the tilting of car body control and treatment during here, only to turning driving describes.
Figure 15 is the figure of the mechanical model in expression the 4th embodiment of the present invention, and Figure 16 is the diagram of circuit of the action of the transverse acceleration calculation process in expression the 4th embodiment of the present invention.
In Figure 15,44A is the 1st sensor station that is illustrated in the position that sets the 1st lateral acceleration sensor 44a in the car body, and 44C is the 2nd sensor station that is illustrated in the position that sets roll rate sensor 44c in the car body.In addition, ω
1Be the detected car body of roll rate sensor 44c banking motion cireular frequency value, be the roll rate sensor values.
Wherein, roll rate sensor 44c can be installed on height and position arbitrarily.In embodiment illustrated, be installed in low position, but also can be installed in identical height and position with the 1st lateral acceleration sensor 44a than the 1st lateral acceleration sensor 44a, can also be installed in high position than the 1st lateral acceleration sensor 44a.
But, preferred roll rate sensor 44c is identical with the 1st lateral acceleration sensor 44a, is installed in the sufficiently high parts of rigidity.In addition, come under the situation of supporting body at the spring that utilizes suspension etc., preferred roll rate sensor 44c is identical with the 1st lateral acceleration sensor 44a, is provided in so-called " on the spring ".And preferred roll rate sensor 44c is identical with the 1st lateral acceleration sensor 44a, is provided in as between the axletree of the wheel 12F of front-wheel and the axletree as the left and right wheels 12L of trailing wheel and 12R.And preferred roll rate sensor 44c is identical with the 1st lateral acceleration sensor 44a, be provided in as far as possible the occupant near.About point in addition, so long as can detect car body banking motion, be that the position of inclination gets final product, roll rate sensor 44c can be installed in any position.
Wherein, because the 1st lateral acceleration sensor 44a and roll rate sensor 44c are mutual different sensor, so need to make in theory or experimentally in advance both response characteristics consistent.Adjust through filter etc.,, become the equal time constant of output with the bigger side of time constant so that for example under the time constant of which equivalent model situation of less (comparatively fast).
In this embodiment, if the tilting of car body control system begins the tilting of car body control and treatment, then transverse acceleration operational part 48 beginning transverse acceleration calculation process are at first obtained the 1st lateral acceleration sensor value a as the lateral acceleration sensor value
1(step S31), and obtain roll rate sensor values ω
1(step S32).
Then, transverse acceleration operational part 48 carries out ω
OldAccess (step S33).ω
OldBe the roll rate sensor values ω that when tilting of car body control and treatment is last time carried out, preserves
1Wherein, when initial setting, ω
Old=0.
Then, transverse acceleration operational part 48 obtains control cycle T
S(step S34), and calculate ω
1Differential value (step S35).Here, if with ω
1Differential value be made as Δ ω
1, then calculate this Δ ω through following formula (12)
1
Δ ω
1=(ω
1-ω
Old)/T
SFormula (12)
Then, transverse acceleration operational part 48 carries out L
1Access (step S36).
Then, transverse acceleration operational part 48 calculates synthetic transverse acceleration a (step S37).Wherein, as above-mentioned the 1st embodiment, this synthetic transverse acceleration a be with lateral acceleration sensor 44 be the cooresponding value of lateral acceleration sensor value a under one the situation, be with the 1st lateral acceleration sensor value a
1With roll rate sensor values ω
1Differential value Δ ω
1The value that is synthesized into obtains through following formula (13).
A=a
1-L
1Δ ω
1Formula (13)
At last, transverse acceleration operational part 48 is seen synthetic transverse acceleration a (step S38) off to inclination control part 47, and the transverse acceleration calculation process is finished.
Wherein, the action of the tilting of car body control and treatment of carrying out about inclination control part 47, since identical with above-mentioned the 2nd embodiment, so omit its explanation.
Like this; In this embodiment; Because as one in a plurality of sensors of the acceleration/accel that can detect transverse direction; Adopted roll rate sensor 44c,, made the Design freedom of vehicle 10 increase so the degree of freedom of the installation site of the roll rate sensor 44c relevant with short transverse is increased.
