CN105644290A - Apparatus and method for control of vehicle suspension damping force - Google Patents
Apparatus and method for control of vehicle suspension damping force Download PDFInfo
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- CN105644290A CN105644290A CN201510864354.5A CN201510864354A CN105644290A CN 105644290 A CN105644290 A CN 105644290A CN 201510864354 A CN201510864354 A CN 201510864354A CN 105644290 A CN105644290 A CN 105644290A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
Abstract
The invention provides an apparatus for control of vehicle suspension damping force. The apparatus comprises a control gain output portion for calculating a control gain value, corresponding to the speed of a vehicle, for adjusting the vehicle suspension damping force; a compensation gain output portion for calculating a compensation gain value, corresponding to the average height variable quantity of the vehicle, of the control gain value; a vibration velocity output portion for outputting upper and lower vibration velocity of the vehicle; a control portion for calculating a ceiling control value for controlling the vehicle suspension damping force according to the control gain value, the compensation gain value, and the vibration velocity; and a suspension control portion for controlling the suspension damping force of the vehicle based on the ceiling control value.
Description
Technical field
The present invention relates to a kind of vehicle hanging (or suspension) to decay power (or damping force) control device and vehicle hanging decay force control method, specifically, utilize vehicle hanging damping force control device and the vehicle hanging decay force control method of the suspension of ceiling (skyhook) the controlling valu control vehicle of vehicle, wherein, repay the control gain value according to car speed acquisition with the compensating gain value complement obtained according to the center line average of the vehicle of change in the fixed time thus calculate capricorn bettle value.
Background technology
In the suspension of vehicle, CDC (continuousdampingcontrol: damping control system continuously) as electrically controlled suspension system is divided into normal pattern, cross-country pattern, high fast mode etc., according to circumstances controls the decay power of vehicle hanging. According to such different pattern, different respectively with the center line average of the pneumatic cushioning of the vehicle of trailing wheel at front-wheel, thus the physics mean rigidity (stiffness) that the spring significantly strengthening suspension has.
At this moment, the decay power of the ECS Electronic Control Suspension of the electrically controlled suspension system of existing vehicle can not increase fully to offset spring rigidity proportionally to the increasing amount of spring rigidity, therefore, cannot obtain optimum performance. This is because do not consider the height of the change of vehicle.
For this reason, studying recently when considering the change of vehicle height, electrically controlled suspension system is predicted the stiffness variation of pendulum spring, increasing the ceiling according to height real-Time Compensation (skyhook) on one's own initiative to electrically controlled suspension system controls gain simultaneously, thus, maintain the technology of the balance between spring rigidity and decay power.
Summary of the invention
The problem that invention to be solved
The present invention to be solved problem and be to provide the vehicle hanging damping force control device of suspension and the vehicle hanging decay force control method that the capricorn bettle value of vehicle calculated after the compensating gain value complement utilized to obtain according to the center line average of the vehicle of change in the fixed time repays the control gain value obtained according to car speed controls vehicle.
The problem to be solved of the present invention is not limited to above-mentioned problem, and those skilled in the art can be expressly understood other problems do not mentioned according to content described below.
The means dealt with problems
In order to solve above-mentioned problem, vehicle according to the invention hangs damping force control device and can comprise: control gain output portion, calculates the control gain value of the suspension decay power for regulating above-mentioned vehicle accordingly with car speed; Compensating gain output portion, calculates worthwhile compensating gain value in above-mentioned control gain value accordingly with the center line average variable quantity of above-mentioned vehicle; Vibration speed output portion, exports the up-down vibration speed of above-mentioned vehicle; Control portion, utilizes above-mentioned control gain value, above-mentioned compensating gain value and above-mentioned vibration speed, calculates the capricorn bettle value of the decay power of the suspension for controlling above-mentioned vehicle; And, hang control portion, control the suspension decay power of above-mentioned vehicle based on above-mentioned capricorn bettle value.
