CN1058234C - Regulating method for height of motorcycle - Google Patents
Regulating method for height of motorcycle Download PDFInfo
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- CN1058234C CN1058234C CN96107444A CN96107444A CN1058234C CN 1058234 C CN1058234 C CN 1058234C CN 96107444 A CN96107444 A CN 96107444A CN 96107444 A CN96107444 A CN 96107444A CN 1058234 C CN1058234 C CN 1058234C
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Abstract
A method and device are provided for adjusting the height of a motorcycle equipped with a motorcycle-height changing device for increasing and decreasing the height of the motorcycle in accordance with the operation of an actuator controlled in accordance with information on the speed of the motorcycle. Thus, an operational delay can be prevented from occurring when stopping the motorcycle by an abrupt deceleration. In addition, the height of the motorcycle can be increased to a high value quickly even at the time the motorcycle is started. A first piece of set speed information is set for starting the operation of the actuator to decrease the height of the motorcycle, and a second piece of set speed information different from the first set speed information is set for starting the operation of the actuator to increase the height of the motorcycle.
Description
The present invention relates to regulating method for height of motorcycle, this motor bike possesses the action according to control apparatus, makes overall height do the overall height change device that height changes, and controls to adjust the action of device according to speed information.
Changed the method for motor bike overall height and so in the past according to the speed of a motor vehicle, and opened flat 5-16639 communique and special fair 2-3758 communique by the spy and be well known.
Above-mentioned existing method is to be made overall height do the height variation to work like that by certain setting speed of a motor vehicle.And from the high speed of a motor vehicle promptly slow down, when the above-mentioned setting speed of a motor vehicle is low, in through process from opening time of computing time of sampling time of car speed sensor, electronic control unit and control apparatus, promptly sometimes when overall height is not also fallen fully, motor bike has just stopped.If consider this problem, will set higher that the speed of a motor vehicle establishes, superledge is up to reaching the higher speed of a motor vehicle, and overall height is low always, can damage occupant's mood by bus again.
The present invention proposes in view of these problems, and its objective is will provide a kind of and prevent owing to the urgent generation slow movement when stopping that slows down, also can promptly change the regulating method for height of motorcycle of overall height when starting to walk simultaneously.
For achieving the above object, a kind of regulating method for height of motorcycle in a first aspect of the present invention, the action that this motor bike possesses according to control apparatus (35) makes overall height do the overall height change device (28) that height changes, and, it is characterized in that: set according to the action of speed information control and regulation devices (35):
First sets speed information (V1),
Than the second little setting speed information (V2) of this first setting speed information (V1);
And, control overall height by following mode:, overall height is uprised when speed information surpasses this first, second when setting each of speed information (V1, V2) in increase;
When speed information is lower than this first, second when setting each of speed information (V1, V2) in minimizing, make the overall height step-down.
A second aspect of the present invention according to the overall height location information, changes and sets speed information on the basis of first aspect present invention.
A third aspect of the present invention on the basis of first aspect present invention, according to the changing pattern of the speed of a motor vehicle, changes and sets speed information.
A fourth aspect of the present invention on the basis of first aspect present invention, makes the setting speed that changes overall height according to the pace of change of the speed of a motor vehicle.
A fifth aspect of the present invention on the basis of fourth aspect present invention, judges whether the pace of change of the speed of a motor vehicle is unusual, when being judged to be when unusual, changes overall height according to the speed of a motor vehicle.
A sixth aspect of the present invention on the basis of fourth aspect present invention, according to the pace of change of the speed of a motor vehicle, changes the governing speed of control apparatus.
A seventh aspect of the present invention, on the basis of first aspect present invention, the overall height change device should change and be arranged at and can joltily be supported on the vehicle frame, can be supported on simultaneously the rocking arm on the trailing wheel and the lever ratio of the linkage between the vehicle frame freely rotationally, make the buffering pitman arm that is arranged between this linkage and the buffering unit by control apparatus, be to rotate between the high overall height position of midway location and the low overall height position with the dead point of compressing buffer cell to greatest extent, reducing the responsiveness of motor after by above-mentioned dead point.
A eighth aspect of the present invention, on the basis of first aspect present invention, slow down, make control apparatus when step-down overall height one side is moved at motor bike, according to the speed of a motor vehicle set the overall height change device from high overall height position to motion target travel position midway, low overall height position, and control apparatus from the target travel position to the governing speed of low overall height position, littler to the governing speed of target travel position than control apparatus from high overall height position.
Below, according to diagram embodiments of the invention are described.
Fig. 1 is the lateral plan of motor bike;
Fig. 2 be among low overall height state Fig. 1 down mainly the position, along the Zoom Side pseudosection of 2-2 line longitudinally cutting among Fig. 4;
Fig. 3 is corresponding with Fig. 2, the side cutaway view of the longitudinally cutting during high overall height state;
Fig. 4 is the section-drawing along 4-4 line among Fig. 2;
Fig. 5 is the section-drawing along 5-5 line among Fig. 4;
Fig. 6 is the composition scheme drawing of electronic control unit;
Fig. 7 is the flow diagram of expression by the control program of electronic control unit setting;
Fig. 8 is that the corresponding overall height of speed of a motor vehicle changing pattern changes scheme drawing when slowing down;
Fig. 9 is that the corresponding overall height of speed of a motor vehicle changing pattern changes scheme drawing when quickening.
Figure 10 represents the diagram of circuit of the control program of second embodiment.
Figure 11 represents the diagram of circuit of the remainder of control program.
Figure 12 represents to begin to set corresponding to the overall height adjustment of acceleration, deceleration degree the setting figure of the speed of a motor vehicle.
Overall height variation diagram when Figure 13 represents anxious acceleration, deceleration.