In addition; In this embodiment; Only use the example of roll rate sensor 44c to be illustrated, but also can replace the 1st lateral acceleration sensor 44a and use roll rate sensor 44c replacing the 2nd lateral acceleration sensor 44b in the above-mentioned the 2nd and the 3rd embodiment.In addition, vehicle 10 can have connecting rod mechanism 30 as the vehicle in the 2nd embodiment 10, also can as the vehicle in the 3rd embodiment 10, not have connecting rod mechanism 30.
Next, the 5th embodiment of the present invention is described.Wherein, about having the part with the 1st～the 4th embodiment identical construction, omit its explanation through giving identical symbol.In addition, about action identical and identical effect, also omit its explanation with above-mentioned the 1st～the 4th embodiment.
Figure 17 is the scheme drawing that the size to each one of vehicle in the 5th embodiment of the present invention describes.Wherein, in the drawings, (a) being birds-eye view, (b) is right elevation.
In this embodiment, the tilting of car body control system is controlled, so that the value a of transverse acceleration remains in the scope of regulation.Wherein, as far as above-mentioned value a, be the lateral acceleration sensor value a under one the situation except comprising as above-mentioned the 1st embodiment lateral acceleration sensor 44, also be included in the synthetic transverse acceleration a that explains in above-mentioned the 2nd～4 embodiment.
As shown in the figure, the scope of afore mentioned rules is the range of stability with the three-dimensional configuration decision of the center of gravity M of the earth point of each wheel 12 and vehicle 10.Wherein, above-mentioned center of gravity M comprises that not only vehicle 10 also comprises the single-piece center of gravity of the loaded with articles of the occupant that takes and lift-launch.
In the drawings, h is the height of center of gravity M, i.e. 18 distances to center of gravity M from the road surface.In addition, K is being the equicrural triangle on summit as the earth point of the wheel 12F of front-wheel with as the left and right wheels 12L of trailing wheel and the earth point of 12R.
Shown in Figure 17 (a), can know that center of gravity M is in the equicrural triangle K, then can keep the stability of the left and right directions of vehicle 10 reliably if observe from the top.
Given this, if will be parallel with the base K1 of equicrural triangle K and be that two ends and the line segment through center of gravity M are made as M1 with 2 hypotenuses, the scope at two ends that then will be from center of gravity M to line segment M1 be as the aforementioned stable scope.Here; Distance till the one-sided end from center of gravity M to line segment M1 during if car body do not tilted, when the longitudinal axis of car body is vertical is made as LM, and then the above-mentioned value a of tilting of car body when center of gravity M is positioned at till the end of line segment M1 is by following formula (14) and (15) expression.
a
INres=LM9.807/ (h-LMsin (θ)) ... Formula (14)
a
OUTres=LM9.807/ (h+LMsin (θ)) ... Formula (15)
Wherein, the constant 9.807 expression acceleration due to gravitys in above-mentioned formula (14) and (15), θ representes the angle of inclination of car body.
And, just be made as will rotating the inboard, the rotation outside is made as under the negative situation, when satisfying following formula (16), we can say that above-mentioned value a remains in the aforementioned stable scope.
-a
OUTres＜a＜a
INresFormula (16)
In addition, if a
Res=min (a
INres, a
OUTres), then when satisfying following formula (17), we can say that above-mentioned value a remains in the aforementioned stable scope.
-a
Res＜a＜a
ResFormula (17)
Like this, in this embodiment, the tilting of car body control system is controlled so that the value a of transverse acceleration satisfy above-mentioned formula (16) perhaps (17), promptly remain in the scope of regulation.That is, the inclination of car body being controlled, is in the range of stability that determines of the distance of hypotenuse of triangle K on summit to the earth point with wheel 12 so that the value a of transverse acceleration remains on based on the height of center of gravity M with from above-mentioned center of gravity M.
Thus, the stability of the transverse direction of vehicle 10 improves.
And in the present invention, the means as solving prior art problems point can adopt following mode.
A kind of vehicle has: car body, and it possesses the turning part and the drive division of mutual binding; Wheel flutter, it is the wheel that can be installed in above-mentioned turning part rotatably, is used to make above-mentioned car body to turn to; Drive wheel, it is the wheel that can be installed in above-mentioned drive division rotatably, is used to drive above-mentioned car body; Tilt to use actuator devices, it makes above-mentioned turning part or drive division tilt to turn direction; 2 sensors, it detects the transverse acceleration that acts on above-mentioned car body directly or indirectly; And control setup, it controls the inclination of above-mentioned car body with actuator devices to above-mentioned inclination; This control setup is based on above-mentioned 2 transverse accelerations that sensor detected; Optionally calculate the sensor in the hand of rotation acceleration/accel outwardly the axial component of acceleration of detection, with gravity in the composite value of the axial component of acceleration of detection of sensor, come the inclination of above-mentioned car body is controlled.
