JP2000127732A - Attitude control device for combat vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate an adverse effect to a traveling device by equipping a high sensor for detecting front and rear height of a vehicle and an inclination sensor for detecting longitudinal inclination to a road surface to control the attitude of the vehicle so as to be in the prescribed range of a pitching angle to the road surface after the vehicle moves to the flat ground. SOLUTION: When a vehicle comes near the terminal point of an inclination 10, an attitude control device controls a vehicle body 7 to give inclination in parallel with the road. Concurrently with this control, the inclination angle of the road is detected by an inclination sensor and when compensation attitude control is necessary, a compensating target value for body height is established. Compensating attitude control is thereby performed, so as to give an inclined attitude rather backward in a travel direction 11. When a height sensor for each wheel 2 gives a target value, the compensating attitude control is ended. When the vehicle travels to the flat ground 9 in this state, attitude on the ground 9 is kept in parallel therewith in a travel direction 11, or limited to a rather forward inclined attitude, thereby eliminating an adverse effect on a riding comfort or a travel device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to attitude control of a fighting vehicle.

[0002]

2. Description of the Related Art A conventional attitude control of a fighting vehicle will be described with reference to FIGS. FIG. 4 is an overall configuration diagram of a conventional attitude control device for a fighting vehicle (hereinafter, referred to as “vehicle”), and FIGS. 5 to 7 are explanatory diagrams of a state of the vehicle by conventional attitude control of the vehicle.

[0003] Reference numeral 1 denotes an oil pressure suspension device constituting a support portion of the wheel 2, and is connected to a hydraulic pump 4 via a hydraulic valve 3. Reference numeral 5 denotes a height sensor which detects the height of the vehicle body 7 and inputs a signal to a posture controller 6, which controls the hydraulic valve 3 to operate the hydraulic / pneumatic suspension device 1 to control the posture of the vehicle. Control.

Various types of height sensors 5 are used. However, the height sensor 5 is not limited to the type which directly detects the height of the vehicle body 7 with respect to the road surface.
For example, in the case of a wheel supported by a trailing arm, a resolver that detects the rotation angle of the trailing arm is used.

Conventionally, in the above attitude control device,
The vehicle height H of the vehicle body 7 from the road surface becomes the target value regardless of the inclination angle of the road surface even when the road surface is on the horizontal ground 9 as shown in FIG. , The vehicle was controlled to be parallel to the road surface. That is, the hydraulic pressure is supplied until the height position of each wheel 2 reaches the standard target value irrespective of the horizontal ground 9 and the sloping ground 10, and the control is terminated when the height sensor such as the resolver reaches the target value.

The term “horizontal ground” as used herein refers to not only a strictly horizontal plane but also a generally flat ground with respect to the sloping ground 10 in the following description of the present invention and its embodiments. It is used in the meaning including.

[0007]

In the conventional attitude control of a vehicle as described above, since the axial load distribution on the front and rear sloping ground 10 and the axial load distribution on the horizontal ground 9 are different, the oil pressure suspension system 1 The gas chamber pressures will be different.

[0010] For example, as shown in FIG.
The rear wheel load W2 is heavier, and the gas chamber pressure is higher for the rear wheel. For this reason, when the vehicle moves to the horizontal ground 9 after controlling the attitude on the ascending slope 10, as shown in FIG. 7B, the controlled attitude is not maintained, and the rear in the traveling direction becomes higher, and the attitude becomes forward and downward. In order to return to the horizontal position, the posture control is required again, and there is a problem that the posture control lacks smoothness, and it is not preferable in terms of the riding comfort and the load on the traveling device. A similar problem has occurred when shifting from the downhill slope 10 to the horizontal slope 9.

The present invention solves the above-mentioned problems of the conventional attitude control device of a fighting vehicle, and reduces the front-rear sloping ground 10 to the horizontal ground 9.
It is an object of the present invention to provide a posture control device for a fighting vehicle, which can smoothly control the posture at the transition to the vehicle, and can remove the adverse effect on the riding comfort and the load on the traveling device.