Vehicle according to the invention hangs decay force control method and comprises: the step calculating the control gain value of the suspension decay power for regulating above-mentioned vehicle with the speed of vehicle accordingly;The step of worthwhile compensating gain value in above-mentioned control gain value is calculated accordingly with the center line average variable quantity of above-mentioned vehicle; Export the step of the up-down vibration speed of above-mentioned vehicle; Above-mentioned control gain value, above-mentioned compensating gain value and above-mentioned vibration speed is utilized to calculate the step of capricorn bettle value of the decay power of the suspension for controlling above-mentioned vehicle; And the step of the suspension decay power of above-mentioned vehicle is controlled based on above-mentioned capricorn bettle value.
The concrete feature of other embodiments is included in explanation in detail and accompanying drawing.
Invention effect
Vehicle according to the invention hangs damping force control device and vehicle hanging decay force control method, it is possible to realize the one or more effect in effect below.
First, it is contemplated that arrived the compensating gain value that the center line average of the vehicle according to change obtains, thus there is the advantage of the stiffness variation of prediction vehicle hanging.
2nd, the stiffness variation hung is reflected in the control hanging decay power, better experiences by bus such that it is able to obtain.
The effect of the present invention is not limited to above-mentioned effect, and those skilled in the art can be expressly understood, by the content recorded in claim book, other effects do not mentioned.
Accompanying drawing explanation
Fig. 1 is the formation schematic diagram that vehicle according to the invention hangs damping force control device.
Fig. 2 is the schema illustrating the control flow process that vehicle according to the invention hangs decay force control method.
Embodiment
The embodiment illustrated in detail by referring to accompanying drawing, it is possible to understand the advantage of the present invention and feature clearly and realize these method. But; the present invention is not limited to embodiment described below; the present invention can be realized in different various modes; the following examples are only provided for the open more complete of the present invention; and intactly inform the category of the present invention to those skilled in the art, it should limit protection scope of the present invention based on claim book. In whole specification sheets, identical Reference numeral represents identical integrant.
When tire moves up and down along road pavement form, the suspension of vehicle makes car body and road surface maintain simultaneously moving horizontally of certain height. Thus, it is possible to obtain stable impression by bus, contacting to earth property is used to give full play of the performance of tire.
The suspension of above-mentioned vehicle can comprise spring, pneumatic cushioning, deoscillator (damper), vibroshock (shockabsorber) etc., wherein, spring and pneumatic cushioning alleviation are impacted first, and deoscillator and vibroshock prevent the vibration transmitted for two times by spring etc. Such power of preventing is called decay power, if the rigidity of spring etc. can offset decay power, so that it may to improve impression by bus.
Specifically, drive in vehicle process, vibroshock shrinks the moment that car body moves up is judged as the state that tire is upspring, graceful degradation power, when car body moves up, vibroshock also in increase, then controls decay power to strengthen in the way of decay power makes this move stopping, can guaranteeing stable impression by bus.
Decay power electrically controlled suspension system (ElectronicModulatedSuspension) refers to the decay power of the vibroshock being located on four tires by computer stepless control, thus makes automobile remain the system that the posture close to level travels. The kind of decay power electrically controlled suspension system (ElectronicModulatedSuspension) has electronically controlled air suspension (ElectronicControlledAirSuspension) and active damper suspension (ActiveDamperSuspension), initiatively preview to hang (ActivePreviewSuspension) etc.
Electronic air suspension is by replacing existing coil spring with pneumatic cushioning, thus regulates vehicle height by air pressure. Electronic air suspension regulates separately the height of four tires of vehicle, it is achieved the traveling state of vehicle. Pass to ECU after the sensor sensing vehicle-state of vehicle, then this is analyzed by ECU, and order air compressor adjustable pressure, thus regulate the height of four tires.
Below, reference illustrates the present invention for illustration of the accompanying drawing of the vehicle hanging damping force control device of the embodiment of the present invention.
Fig. 1 is the formation schematic diagram that vehicle according to the invention hangs damping force control device, and above-mentioned vehicle hanging damping force control device can comprise control gain output portion 100, compensating gain output portion 200, vibration speed output portion 300, speed of a motor vehicle output portion 400, vehicle height output portion 500, control portion 600 and hang control portion 700.