In other vehicle, above-mentioned sensor is provided in mutual different height.
According to these formations; Owing to can remove the N/R component of acceleration; So can not receive condition of road surface influence prevent the vibration of control system, the generation of dispersing etc., and the ride gain that can increase the tilting of car body control system improves the responsibility of control.
And then in other vehicle, above-mentioned control setup serves as zero with the expected value of above-mentioned composite value, and the inclination of above-mentioned car body is controlled.
Constitute according to this,,, realize driving better, the stable motoring condition of impression so can not feel under the situation of inharmonious sense the occupant because the masterpiece of the direction parallel with the longitudinal axis of car body is used for car body and occupant.
And then in other vehicle, in above-mentioned 2 sensors one is the roll rate sensor that the cireular frequency to the banking motion of car body detects.
According to this formation, even simple car body constitutes, also can keep the stable of car body, and turning performance is improved.
And then, in other vehicle, have: car body, it possesses the turning part and the drive division of mutual binding; Wheel flutter, it is the wheel that can be installed in above-mentioned turning part rotatably, is used to make above-mentioned car body to turn to; Drive wheel, it is the wheel that can be installed in above-mentioned drive division rotatably, is used to drive above-mentioned car body; Tilt to use actuator devices, it makes above-mentioned turning part or drive division tilt to turn direction; Sensor, it detects the transverse acceleration that acts on above-mentioned car body directly or indirectly; And control setup, it controls the inclination of above-mentioned car body with actuator devices to above-mentioned inclination; This control setup is controlled the inclination of above-mentioned car body, is in the range of stability that determines of the distance of the hypotenuse on summit so that the value of the transverse acceleration that the sensor detected remains on based on the height of center of gravity with from above-mentioned center of gravity to the earth point with above-mentioned wheel.
Constitute according to this, because the raising of the stability of the transverse direction of vehicle, so can realize driving better, the stable motoring condition of impression.
And then in other vehicle, above-mentioned control setup is controlled the inclination of above-mentioned car body, so that the transverse acceleration that the sensor detected is near zero or zero.
Constitute according to this, owing to can control the angle of inclination of car body, to become the such angle of the mutual balance of centnifugal force and gravity, the masterpiece of the direction parallel with the longitudinal axis of car body is used for car body and occupant, so the occupant can not feel inharmonious sense.
And then, in other vehicle, be that above-mentioned wheel flutter is to take turns or two take turns, and above-mentioned drive wheel is two to take turns or a three-wheel vehicle of taking turns.
According to this formation, even simple car body constitutes, also can keep the stable of car body, and turning performance is improved.
In addition, the present invention is not limited to above-mentioned embodiment, can carry out various distortion based on purport of the present invention, does not get rid of these distortion from scope of the present invention.
Utilizability in the industry
The present invention can be used in the vehicle that has the pair of right and left wheel at least.
Description of reference numerals: 10-vehicle; 11-takes portion; 12F, 12L, 12R-wheel; The 20-main part; 25-connecting rod electrical motor; The 44-lateral acceleration sensor; 44a-the 1st lateral acceleration sensor; 44b-the 2nd lateral acceleration sensor; 44c-roll rate sensor.
Claims (7)
1. vehicle is characterized in that having:
Car body, it possesses the turning part and the drive division of mutual binding;
Wheel flutter, it is the wheel that can be installed in said turning part rotatably, is used to make said car body to turn to;
Drive wheel, it is the wheel that can be installed in said drive division rotatably, is used to drive said car body;
Tilt to use actuator devices, it makes said turning part or drive division tilt to turn direction;
Sensor, it detects the transverse acceleration that acts on said car body directly or indirectly; With
Control setup, it controls the inclination of said car body with actuator devices to said inclination;
This control setup is controlled the inclination of said car body based on the transverse acceleration of said sensor, so that act on the centnifugal force and the mutual balance of gravity of said car body.