Overall height variation diagram when Figure 14 represents to delay acceleration, deceleration.
Figure 15 is the reduced graph for the part of the overall height change device that the 3rd embodiment is described.
Figure 16 represents to cushion the cireular frequency of pitman arm.
Figure 17 is the formation scheme drawing of the electronic control unit of the 4th embodiment;
Figure 18 is the flow diagram by the control program of electronic control unit setting;
Figure 19 is the scheme drawing of acceleration diagram;
Figure 20 is the scheme drawing of deceleration/decel figure;
Figure 21 is the scheme drawing of target travel site plan;
Figure 22 adapts to the overall height variation scheme drawing that the speed of a motor vehicle changes.
Fig. 1 to Fig. 9 is the scheme drawing of the present invention the 1st embodiment.
At first in Fig. 1, front-wheel W
FHang on the front portion of frame of motorcycle 10 by preceding wheel suspension system 11.The rear portion of vehicle frame 10 also hangs trailing wheel W by rear wheel suspension apparatus 15 when lift-launch contains power unit 12, Fuel Tank 13 and the seat 4 etc. of driving engine and change speed gear box
R,, pass to trailing wheel W by the power drive 16 that comprises ring chain etc. from the power of power unit 12
RAnd the lower left quarter of vehicle frame 10 is equipped with the side stand 17 that can pop up.
Simultaneously with reference to Fig. 2 and Fig. 3, rear wheel suspension apparatus 15 comprises: front end can joltily be supported on the vehicle frame 10 by pivot 18, simultaneously the rear end can be freely supporting wheels W rotationally
R Reel cage 19; Be arranged at the linkage 20 of vehicle frame 10 and reel cage 19 bottoms; Be arranged at the buffer cell 21 between vehicle frame 10 and the linkage 20.And linkage 20 comprises: it can fluctuate in order to make, front end passes through adapter shaft 22 and vehicle frame 10 bonded assembly pitman arms 23; For making it can be around the rotational parallel with above-mentioned adapter shaft 22, an end be connected in the rear portion of this pitman arm 23, simultaneously the buffering connecting rod 24 that is connected with the lower end of reel cage 19 rotationally by adapter shaft 25 of the other end.Also have, buffer cell 21 be the hydraulic damper 26 that links by upper end and vehicle frame 10 and be arranged at this hydraulic damper about in the of 26 the coil spring between the two ends 27 constituted, the lower end of hydraulic damper 26 is connected with above-mentioned linkage 20.
Such rear wheel suspension apparatus 15, by the point of connection of change buffer cell 21 to linkage 20, the point of action of change from buffering unit 21 to linkage 20 is lever ratio apart from the length of pivot 18, thereby can change overall height.To change overall height is that the overall height change device 28 of purpose has: comprise the drive division 29 as the motor 35 of control apparatus; The execution portion 30 of the lever ratio of change aforementioned link mechanism 20 and transmission are from the power of drive division 29 and 31,32 compositions of a pair of driving band of execution portion 30.
Simultaneously with reference to Fig. 4, drive division 29 precision rests be positioned at reel cage 19 above, be fastened on the carriage 33 on the vehicle frame 10, and comprise: be anchored on the motor 35 that casing on the carriage 33 is 34 that fixed, can forward and reversely freely rotate; Input end is connected and is contained in the gear cluster 36 of 34 li of casings with motor; In casing 34, link and the drive pulley 37 that is supported on this casing 34 free to rotate with the mouth of this gear cluster 36.
A pair of driving band 31,32 is reeled from mutually opposite direction by drive pulley 37, and an end of each driving band 31,32 is fastened on the drive pulley 37.
Simultaneously with reference to Fig. 5, execution portion 30 has: head is the buffering pitman arm 39 that the lower end of hydraulic damper 26 is connected with the lower end of buffer cell 21 by adapter shaft 38 free to rotately; Have the axis parallel and be fixed on the turning cylinder 40 at buffering pitman arm 39 pedestal positions with adapter shaft 38; Be arranged at the quadrant gear 41 of an end of turning cylinder 40; Driven shaft 42 with axis parallel with turning cylinder 40; Be arranged at the driven pulley 43 of these driven shaft 42 1 ends; Be arranged at driven shaft 42 the other end and with above-mentioned quadrant gear 41 gears in meshs 44.
Pair of cylinders shape hub portion 24a, 24a are arranged on an end of buffering connecting rod 24 separatedly on its axis direction, 24a, 24a are contained in the cylindrical portion 23a that is arranged on the pitman arm 23, hold under the arm between two hub portion 24a, 24a and the cylinder position 23a and are adorning bearing 45,45.Turning cylinder 40 is coaxial through above-mentioned two hub portion 24a, 24a, holds dress bearing 46,46 between turning cylinder 40 and two hub portion 24a, the 24a respectively under the arm.And the base portion of buffering pitman arm 39 fixedly is engaged with turning cylinder 40 by serration closely-pitched 47 in the middle of two wheel hub position 24a, the 24a, the head that cushions pitman arm 39 and and the lower end bonded assembly adapter shaft 38 of buffer cell 21 between hold under the arm and adorn bearing 48.
Such overall height change device 28 can make buffering pitman arm 39 between the high overall height position at the low overall height position in the place ahead shown in Figure 2 and rear shown in Figure 3 by the action of motor 35, for example rotates in the scopes of 40 degree.So when making buffering pitman arm 39 forward anterior position to, reel cage 19 is upwards rotated by linkage 20, reduce overall height, when making buffering pitman arm 39 forward the rear position to, make reel cage 19 rotate the raising overall height again by linkage 20.