Specifically, vehicle according to the invention hangs the control gain output portion 100 that damping force control device comprises the speed with vehicle and calculates the control gain value of the suspension decay power regulating above-mentioned vehicle accordingly, the compensating gain output portion 200 of worthwhile compensating gain value in above-mentioned control gain value is calculated accordingly with the center line average variable quantity of above-mentioned vehicle, export the vibration speed output portion 300 of the up-down vibration speed of above-mentioned vehicle, utilize above-mentioned control gain value, above-mentioned compensating gain value and above-mentioned vibration speed calculate the control portion 600 of the capricorn bettle value of the decay power of the suspension for controlling above-mentioned vehicle and control the suspension control portion 700 of the suspension decay power of above-mentioned vehicle based on above-mentioned capricorn bettle value.
Vehicle according to the invention hangs damping force control device and can also comprise the speed of a motor vehicle output portion 400 of the speed measuring above-mentioned vehicle and measure the vehicle height output portion 500 of the center line average of above-mentioned vehicle.
The speed of current above-mentioned vehicle is measured in speed of a motor vehicle output portion 400, and this value is transferred to control gain output portion 100. The center line average of current above-mentioned vehicle is measured in vehicle height output portion 500, and this value is transferred to compensating gain output portion 200.
Speed of a motor vehicle output portion 400 can export the present speed of above-mentioned vehicle in real time, and control gain output portion 100 calculates above-mentioned control gain value in real time according to the speed of above-mentioned vehicle.
Above-mentioned control gain output portion 100 utilizes the table (Lookuptable) of searching being provided with the control gain value corresponding to car speed to carry out interpolation operation, thus calculates the above-mentioned control gain value of the present speed corresponding to above-mentioned vehicle.
Such as, control gain output portion 100 based on searching table (lookuptable) (table 1), can carry out interpolation operation according to the speed of a motor vehicle in current driving, so that it is determined that control gain value. Its result, control gain output portion 100 can determine control gain value under the precondition that the speed of a motor vehicle is proportional to control gain value. The control gain value based on the speed of a motor vehicle in table 1 that control gain output portion 100 determines can be the value by debugging setting.
Table 1
Such as, the current speed of a motor vehicle is 50kph, then be in the speed of a motor vehicle 30��60kph interval, it is possible to be considered as the current speed of a motor vehicle proportional to the control gain value of setting in this interval, therefore, it is possible to calculate the control gain value corresponding with it. Concrete calculating formula is as follows.
{ (50 30)/(60-30) } * (710 450)+450=623
That is, control gain value is 623 (N*sec/mm).
Above-mentioned control gain value only reflects the speed of vehicle, the value of the center line average not reflecting vehicle or the overall height change driving the selection of pattern based on vehicle.Therefore, in order to obtain outstanding impression by bus, it should the compensating gain value calculating the center line average reflecting vehicle or driving the overall height change of the selection of pattern based on vehicle compensates.
Above-mentioned compensating gain value is calculated by compensating gain output portion 200. Owing to the center line average of vehicle changes, the spring rigidity of suspension also changes, and by the decay power of control deoscillator to offset the spring rigidity of change, then can improve the impression by bus of vehicle. For this reason, it is necessary to the center line average of measuring vehicle, and thus calculate for control hang decay power compensating gain value.
For this reason, height when dispatching from the factory of above-mentioned vehicle is set to calibrated altitude by above-mentioned vehicle height output portion 500, it is possible to export the center line average variable quantity of the above-mentioned vehicle of the current center line average subtracting the above-mentioned vehicle measured from above-mentioned calibrated altitude.
It is lower than height at ordinary times or higher than height at ordinary times that the object setting above-mentioned calibrated altitude is to distinguish the center line average of current vehicle. When the center line average of current vehicle is lower than above-mentioned calibrated altitude, the center line average variable quantity of the vehicle that the current center line average subtracting the vehicle measured from above-mentioned calibrated altitude obtains just is being worth, therefore, vehicle height output portion 500 exports and is just worth, when the center line average of current vehicle is higher than above-mentioned calibrated altitude, the center line average variable quantity of the vehicle that the current center line average subtracting the vehicle measured from above-mentioned calibrated altitude obtains is negative value, and therefore, vehicle height output portion 500 exports negative value. The value exported is passed to compensating gain output portion 200.