2. vehicle according to claim 1 is characterized in that,
Said control setup serves as zero with the expected value of the transverse acceleration of said sensor, and the inclination of said car body is controlled.
3. according to claim 1 or 2 described vehicles, it is characterized in that,
Said sensor is a plurality of, is provided in mutual different height.
4. vehicle according to claim 3 is characterized in that,
Said control setup serves as zero with the expected value of the synthetic transverse acceleration that the transverse acceleration with a plurality of said sensor is synthesized into, and the inclination of said car body is controlled.
5. vehicle according to claim 4 is characterized in that,
In a plurality of said sensors one is the roll rate sensor that the cireular frequency to the banking motion of car body detects.
6. according to any 1 described vehicle in the claim 1～5, it is characterized in that,
This vehicle is that said wheel flutter is to take turns or two take turns, and said drive wheel is two to take turns or a three-wheel vehicle of taking turns.
7. vehicle according to claim 6 is characterized in that,
Said turning part can be with respect to said drive division swing.
Applications Claiming Priority (11)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010031451 | 2010-02-16 | ||
| JP2010-123961 | 2010-05-31 | ||
| JP2010123961 | 2010-05-31 | ||
| JP2010-174154 | 2010-08-03 | ||
| JP2010174154A JP2012011995A (en) | 2010-02-16 | 2010-08-03 | Vehicle |
| JP2010174245A JP2012011996A (en) | 2010-02-16 | 2010-08-03 | Vehicle |
| JP2010-174245 | 2010-08-03 | ||
| JP2010174329A JP2012011997A (en) | 2010-02-16 | 2010-08-03 | Vehicle |
| JP2010-174329 | 2010-08-03 | ||
| JP2010-031451 | 2010-12-28 | ||
| PCT/JP2011/000805 WO2011102106A1 (en) | 2010-02-16 | 2011-02-14 | Vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102770334A true CN102770334A (en) | 2012-11-07 |
Family
ID=45598922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011800094874A Pending CN102770334A (en) | 2010-02-16 | 2011-02-14 | Vehicle |
Country Status (2)
| Country | Link |
|---|---|
| JP (3) | JP2012011995A (en) |
| CN (1) | CN102770334A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859765A (en) * | 2014-02-22 | 2015-08-26 | 倪明旺 | Deformable bridge frame of motor tricycle |
| CN107031769A (en) * | 2017-03-22 | 2017-08-11 | 天津内燃机研究所（天津摩托车技术中心） | The front-wheel rocker structure and front-wheel of two front wheels motorcycle wave incline structure |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5928071B2 (en) * | 2012-03-28 | 2016-06-01 | 株式会社豊田中央研究所 | Moving body |
| JP6215471B2 (en) * | 2014-07-17 | 2017-10-18 | パイオニア株式会社 | Rotation angle detector |
| WO2016009536A1 (en) * | 2014-07-17 | 2016-01-21 | パイオニア株式会社 | Rotation angle detection device |
| JP2018127140A (en) * | 2017-02-09 | 2018-08-16 | トヨタ自動車株式会社 | Automatically leaning vehicle |
| JP6743735B2 (en) * | 2017-03-17 | 2020-08-19 | トヨタ自動車株式会社 | Self-tilting vehicle |
| CN109606497B (en) * | 2018-12-21 | 2021-04-16 | 河海大学常州校区 | Wheel leg type all-terrain vehicle |
| JP2021175638A (en) * | 2020-05-01 | 2021-11-04 | 本田技研工業株式会社 | Movable body |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1516806A1 (en) * | 2003-09-17 | 2005-03-23 | HONDA MOTOR CO., Ltd. | Roll control device for rolling type vehicle |
| JP2006001385A (en) * | 2004-06-16 | 2006-01-05 | Sony Corp | Parallel two-wheeled vehicle |
| CN1918013A (en) * | 2004-02-13 | 2007-02-21 | 弗里德里克·盖泽 | Multitrack curve-tilting vehicle, and method for tilting a vehicle |
| JP2007118807A (en) * | 2005-10-28 | 2007-05-17 | Equos Research Co Ltd | Vehicle |