But, at low overall height state, as chaufeur situation such as when seat is got on or off the bus, trailing wheel W
RDuring the load reduction shared, to make vehicle frame 10 be that seat 14 rises with respect to ground-surface in order to suppress counter-force effect owing to buffer cell 21, and then the auxiliary ropes 51 that is connected with carriage 33 on being anchored on vehicle frame 10 of an end is connected on the driven pulley 43 by coilings.
The action stability of the linkage 20 when being in the low overall height position of the place ahead shown in Figure 2 one side in order to obtain to cushion pitman arm 39, and the action stability of the linkage 20 of buffering pitman arm 39 when being in the high overall height of one side position, rear shown in Figure 3, be provided with on the pitman arm 23 when buffering pitman arm 39 becomes high overall height position and these buffering pitman arm 39 contacted blocks 52, becoming when hanging down the overall height position and these buffering pitman arm 39 contacted blocks 53 when cushioning pitman arm 39 in setting on the buffering connecting rod 24.And in the slewing area of the buffering pitman arm 39 that is limited by two blocks 52,53, the angle that the line of centers of the line of centers of buffer cell 21 and buffering pitman arm 39 constitutes, in the total travel of buffer cell 21, be no more than 180 degree, so the chain link shape of linkage 20 does not change.
In Fig. 6, the overall height adjustment of overall height change device 28 is that the action of motor 35 is controlled by electronic control unit (ECU) 56, this electronic control unit 56 is also imported by relative with an end of turning cylinder 40 and be installed in the rotational position signal TH that potentiometer 55 detected turning cylinders 40 on the casing 49 promptly cushion pitman arm 39 in the detection signal of input car speed sensor 54.
When the action of controlling overall height change devices 28 by the chain link position control 58 of such electronic control unit 56 is the action of motor 35, designed control program as shown in Figure 7.At the 1st step S1, read in this computing value V of speed of a motor vehicle computer device 57
nAnd this detected value TH of potentiometer 55
nAt the 2nd step S2, judge that this calculates vehicle velocity V
nWhether set vehicle velocity V 1 (V less than the 1st
n＜V1).And the 1st to set vehicle velocity V 1 be that motor bike is to make this overall height change to the triggering speed of a motor vehicle of lower position when slowing down basically, generally sets higherly.
In the second step S2, be judged to be V
nDuring＜V1, enter the 3rd step S3, ought be judged to be V again
nDuring 〉=V1, enter the 10th step S10.Last time detected vehicle velocity V in the 3rd step S3 judgement
N-1Whether surpassed the 1st and set vehicle velocity V 1 (V
N-1＞V1), when being V
N-1During＞V1, enter the 4th step S4, when being judged to be V
N-1Enter the 8th step S8 during≤V1.
Judge this detected value TH of potentiometer 55 at the 4th step S4
nWhether equal depreciation count value THd, when unequal, calculate depreciation count value THd by pid algorithm, export the drive signal of motor 35 then in the 6th step at the 5th step S5.At the 4th step S4, be TH in addition when being judged to be
nDuring=THd, be to make the action of motor stop to enter the 6th step S6 at the 7th step S7.
At the 3rd step S3, be judged to be V
N-1≤ V1 when entering the 8th step S8, judges and last time calculated vehicle velocity V
N-1Whether surpassed the 2nd and set vehicle velocity V 2 (V
N-1＞V2).And the 2nd to set vehicle velocity V 2 be motor bike when quickening basically, is altered to the triggering speed of a motor vehicle of high position for making overall height, sets that to set vehicle velocity V 1 than the 1st low for.
Be judged to be V at the 8th step S8
N-1During＞V2, judge that at the 9th step S9 this calculates vehicle velocity V
nWhether surpassed the 2nd and set vehicle velocity V 2 (V
n＞V2), when being V
nEnter the 4th step S4 during≤V2.When being V
nEnter the 10th step S10 from the 9th step S9 during＞V2, judge this detected value TH of potentiometer 55 at the 10th step S10
nWhether equal the count value TH that rises in value
u, when unequal, calculate increment count value TH by pid algorithm at the 5th step S5
VBeing judged to be is TH
n=TH
uThe time, enter the 7th step S7.
When motor bike slows down, as shown in Figure 8, adjust the height of vehicle according to 4 kinds of speed of a motor vehicle changing patteries by such control program.Promptly when motor bike slows down, set: vehicle velocity V is decelerated to the pattern 1 (MODE1) that stops from the 1st state of setting more than the vehicle velocity V I; Vehicle velocity V is from the 1st state of setting more than the vehicle velocity V I, reduce to the 2nd set vehicle velocity V 2 below after, become the pattern 2 (MODE2) of the 1st setting vehicle velocity V more than 1 again; Vehicle velocity V is set the state of vehicle velocity V 1 or more from the 1st, reduce to the 2nd set vehicle velocity V 2 below after, once more through the state of the 2nd setting vehicle velocity V more than 2, become the mode 3 (MODE3) of the 2nd setting vehicle velocity V below 2 then; Vehicle velocity V is set the state of vehicle velocity V 1 or more from the 1st, become the 1st set vehicle velocity V 1 below and the 2nd setting vehicle velocity V more than 2 after, be upgraded to the pattern 4 (MODE4) of the 1st setting vehicle velocity V more than 1 once more.And in pattern 1, when vehicle velocity V was set vehicle velocity V 1 less than the 1st, motor 35 beginnings were to low overall height one side action, even the speed of a motor vehicle is set vehicle velocity V 2 less than the 2nd, owing to be low overall height state, the 2nd setting vehicle velocity V 2 does not possess the function that triggers the speed of a motor vehicle to the conduct of low overall height one side action yet.In pattern 2, when vehicle velocity V is set vehicle velocity V 1 less than the 1st, motor 35 beginnings are to low overall height one side action, then the speed of a motor vehicle reach the 2nd set vehicle velocity V more than 2 after, motor 35 moves to high overall height one side, set vehicle velocity V more than 1 although the speed of a motor vehicle reaches the 1st, owing to be high overall height state, the 1st sets the speed of a motor vehicle can not play the effect that triggers the speed of a motor vehicle to the conduct of high overall height one lateral movement yet.At mode 3, when vehicle velocity V is set vehicle velocity V 1 less than the 1st, motor 35 beginnings are to low overall height one side action, although the speed of a motor vehicle is set vehicle velocity V 2 less than the 2nd, owing to be low overall height state, the 2nd sets vehicle velocity V 2 does not possess as the function to the triggering speed of hanging down the action of overall height one side yet, after this, when reaching the 2nd, the speed of a motor vehicle sets vehicle velocity V 2 when above, motor 35 moves to high overall height one side, when the speed of a motor vehicle was set vehicle velocity V 2 less than the 2nd, the 2nd sets vehicle velocity V 2 played a role as the triggering speed of a motor vehicle of moving to low overall height one side, and motor 35 makes it move to low overall height one side.In pattern 4, when vehicle velocity V was set vehicle velocity V 1 less than the 1st, motor 35 beginnings were to low overall height one side action.After this, set vehicle velocity V 1 when above when the speed of a motor vehicle reaches the 1st, motor 35 moves to high overall height one side.