[0010]

Means for Solving the Problems (1) The present invention has been made to solve the above-mentioned problems, and is claimed in claim 1.
The invention according to the present invention is a height sensor that detects the height of the front and rear of the vehicle, an inclination sensor that detects the front and rear inclination of the road surface, the height of the support portion of the wheel based on the detection signal of the height sensor and the inclination sensor The vehicle has an attitude controller that controls the vehicle, and controls the attitude of the vehicle to keep it parallel to the road surface. It is an object of the present invention to provide a posture control device for a fighting vehicle, which performs a corrected posture control for adding a front-rear inclination from a inclination parallel to a road surface.

According to the present invention, when the vehicle moves to a horizontal ground after controlling the attitude on an upward slope, the vehicle assumes a forward-downward posture, or when the vehicle moves to a horizontal surface after controlling the posture on a downward slope, the vehicle moves downward. In order to return to the horizontal position, it is necessary to perform posture control again, and the posture control lacks smoothness. It is possible to solve the problem, smooth the attitude control in the transition from the front-rear sloping land to the horizontal ground, and remove the adverse effect on the riding comfort and the load on the traveling device.

(2) According to a second aspect of the present invention, in the attitude control device for a fighting vehicle according to the first aspect, the vehicle is controlled so as to be parallel to a road surface on a slope, and the correction attitude control is performed by an operation of an operator. Is provided so as to start the attitude control of the battle vehicle.

According to the present invention, when traveling on a horizontal ground or a sloping ground, the attitude of the vehicle is kept parallel to the road surface as before, and at an appropriate timing such as when shifting from the sloping ground to a horizontal ground by an operator's operation. Since the corrected attitude control according to the first aspect of the invention can be started, the traveling on the sloped land can be further stabilized, and the attitude control more suitable for the actual driving condition and can be smoothly performed.

(3) According to a third aspect of the present invention, in the attitude control device for a fighting vehicle according to the first aspect, the vehicle is controlled so as to be parallel to the road surface on the sloped ground, and the angle of the front-rear slope of the road surface on the sloped ground is reduced. It is an object of the present invention to provide a posture control device for a fighting vehicle, wherein the correction posture control is set to start when a predetermined value is exceeded.

According to the present invention, the correction attitude control according to the first aspect of the present invention is started when the inclination angle of the slope exceeds a predetermined value, so that the correction attitude control may be started carelessly on a gentle slope. In addition, since the corrected attitude control is automatically started on a slope where the corrected attitude control is required, the smoothness and reliability of the attitude control are further improved.

According to a fourth aspect of the present invention, in the attitude control device for a fighting vehicle according to any one of the first to third aspects, the height sensor detects a relative position between a vehicle body and wheels of the vehicle. And a posture control device for a battle vehicle.

According to the present invention, the height sensor is adapted to the wheel support structure of a general battle vehicle, and the inventions of claims 1 to 3 can be easily implemented, and the effects of the invention can be enjoyed. You can do it.

(5) According to a fifth aspect of the present invention, in the attitude control device for a fighting vehicle according to any one of the first to fourth aspects, the support portion of the wheel is constituted by an oil pressure suspension device. An object of the present invention is to provide a posture control device of a battle vehicle.

According to the present invention, the support portion of the wheel is adapted to the wheel support structure of a general battle vehicle, and the inventions of claims 1 to 4 can be easily implemented. You can enjoy it.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. 1 to 3 are denoted by the same reference numerals in FIG. 1 to FIG. 3 to clarify mutual relations to facilitate understanding of the present embodiment, and to explain the same. Omitted.

FIG. 1 is an overall configuration diagram of an attitude control device for a fighting vehicle according to an embodiment of the present invention. In FIG. 1, reference numeral 8 denotes an inclination sensor for detecting the front-back inclination angle of the vehicle body 7 of the vehicle, which is connected so that the detection signal is input to the attitude controller 6. The height sensor 5 detects the height of the vehicle body 7 at the position of each of the front and rear wheels 2, and inputs the signal to the attitude controller 6. The attitude controller 6 controls the hydraulic valve 3 to operate the hydraulic suspension apparatus 1 to control the attitude of the vehicle.