| JP2007118806A (en) * | 2005-10-28 | 2007-05-17 | Equos Research Co Ltd | Vehicle |
| EP2151367A1 (en) * | 2008-08-08 | 2010-02-10 | Yamaha Hatsudoki Kabushiki Kaisha | Body leaning control system, and a saddle riding type vehicle having the same |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59149877A (en) * | 1983-02-14 | 1984-08-27 | 本田技研工業株式会社 | Rear wheel one-side drive type tricycle |
| JPS59149878A (en) * | 1983-02-16 | 1984-08-27 | ヤマハ発動機株式会社 | Rocking controller for rocking type wheel |
| JP3515748B2 (en) * | 2000-10-10 | 2004-04-05 | 本田技研工業株式会社 | Traveling vehicle |
| NL1021195C2 (en) * | 2002-07-31 | 2004-02-03 | Brinks Westmaas Bv | Tilt vehicle. |
| JP2006335193A (en) * | 2005-06-01 | 2006-12-14 | Advics:Kk | Rolling characteristic estimation device for vehicle, and rolling motion stabilization controller for vehicle using the same |
-
2010
- 2010-08-03 JP JP2010174154A patent/JP2012011995A/en active Pending
- 2010-08-03 JP JP2010174245A patent/JP2012011996A/en active Pending
- 2010-08-03 JP JP2010174329A patent/JP2012011997A/en active Pending
-
2011
- 2011-02-14 CN CN2011800094874A patent/CN102770334A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1516806A1 (en) * | 2003-09-17 | 2005-03-23 | HONDA MOTOR CO., Ltd. | Roll control device for rolling type vehicle |
| CN1918013A (en) * | 2004-02-13 | 2007-02-21 | 弗里德里克·盖泽 | Multitrack curve-tilting vehicle, and method for tilting a vehicle |
| JP2006001385A (en) * | 2004-06-16 | 2006-01-05 | Sony Corp | Parallel two-wheeled vehicle |
| JP2007118807A (en) * | 2005-10-28 | 2007-05-17 | Equos Research Co Ltd | Vehicle |
| JP2007118806A (en) * | 2005-10-28 | 2007-05-17 | Equos Research Co Ltd | Vehicle |
| EP2151367A1 (en) * | 2008-08-08 | 2010-02-10 | Yamaha Hatsudoki Kabushiki Kaisha | Body leaning control system, and a saddle riding type vehicle having the same |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859765A (en) * | 2014-02-22 | 2015-08-26 | 倪明旺 | Deformable bridge frame of motor tricycle |
| CN107031769A (en) * | 2017-03-22 | 2017-08-11 | 天津内燃机研究所（天津摩托车技术中心） | The front-wheel rocker structure and front-wheel of two front wheels motorcycle wave incline structure |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2012011997A (en) | 2012-01-19 |
| JP2012011995A (en) | 2012-01-19 |
| JP2012011996A (en) | 2012-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102770334A (en) | Vehicle | |
| CN103328315B (en) | Vehicle | |
| CN103339025B (en) | Vehicle | |
| CN102770333A (en) | Vehicle | |
| CN103079946B (en) | Vehicle | |
| CN103038126B (en) | Vehicle | |
| TWI551497B (en) | Electric vehicles | |
| CN103687782A (en) | Vehicle | |
| CN108025784B (en) | Vehicle with a steering wheel | |
| US20090171530A1 (en) | Aerodynamic control of a three-wheel vehicle | |
| CN109353406A (en) | Vehicular turn rolling device and Roll control method | |
| CN109625086A (en) | Vehicular turn rolls linkage and active roll vehicle | |
| CN109625088A (en) | Vehicular turn rolls linkage mechanism and active roll vehicle | |
| JP2024038470A (en) | Tilting vehicle with steered front wheels | |
| CN207328690U (en) | A kind of four-driving-force slider vehicle | |
| JP2013071688A (en) | Vehicle | |
| WO2011102106A1 (en) | Vehicle | |
| JP5866927B2 (en) | vehicle | |
| JP5458722B2 (en) | vehicle | |
| JP2011194953A (en) | Vehicle | |
| WO2018180754A1 (en) | Vehicle | |
| JP2011168094A (en) | Method for setting control value of vehicle | |
| JP5617650B2 (en) | vehicle | |
| CN103241305A (en) | Balancing mechanism of double-body vehicle | |
| JP5617652B2 (en) | vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20121107 |