In addition, when motor bike quickens, as shown in Figure 9, set: vehicle velocity V accelerates to the pattern 1 (MODE1) of the 1st setting vehicle velocity V 1 above state from halted state; Vehicle velocity V accelerates to the 1st and sets after the vehicle velocity V 1 above state, changes to the pattern 2 (MODE2) of the 1st setting vehicle velocity V 1 following state again; Vehicle velocity V change to the 2nd set vehicle velocity V 2 or more after, change to the mode 3 (MODE3) of the 2nd setting vehicle velocity V 2 following states again; Vehicle velocity V is in the pattern 4 (MODE4) of the state of the 2nd setting vehicle velocity V below 2.So in pattern 1, vehicle velocity V changes to the 2nd and sets vehicle velocity V 2 when above, motor 35 beginnings are moved to high overall height one side.In pattern 2, when changing to the 2nd, vehicle velocity V sets vehicle velocity V 2 when above, motor 35 beginnings are to high overall height one side action, the speed of a motor vehicle through becoming the 1st set the state of vehicle velocity V more than 1 after, when the speed of a motor vehicle becomes less than the 1st setting vehicle velocity V 1, the 1st sets vehicle velocity V 1 plays a role as the triggering speed of a motor vehicle of moving to low overall height one side, and motor 35 moves to low overall height one side.At mode 3, vehicle velocity V changes to the 2nd and sets vehicle velocity V 2 when above, motor 35 beginnings are to high overall height one side action, through becoming the 2nd set the state of vehicle velocity V more than 2 after, when the speed of a motor vehicle becomes less than the 2nd setting vehicle velocity V 2, the 2nd sets vehicle velocity V 2 plays a role as the triggering speed of a motor vehicle of moving to low overall height one side, and motor 35 moves to low overall height one side.Further in pattern 4,,, keep the state of low overall height so motor 35 is failure to actuate because of vehicle velocity V is under the state less than vehicle velocity V 2.
Effect to the 1st embodiment makes an explanation below.When adjusting overall height high and low, preestablish the 1st set vehicle velocity V 1 and Bi Di 1 set vehicle velocity V 1 low the 2nd set vehicle velocity V 2, when motor bike slows down, set the state of vehicle velocity V more than 1 in vehicle velocity V from the 1st, when continuing to reduce to less than the 2nd setting vehicle velocity V 2 states, the 1st sets vehicle velocity V 1 as playing a role to the triggering speed of a motor vehicle of low overall height one side action, by the action of overall height change device 28 overall height is reduced.Motor bike is when halted state is quickened again, when vehicle velocity V is set vehicle velocity V 2 when above from change to the 2nd less than the 2nd state of setting vehicle velocity V 2, the 2nd sets vehicle velocity V 2 as playing a role to the triggering speed of a motor vehicle of high overall height one side action, by the action of overall height change device 28 overall height is improved.Like this, during deceleration, by the 1st higher setting vehicle velocity V 1 motor 35 beginnings in the overall height change device 28 are moved to step-down overall height one side, thus, avoid after stopping through motor bike in from the process of opening time of computing time of sampling time of car speed sensor 54, electronic control unit 56 and motor 35, the motor bike overall height is reduced fully, stopping again.In addition, during the motor bike starting, motor 35 beginnings in the overall height change device 28 are moved to uprising overall height one side, promptly improve overall height thus, can not damage mood by bus by the 2nd lower setting vehicle velocity V 2.
And because the changing pattern difference of the speed of a motor vehicle, also changes to the low speed of a motor vehicle one side and to the setting speed of a motor vehicle of the high speed of a motor vehicle one side action, the pattern 4, the 1 when slowing down is set vehicle velocity V 1 and is played a role as the triggering speed of a motor vehicle of moving to the high speed of a motor vehicle one side; Mode 3 when quickening, the 2nd sets vehicle velocity V 2 plays a role as the triggering speed of a motor vehicle of moving to the low speed of a motor vehicle one side.Can adjust overall height corresponding to the speed of a motor vehicle variation of motor bike thus.
But, pattern 4 during deceleration, vehicle velocity V is just to change to the pattern of the 1st setting vehicle velocity V more than 1 from setting vehicle velocity V 2 for the state of low overall height without the 2nd, also have, mode 3 during acceleration, vehicle velocity V is from being the state of high overall height, sets vehicle velocity V 1 without the 1st and just becomes the pattern of setting vehicle velocity V 2 less than the 2nd.So going out overall height from these two mode detection is to be in low, high which state, set vehicle velocity V 1 and the 2nd according to its overall height location information decision with the 1st and set vehicle velocity V 2 as also being fine to high overall height one side and to the triggering speed of a motor vehicle of hanging down which the side action of overall height one side, at that rate, the corresponding motor bike speed of a motor vehicle can be adjusted overall height.