Vehicle height output portion 500 exports the center line average variable quantity of above-mentioned vehicle in real time, and above-mentioned compensating gain output portion 200, according to the center line average variable quantity of above-mentioned vehicle, calculates above-mentioned compensating gain value in real time.
Hang in damping force control device in vehicle according to the invention, above-mentioned compensating gain output portion 200 utilizes the table (Lookuptable) of searching of the compensating gain value being provided with the center line average variable quantity corresponding to vehicle to carry out interpolation operation, thus calculates the above-mentioned compensating gain value corresponding with the center line average variable quantity of above-mentioned vehicle.
Further, above-mentioned compensating gain output portion 200 can calculate above-mentioned compensating gain value based on the driving mode of above-mentioned vehicle. Usually, the driving mode of vehicle can have Off-Road (cross-country), Highway (at a high speed) pattern etc. By taking the operation of the officer of automobile, when the driving mode of above-mentioned vehicle becomes Off-Road pattern, generally, above-mentioned vehicle maintains the state of overall height rising 30mm. When the driving mode of above-mentioned vehicle becomes Highway pattern, generally, above-mentioned vehicle maintains the state of overall height decline 15mm. That is, the height of vehicle changes along with the driving mode of vehicle, and the change of the center line average of vehicle brings impact to the rigidity of the spring in hanging. The present invention, when controlling the decay power hung, reflects the change of above-mentioned spring rigidity, therefore, when determining above-mentioned compensating gain value, it should consider the driving mode of vehicle.
The method calculating compensating gain value in compensating gain output portion 200 utilizes to search table (table 2) in compensating gain output portion 200, according to the center line average of current vehicle, carries out interpolation operation. Its result, it is possible to determine compensating gain value under the precondition that the center line average of vehicle is proportional to compensating gain value. It compensating gain output portion 200 can be the value set by debugging based on the compensating gain value (value 2) of the vehicle height of table 2.
Table 2
Such as, if the vehicle pattern of driving is set to Off-Road pattern by officer, then the height of above-mentioned vehicle controls rising 30mm by ECS Electronic Control Suspension. At this moment, if the center line average of vehicle is 27mm, then+30 indicated in table 2 carry out interpolation operation, calculate compensating gain value. Concrete calculating formula is as follows.
(27/30) * 180=162
That is, compensating gain value is 162 (N*sec/mm).
Hanging in damping force control device in vehicle according to the invention, in above-mentioned control gain value, above-mentioned control portion 600 adds that the value that above-mentioned compensating gain value obtains is multiplied by above-mentioned vibration speed, thus calculate above-mentioned capricorn bettle value.
Vibration speed output portion 300 exports the up-down vibration speed of vehicle. Vibration speed output portion 300 exports the speed moved up and down that the car body due to vehicle obtains suspension strut and produce. Reflected and hung in control such that it is able to obtained outstanding impression by bus.
Control portion is by adding, in the control gain value of control gain output portion 100 output, the compensating gain value that compensating gain output portion 200 exports, thus compensates.
Control portion by being multiplied by the up-down vibration speed of the vehicle that vibration speed output portion 300 exports in the value of above-mentioned compensation, thus calculates the capricorn bettle value of vehicle.
Concrete calculating formula is as follows.
(control gain value+compensating gain value) * (the up-down vibration speed of vehicle)=capricorn bettle value.
Hang the capricorn bettle value that control portion 700 utilizes control portion 600 to calculate, the decay power of control vehicle hanging. The suspension hanging control portion 700 control can be electrically controlled suspension system (CDC). The electrically controlled suspension system (CDC) hanging control portion 700 control needs the controlling valu of the skyhook damping device (skyhookdamper) for front and back wheel. The structure of the decay power of the vibroshock that independent control is located on four tires of vehicle respectively can also be formed as.
Below, illustrate that vehicle according to the invention hangs decay force control method with reference to Fig. 2. Fig. 2 is the schema illustrating the control flow process of vehicle hanging decay force control method according to an embodiment of the invention.