As other embodiment of the present invention, be to use detection side support 17 to stretch out the resistance switch (not shown) of state, also the state that can stretch out with side stand 17 is the position that the halted state of motor bike is used as low overall height.Use the differential value of driving engine throttle opening signal in addition, when this differential value is " 0 " substantially, promptly almost during the unmodified low speed driving, overall height is changed at throttle opening; When above-mentioned differential value negative value is big, be judged to be deceleration that throttle opening closed constantly; Above-mentioned differential value is judged to be acceleration that throttle opening opened constantly when big; Also can obtain above-mentioned judgement with the form that quickens the corresponding setting speed of a motor vehicle of the moment from reserving in advance with the moment of slowing down.In addition, be that be variable the opening time of motor 35 opening time that makes overall height change device 28, under the situation of the high speed of a motor vehicle, also can make above-mentioned opening time longer, so that alleviate the impact when low overall height one side is moved.
Figure 10 to Figure 14 is the scheme drawing of the present invention the 2nd embodiment, is being marked with identical label with the corresponding part of the 1st embodiment.
Figure 10 and Figure 11 are the control program scheme drawings when adjusting overall height.At the 1st step M1, read in this calculating vehicle velocity V according to the detected value of car speed sensor 54
n, potentiometer 55 this detected value TH
nAnd the Hi/Lo position H of headlight, at the acceleration, deceleration degree dV of the 2nd step M2 calculating motor bike.Be that acceleration, deceleration degree dV is that this calculates vehicle velocity V
nDeduct and last time calculate vehicle velocity V
N-1Difference, again divided by the value ((V that calculates required processing time dt gained for 1 time
n-V
N-1)/dt).At the 3rd step M3 that follows, judge the absolute value of acceleration, deceleration degree dV | dV | whether less than the maxim dV that allows
MAX, be | during dV|＜dVmax, enter the 4th step M4.
At the 4th step M4, as shown in Figure 12, the predefined setting vehicle velocity V H that begins to adjust overall height according to acceleration, deceleration degree dV can decide according to figure.When promptly slowing down, beginning when promptly slowing down adjusted the setting vehicle velocity V H Ding Degao of overall height, and the setting vehicle velocity V H that beginning when slowly slowing down adjusted overall height decides lowly; During acceleration, beginning when promptly quickening adjusted the setting vehicle velocity V H Ding Degao of overall height, and the setting vehicle velocity V H that beginning when slowly quickening adjusted overall height decides lowly.
Whether the 5th step M5 following judges acceleration, deceleration degree dV less than " 0 ", promptly judges to be when slowing down or during acceleration.When being dV≤0, promptly when slowing down, judge that at the 6th step M6 this calculates vehicle velocity V
nWhether equaling to begin to adjust the setting vehicle velocity V H of overall height, is V
nDuring=VH, enter the 7th step M7; When being V
nDuring ≠ VH, return the 1st step M1.
In the 7th step, judge this detected value TH of potentiometer 55
nWhether equal depreciation count value THd.When unequal, by pid algorithm, calculate depreciation count value THd at the 8th step M8, then, in the drive signal of the 9th step M9 output motor 35.Also have, at the 7th step M7, judgement is TH
nDuring=THd, be to make the action of motor 35 stop to enter the 9th step M9 at the 10th step M10.
At the 7th step M7, be judged to be TH
nDuring ≠ THd, parallel with the 8th step M8, also enter the 11st step M11, M11 judges whether the Hi/Lo position H of headlight is Lo in this 11st step, when being H=Lo, returns the 7th step M7, when being H=Hi, at the 12nd step M12, the headlight positional value replaces with Lo.
At the 5th step M5, be dV＞0 o'clock, promptly being judged to be is when quickening constantly, enters the 13rd step M13 from the 5th step M5, at the 13rd step M13.Judge that this calculates vehicle velocity V
nWhether equal to begin to adjust the setting vehicle velocity V H of overall height.When being V
nDuring=VH, enter the 14th step M14, when being Vn ≠ VH, return the 1st step M1.
At the 14th step M14, judge this detected value TH of potentiometer 55
nWhether equal the count value THu that rises in value, when unequal, calculate increment computing value THu by pid algorithm at the 8th step M8; When judgement is TH
n=TH
uThe time, enter the 10th step M10.
Go on foot M14 when being judged to be TH the 14th
n≠ TH
uThe time, parallel with the 8th step M8, also enter the 15th step M15.At the 15th step M15, judge whether the Hi/Lo position H of headlight is Hi, when being H=Hi, return the 14th step M14; When being H=Lo, replace with Hi at the 16th step M16 headlight positional value.
But, at the 3rd step M3 be when being judged to be | dV|＞dV
MAXThe time, be acceleration, deceleration degree dV when being unusual promptly when judging, enter the 17th step M17 of Figure 11.At the 17th step M17, judge that this calculates vehicle velocity V
nWhether be in than the 2nd setting vehicle velocity V 2 and set vehicle velocity V 1 (V2＜V greatly and less than the 1st
n＜V1) state.
At the 17th step M17, be V2＜V when being judged to be
nDuring＜V1, last time calculated vehicle velocity V in the 18th step M18 judgement
N-1Whether surpassed the 1st and set vehicle velocity V 1 (V
N-1＞V1), when being V
N-1During＞V1, enter the 7th step M7 (with reference to Figure 10), when being V
N-1During≤V1, enter the 19th step M19.
At the 19th step M19, judge and last time calculated vehicle velocity V
N-1Whether surpassed the 2nd and set vehicle velocity V 2.When being judged to be V
N-1During＞V2,, judge that this calculates vehicle velocity V at the 20th step M20
nWhether surpassed the 2nd and set vehicle velocity V 2 (V
n＞V2), when being V
nDuring≤V2, enter the 7th step M7; Ought be again V
nDuring＞V2, enter the 14th step M14 (with reference to Figure 10).Have again, go on foot M19 when being judged to be V the 19th
N-1During≤V2, judge whether it is V2＞V at the 21st step M21
n, when being V2＞V
nThe time, enter the 14th step M14; Ought be again V2≤V
nThe time, enter the 7th step M7.
According to the 2nd embodiment, the setting vehicle velocity V H that begins to adjust overall height becomes according to the acceleration, deceleration degree dV of motor bike, during urgent acceleration, deceleration, resembles and adjusts overall height shown in Figure 13; In addition, slowly during acceleration, deceleration, resemble and adjust overall height shown in Figure 14.Promptly when urgent acceleration, deceleration, setting vehicle velocity V H1, VH2 that overall height is adjusted overall height according to higher beginning change to low, a high side; Slowly during acceleration, deceleration, setting vehicle velocity V H1 ', VH2 ' that overall height is adjusted overall height according to lower beginning change to low, a high side.Thus, no matter deceleration/decel how, through overall height from high overall height to T opening time that becomes low overall height fully
AAfter, motor bike can be stopped, no matter how, making, acceleration/accel passed through overall height in addition from hanging down overall height to T opening time that becomes high overall height fully
BThe time the vehicle velocity V of motor bike almost be the same, can improve mood by bus.
But, in the detected value of car speed sensor 54, sneak into the words of small interference etc., calculate the differential value of vehicle velocity V according to this detected value, and then from the acceleration, deceleration degree dV that differential value obtains, strengthened interference component, if under its error state remains unchanged situation just decision begin to adjust the words of the setting vehicle velocity V H of overall height, it is generally acknowledged that this begins to adjust the setting vehicle velocity V H of overall height, will depart from desired value significantly.Yet, the absolute value of acceleration, deceleration degree dV | dV| becomes greater than maximum permissible value dV
MAXThe time, be judged to be unusually, adjust overall height according to vehicle velocity V, can prevent to follow above-mentioned interference to sneak into and the control confusion that causes.
Other embodiments of the invention, be that be variable the opening time of motor 35 opening time that makes overall height change device 28, under the situation of urgent acceleration, deceleration, can be with above-mentioned opening time of fixed longer, so that the impact when alleviating action.
The 3rd embodiment of the present invention is to do the impact in when action of change overall height in order to relax overall height change device 28, and the responsiveness that also can make the buffering pitman arm 39 that moves with motor 35 is from reduce speed now midway.
Promptly in Figure 15, be connected in the buffering pitman arm 39 on the buffer cell 21, when between high overall height position and low overall height position, rotating, will be by compressing the dead point P of buffer cell 21 to greatest extent, after the P of this dead point, make the responsiveness quickening of buffering pitman arm 39 by the counter-force of buffer cell 21.Therefore, when buffering pitman arm 39 moves between low overall height position and high overall height position, control section A, B after passing through dead point P, the deceleration that carry out motor 35 promptly cushions the deceleration control of pitman arm 39.At this moment, preferably carry out controlling with the PID of the corresponding motor 35 of angular displacement that cushions pitman arm 39.
Do like this, for example cushion the cireular frequency that pitman arm 39 moves to low overall height position from high overall height position, just shown in Figure 16 solid line like that, when not carrying out deceleration control, such cireular frequency shown in long and short dash line becomes big situation and compares, cireular frequency has been reduced,, can make to impact and relax owing to obtain buffering to the impact of block 53 (referring to Fig. 2).In addition,, also, relaxed from hanging down the overall height position when move high overall height position at buffering pitman arm 39 and make to impact owing to the impact to block 52 (referring to Fig. 3) obtains buffering.
Figure 17 to Figure 22 is exactly the scheme drawing of the present invention the 4th embodiment.
At Figure 17, electronic control unit 56 ' comprising: the speed of a motor vehicle computer device 57 that calculates vehicle velocity V according to the detection signal of car speed sensor 54; Calculate the acceleration, deceleration degree computer device 61 of acceleration, deceleration degree dV according to the detection signal of car speed sensor 54; According to vehicle velocity V, acceleration, deceleration degree dV and turned position TH, the chain link position control 58 ' of the action of control motor 35; Whether the action of judging overall height change device 28 is unusual, and controlled by the action of chain link position control 58 ' termination motor 35, simultaneously with the abnormal signal detecting device 59 with indicating device 60 display abnormalities.
At chain link position control 58 ', when the action of control overall height change device 28 is the action of motor 35, set control program as shown in Figure 18 by such electronic control unit 56 '.After the 1st step, the setting of N1 initial value was finished, the 2nd to the 4th the step N2, N3, N4 carry out successively: the speed of a motor vehicle at speed of a motor vehicle computer device 57 calculates, calculate and read in detected value TH from potentiometer 55 at the acceleration, deceleration degree of acceleration, deceleration degree computer device 61.