Vehicle according to the invention hangs decay force control method and comprises: the step calculating the control gain value of the suspension decay power regulating above-mentioned vehicle with the speed of vehicle accordingly, the step adding up to the compensating gain value in above-mentioned control gain value is calculated accordingly with the center line average variable quantity of above-mentioned vehicle, export the step of the up-down vibration speed of above-mentioned vehicle, utilize above-mentioned control gain value, above-mentioned compensating gain value and above-mentioned vibration speed calculate the step of the capricorn bettle value of the decay power of the suspension for controlling above-mentioned vehicle and control the step of the suspension decay power of above-mentioned vehicle based on above-mentioned capricorn bettle value.
In the step calculating above-mentioned control gain value, control gain output portion 100 can calculate above-mentioned control gain value in real time according to the speed of above-mentioned vehicle, and utilize be provided with the control gain value corresponding to car speed search table (Lookuptable), carry out interpolation operation, thus calculate the above-mentioned control gain value corresponding with the present speed of above-mentioned vehicle.
In the step calculating above-mentioned compensating gain value, compensating gain output portion 200 can subtract the center line average variable quantity of the above-mentioned vehicle that the current center line average of above-mentioned vehicle obtains from above-mentioned vehicle according to height when dispatching from the factory, and calculates above-mentioned compensating gain value in real time.
In the step calculating above-mentioned compensating gain value, what compensating gain output portion 200 can utilize the compensating gain value that the center line average variable quantity being provided with vehicle is corresponding searches table (Lookuptable), carry out interpolation operation, thus calculate the above-mentioned compensating gain value of the center line average variable quantity corresponding to above-mentioned vehicle.
In the step calculating above-mentioned compensating gain value, compensating gain output portion 200 can calculate above-mentioned compensating gain value based on the driving mode of above-mentioned vehicle.
In the step calculating above-mentioned capricorn bettle value, by above-mentioned control gain value, control portion 600 adds that the value that above-mentioned compensating gain value obtains is multiplied by above-mentioned vibration speed, thus calculate above-mentioned capricorn bettle value.
Control portion sends above-mentioned capricorn bettle value to suspension control portion 700, after suspension control portion 700 receives above-mentioned capricorn bettle value, and the suspension decay power of control vehicle. Specifically, hang control portion 700 by regulating air pressure or the hydraulic pressure of the deoscillator of vehicle hanging, thus offset the spring rigidity of suspension.
Above, illustrate and describe the preferred embodiments of the present invention, but the present invention is not limited to above-mentioned specific embodiment, in the scope not departing from claim book the present subject matter limited, those skilled in the art are it is of course possible to carry out various deformation implementation, it should not should separate understanding by these deformation implementation modes with the technical though of the present invention or prospect.
Reference numeral
100: control gain output portion
200: compensating gain output portion
300: vibration speed output portion
400: speed of a motor vehicle output portion
500: vehicle height output portion
600: control portion
700: hang control portion.
Claims (15)
1. a vehicle hanging damping force control device, wherein, comprising:
Control gain output portion, calculates the control gain value of the suspension decay power for regulating described vehicle accordingly with car speed;
Compensating gain output portion, calculates worthwhile compensating gain value in described control gain value accordingly with the center line average variable quantity of described vehicle;
Vibration speed output portion, exports the up-down vibration speed of described vehicle;
Control portion, utilizes described control gain value, described compensating gain value and described vibration speed, calculates the capricorn bettle value of the decay power of the suspension for controlling described vehicle; And
Hang control portion, control the suspension decay power of described vehicle based on described capricorn bettle value.
2. vehicle hanging damping force control device according to claim 1, also comprises:
Speed of a motor vehicle output portion, for measuring the speed of described vehicle; And
Vehicle height output portion, for measuring the center line average of described vehicle.
3. vehicle hanging damping force control device according to claim 2, wherein,
Described speed of a motor vehicle output portion exports the present speed of described vehicle in real time,
The speed of described control gain output portion and described vehicle calculates described control gain value accordingly in real time.
4. vehicle hanging damping force control device according to claim 3, wherein,
Described control gain output portion utilize be provided with the control gain value corresponding with the speed of vehicle search table, carry out looking into benefit computing, thus calculate the described control gain value of the present speed corresponding to described vehicle.