Carry out retrieval at the 5th step N5 to acceleration diagram.Promptly as Figure 19, pre-determine zone, check the zone that whether is positioned at high overall height position by the speed of a motor vehicle and the determined point of acceleration/accel at the 5th step N5 according to the high overall height position of the speed of a motor vehicle and acceleration/accel.Carry out retrieval at the 6th step N6 to deceleration/decel figure.Promptly as shown in Figure 20, pre-determine zone, check the zone that whether is positioned at low overall height position by the speed of a motor vehicle and the determined point of deceleration/decel at the 6th step N6 according to the low overall height position of the speed of a motor vehicle and deceleration/decel.At the 7th step N7 the motor braking chart is retrieved again.Promptly slow down at motor bike, make motor 35 when reducing the action of overall height one side, the target travel position of overall height change device 28 (referring to Fig. 2, Fig. 3) from high overall height position to motion way, low overall height position as shown in Figure 21, is set at along with the raising of the speed of a motor vehicle and uprises.At the 7th step N7 the target travel site plan of foundation Figure 21 is retrieved.
At the 8th step N8, go on foot N5, N6 result for retrieval according to the 5th and the 6th to figure, judge whether and change to high overall height position one side, when should when high overall height position one side changes, judging at the 9th step N9 whether the variation to high overall height position one side finishes, when not finishing, at the 10th step N10, the action that motor 35 continues to high overall height position one side is when being through with, at the 12nd step N12, the action of motor 35 stops.
At the 8th step N8, should be when high overall height position one side change when being judged to be, at the 11st step N11, go on foot N5, N6 result for retrieval according to the 5th and the 6th to acceleration diagram and deceleration/decel figure, judge whether and change to low overall height position one side.Should be when low overall height position one side change when being judged to be not, promptly be judged to be in the time of keeping former overall height, at the 12nd step N12, stop the action of motor 35; When formulating, when finishing, stop the action of motor 35 at the 12nd step N12 to should when low overall height position one side changes, judging at the 13rd step N13 whether the variation to low overall height position one side has finished.
At the 14th step N14, according to the result for retrieval at the 7th step N7, whether the movement position of judging overall height change device 28 is than target travel position height.Under the high situation, at the 15th step N15, motor 35 continues to move to low overall height position one side; Under the low situation, in the action of the 16th step N16 brake motor 35.
According to the 4th embodiment, during such change of the speed of a motor vehicle shown in Figure 22 lower part, such change of overall height position shown in the first half of Figure 22.Be that motor bike slows down, overall height change device 28 is when low overall height one side is moved, motor 35 from the target travel position to the responsiveness of low overall height position, because braking and reach the kinematic velocity of motor 35 of target travel position from high overall height position to motion way, low overall height position than overall height change device 28 low.Promptly from high overall height position when low overall height change in location overall height, pace of change has become slowly halfway.
Thus, identical with the 3rd embodiment, can prevent to change the impact when finishing.And improve (at Figure 22 with the speed of a motor vehicle target travel position, represent with straight line for simplicity, in fact the variation with the target travel site plan of Figure 21 changes), no matter deceleration/decel how much, can be before motor bike stops to low overall height change in location, simultaneously, when slowly slowing down, can avoid the cataclysm of car body posture and change posture sleekly.When urgent the deceleration,, can revise car head and have a down dip rapidly in addition owing to promptly change to low overall height one side.
More than describe embodiments of the invention in detail, the present invention is not limited to the foregoing description, does not depart from the present invention who puts down in writing in claims and can carry out various change designs.
As described above, a first aspect of the present invention, owing to set and different make control apparatus begin and make control apparatus begin setting speed information to the action of step-down overall height one side to the setting speed information that uprises the action of overall height one side, can prevent to produce slow movement when stopping because of promptly slowing down, simultaneously, also can promptly change overall height during starting.
A second aspect of the present invention on the basis of first aspect present invention, changes with the overall height location information because of making the setting speed information, so adjustment is feasible with the corresponding suitable overall height of the speed of a motor vehicle.
A third aspect of the present invention on the basis of a first aspect of the present invention, changes with the changing pattern of the speed of a motor vehicle because of making the setting speed information, is feasible so adjustment changes corresponding suitable overall height with the speed of a motor vehicle.
A fourth aspect of the present invention, inequality because of making pace of change with the speed of a motor vehicle change the setting speed of overall height on the basis of a first aspect of the present invention, thus can be corresponding with the acceleration, deceleration degree of motor bike, the overall height adjustment is not suitably carried out in action slow.
A fifth aspect of the present invention, on the basis of a fourth aspect of the present invention, judge whether the pace of change of the speed of a motor vehicle is unusual, when being judged to be when unusual, because of the foundation speed of a motor vehicle changes overall height, so can prevent owing to sneak into the generation of disturbing control confusion phenomena when making the acceleration, deceleration degree unusual.
A sixth aspect of the present invention is on the basis of a fourth aspect of the present invention, because of the pace of change with the speed of a motor vehicle changes the responsiveness of control apparatus, so available speed according to the acceleration, deceleration degree is carried out the overall height adjustment.
A seventh aspect of the present invention, on the basis of a first aspect of the present invention, the overall height change device should change to be arranged at and is supported on swingably on the vehicle frame, simultaneously the rear end can be supported on the rocking arm on the trailing wheel and the lever ratio of the linkage between the vehicle frame freely rotationally, make the buffering pitman arm that is arranged between this linkage and the buffering unit by control apparatus, be to rotate between the high overall height position of midway location and the low overall height position with the dead point of compressing buffer cell to greatest extent, after passing through above-mentioned dead point, because of reducing the responsiveness of motor, impact so can prevent to cushion to produce when pitman arm moves.
A eighth aspect of the present invention, on the basis of a first aspect of the present invention, slow down at motor bike, make control apparatus when step-down overall height one side is moved, according to the speed of a motor vehicle set the overall height change device from high overall height position to action target travel position midway, low overall height position, control apparatus from the target travel position to the governing speed of low overall height position, lower to the governing speed of target travel position than control apparatus from high overall height position, so no matter be urgent the deceleration or slowly deceleration, variation to low overall height position is finished, but also can change posture according to deceleration/decel.
Claims (8)
1. the action that regulating method for height of motorcycle, this motor bike possess according to control apparatus (35) makes overall height do the overall height change device (28) that height changes, and according to the action of speed information control and regulation devices (35), it is characterized in that: set:
First sets speed information (V1),
Than the second little setting speed information (V2) of this first setting speed information (V1);
And, control overall height by following mode:, overall height is uprised when speed information surpasses this first, second when setting each of speed information (V1, V2) in increase;
When speed information is lower than this first, second when setting each of speed information (V1, V2) in minimizing, make the overall height step-down.
2. the regulating method for height of motorcycle of putting down in writing according to claim 1 is characterized in that changing the setting speed information according to the overall height location information.
3. the regulating method for height of motorcycle of putting down in writing according to claim 1 is characterized in that: according to the changing pattern of the speed of a motor vehicle, change and set speed information.
4. the regulating method for height of motorcycle of putting down in writing according to claim 1 is characterized in that: will make the setting speed of a motor vehicle that begins to adjust overall height that overall height changes (VH1 VH2) changes according to the acceleration-deceleration (dV) of the speed of a motor vehicle.
5. the regulating method for height of motorcycle of putting down in writing according to claim 4 is characterized in that: whether the pace of change of judging the speed of a motor vehicle unusual, when being judged to be when unusual, changes overall height according to the speed of a motor vehicle.
6. the regulating method for height of motorcycle of putting down in writing according to claim 4 is characterized in that; According to the pace of change of the speed of a motor vehicle, change the governing speed of control apparatus (35).
7. the regulating method for height of motorcycle of putting down in writing according to claim 1, it is characterized in that: overall height change device (28) should change to be arranged at and is supported on swingably on the vehicle frame (10), be supported on simultaneously the rocking arm (19) on the trailing wheel (WR) and the lever ratio of the linkage (20) between the vehicle frame (10) freely rotationally, being made the buffering pitman arm (39) that is arranged between this linkage (20) and buffering unit (21) by control apparatus (35) is being to rotate between the high overall height position of midway location and the low overall height position with the dead point (P) of compressing buffer cell (21) to greatest extent, reduces the responsiveness of motor (35) after by above-mentioned dead point (P).
8. the regulating method for height of motorcycle of putting down in writing according to claim 1, it is characterized in that: slow down, make control apparatus (35) when step-down overall height one side is moved at motor bike, according to the speed of a motor vehicle set overall height change device (28) from high overall height position to motion target travel position midway, low overall height position, the governing speed of control apparatus (35) from the target travel position to low overall height position is lower to the governing speed of target travel position from high overall height position than control apparatus (35).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP118332/95 | 1995-05-17 | ||
| JP11833295A JP3456796B2 (en) | 1994-08-30 | 1995-05-17 | Height adjustment method for motorcycles |
| JP118332/1995 | 1995-05-17 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1140671A CN1140671A (en) | 1997-01-22 |
| CN1058234C true CN1058234C (en) | 2000-11-08 |
Family
ID=14734048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN96107444A Expired - Fee Related CN1058234C (en) | 1995-05-17 | 1996-05-15 | Regulating method for height of motorcycle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1058234C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006069459A (en) * | 2004-09-06 | 2006-03-16 | Honda Motor Co Ltd | Internal-combustion engine |
| JP5996947B2 (en) * | 2012-06-29 | 2016-09-21 | 株式会社ショーワ | Vehicle height adjustment device |
| JP5847696B2 (en) * | 2012-12-21 | 2016-01-27 | 株式会社ショーワ | Height adjustment device for motorcycles |
| JP6193158B2 (en) * | 2014-03-13 | 2017-09-06 | 株式会社ショーワ | Vehicle height adjustment device and vehicle height adjustment method |
| JP6692191B2 (en) * | 2016-03-17 | 2020-05-13 | 株式会社ショーワ | Vehicle height adjustment device |
| JP6689635B2 (en) * | 2016-03-17 | 2020-04-28 | 株式会社ショーワ | Vehicle height adjustment device |
| JP6181335B1 (en) * | 2017-03-06 | 2017-08-16 | 株式会社ショーワ | Vehicle height adjustment device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85108893A (en) * | 1984-12-07 | 1986-09-10 | 株式会社日立制作所 | The delivery vehicle arrangement for adjusting height |
| JPH023758A (en) * | 1988-06-22 | 1990-01-09 | Mazda Motor Corp | Hydraulic control device for automatic speed change gear |
| EP0424942A1 (en) * | 1989-10-26 | 1991-05-02 | Suzuki Kabushiki Kaisha | Motorcycle having body height adjustor |
| US5154442A (en) * | 1990-11-19 | 1992-10-13 | Milliken Douglas L | Self-contained acceleration-responsive adaptive damper |
| EP0534574A2 (en) * | 1989-10-26 | 1993-03-31 | Kabushiki Kaisha Showa | Motorcycle body height adjusting mechanism |
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1996
- 1996-05-15 CN CN96107444A patent/CN1058234C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85108893A (en) * | 1984-12-07 | 1986-09-10 | 株式会社日立制作所 | The delivery vehicle arrangement for adjusting height |
| JPH023758A (en) * | 1988-06-22 | 1990-01-09 | Mazda Motor Corp | Hydraulic control device for automatic speed change gear |
| EP0424942A1 (en) * | 1989-10-26 | 1991-05-02 | Suzuki Kabushiki Kaisha | Motorcycle having body height adjustor |
| EP0534574A2 (en) * | 1989-10-26 | 1993-03-31 | Kabushiki Kaisha Showa | Motorcycle body height adjusting mechanism |
| US5154442A (en) * | 1990-11-19 | 1992-10-13 | Milliken Douglas L | Self-contained acceleration-responsive adaptive damper |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1140671A (en) | 1997-01-22 |
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