5. vehicle hanging damping force control device according to claim 2, wherein,
Height when dispatching from the factory of described vehicle is set to calibrated altitude by described vehicle height output portion, exports the center line average variable quantity of the described vehicle that the current center line average subtracting the described vehicle measured from described calibrated altitude obtains.
6. vehicle hanging damping force control device according to claim 5, wherein,
Described vehicle height output portion exports the center line average variable quantity of described vehicle in real time,
The center line average variable quantity of described compensating gain output portion and described vehicle calculates described compensating gain value accordingly in real time.
7. vehicle hanging damping force control device according to claim 6, wherein,
Described compensating gain output portion utilizes the table of searching of the compensating gain value that the center line average variable quantity being provided with vehicle is corresponding to carry out interpolation operation, thus calculates the described compensating gain value of the center line average variable quantity corresponding to described vehicle.
8. vehicle hanging damping force control device according to claim 7, wherein,
Described compensating gain output portion considers that the driving mode of described vehicle calculates described compensating gain value.
9. vehicle hanging damping force control device according to claim 1, wherein,
By described control gain value, described control portion adds that the value that described compensating gain value obtains is multiplied by described vibration speed thus calculates described capricorn bettle value.
10. a vehicle hanging decay force control method, described method comprises:
The step of the control gain value of the suspension decay power for regulating described vehicle is calculated accordingly with the speed of vehicle;
The step of worthwhile compensating gain value in described control gain value is calculated accordingly with the center line average variable quantity of described vehicle;
Export the step of the up-down vibration speed of described vehicle;
Described control gain value, described compensating gain value and described vibration speed is utilized to calculate the step of capricorn bettle value of the decay power of the suspension for controlling described vehicle; And
The step of the suspension decay power of described vehicle is controlled based on described capricorn bettle value.
11. vehicle hanging according to claim 10 decay force control methods, wherein,
In the step calculating control gain value, described control gain value is calculated accordingly in real time with the speed of described vehicle, utilize the table of searching being provided with the control gain value corresponding with the speed of vehicle to carry out interpolation operation, thus calculate the described control gain value of the present speed corresponding to described vehicle.
12. vehicle hanging according to claim 10 decay force control methods, wherein,
In the step calculating compensating gain value, the center line average variable quantity subtracting the described vehicle that the current center line average of described vehicle obtains from described vehicle with height when dispatching from the factory calculates described compensating gain value accordingly in real time.
13. vehicle hanging according to claim 12 decay force control methods, wherein,
In the step calculating compensating gain value, utilize the table of searching of the compensating gain value that the center line average variable quantity being provided with vehicle is corresponding to carry out interpolation operation, thus calculate the described compensating gain value of the center line average variable quantity corresponding to described vehicle.
14. vehicle hanging according to claim 13 decay force control methods, wherein,
In the step calculating compensating gain value, it is contemplated that the driving mode of described vehicle calculates described compensating gain value.
15. vehicle hanging according to claim 10 decay force control methods, wherein,
In the step calculating described capricorn bettle value, add that the value that described compensating gain value obtains is multiplied by described vibration speed and calculates described capricorn bettle value by described control gain value.
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| Application Number | Priority Date | Filing Date | Title |
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| KR1020140170753A KR102253162B1 (en) | 2014-12-02 | 2014-12-02 | Apparatus and method for control of vehicle suspension damping force |
| KR10-2014-0170753 | 2014-12-02 |
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| CN105644290A true CN105644290A (en) | 2016-06-08 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111886146A (en) * | 2018-03-27 | 2020-11-03 | 日立汽车系统株式会社 | Suspension control device |
| CN112903318A (en) * | 2021-01-27 | 2021-06-04 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
| CN114485879A (en) * | 2022-02-14 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle weight estimation method and system |
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| CN111886146A (en) * | 2018-03-27 | 2020-11-03 | 日立汽车系统株式会社 | Suspension control device |
| CN112903318A (en) * | 2021-01-27 | 2021-06-04 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
| CN112903318B (en) * | 2021-01-27 | 2022-04-05 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
| CN114485879A (en) * | 2022-02-14 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle weight estimation method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20160066411A (en) | 2016-06-10 |
| KR102253162B1 (en) | 2021-05-18 |
| CN105644290B (en) | 2017-12-12 |
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