The inclination sensor 8 is provided in the vehicle and detects the front-back inclination angle of the vehicle body 7 with respect to the horizontal.
The type may be appropriately selected according to the use conditions of the vehicle.

In the vehicle attitude control device configured as described above, while the vehicle is traveling on the road surface of the horizontal ground 9, the uphill slope 10, or the downhill slope 10 in a state where the vehicle is substantially continued, FIGS. 6, the vehicle body 7 is driven by the same attitude control as described in the conventional example so that the vehicle body 7 is at the same height with respect to the road surface, that is, the attitude is controlled parallel to the road surface. The following control is performed when the connecting point from the incline of the forward / backward slope, the upward slope 10 to the horizontal ground 9 or the connection from the downward slope 10 to the horizontal ground 9 is shifted. The control of the attitude control device according to the present embodiment will be described with reference to the flowchart of FIG.

When the vehicle approaches the end point of the ascending slope 10, first, the attitude control device 6 sets the vehicle body height at each wheel 2 to be the same as in the conventional example, that is, the vehicle body 7 The inclination is controlled so as to be parallel. Here, the inclination angle of the road surface is detected by the inclination angle of the vehicle body 7 detected by the inclination sensor 8.

Next, it is determined whether or not to enter the correction attitude control based on the correction of the vehicle body height, and if necessary, the correction attitude control is started.
, A correction target value of the vehicle height is set.

That is, on an uphill slope 10, as shown in FIG. 3 (a), the height of the vehicle body at the front wheels 2 is increased, and the height of the vehicle body at the rear wheels 2 is lowered. A corrected target value is set, and a corrected attitude control is performed so that the vehicle is inclined slightly more backward in the traveling direction 11 by adding a slope than a slope parallel to the road surface. Each wheel 2
When the height sensor 5 has the same target value, the corrected attitude control ends.

In such a state, when the vehicle moves from the uphill slope 10 to the horizontal ground 9, as shown in FIG. 3 (b), the attitude at the horizontal ground 9 is parallel or slightly forward with respect to the horizontal ground 9 in the traveling direction 11. It can stop at a posture within a predetermined range of descent, can smoothly control the posture at the transition from the sloping ground 10 to the horizontal ground 9, and can remove the adverse effect on the riding comfort and the load on the traveling device. It is.

The determination as to whether or not to enter the above-described corrected attitude control may be started at an appropriate time by the operator at an appropriate time, such as when the slope 10 is about to end. May be automatically performed when the upward slope angle of the sloped land 10 exceeds a predetermined angle.

That is, if the correction attitude control is started by the operation of the operator, the vehicle can be kept parallel to the road surface when traveling continuously on the horizontal ground 9 or the sloping ground 10 as usual, and the sloping ground 10 can be maintained. Can be determined at an appropriate timing, for example, when the vehicle shifts to a horizontal ground 9 from the road, so that traveling on the sloped land 10 can be further stabilized, and more suitable and smoother attitude control can be performed in actual driving conditions. .

If the correction attitude control is started when the angle of inclination of the slope 10 exceeds a predetermined value, the correction attitude control does not start carelessly on the gentle slope 10, and the correction attitude control can be performed. The corrected attitude control is automatically performed on the sloped land 10 that requires the above, so that the smoothness and reliability of the attitude control are further improved.

The target value of the vehicle body height at each of the front and rear wheels after the correction, which is calculated according to the inclination of the uphill slope 10, is:
In accordance with the detected inclination angle of the slope 10, the vehicle moves from the uphill slope 10 to the horizontal ground 9 so that the vehicle stops at a position within a predetermined range slightly downward or forward in a direction parallel to or horizontal to the horizontal ground 9. Although a program is set up so that it is automatically calculated and set, an operator may set it each time.

Further, the predetermined range of the slightly forward and downward attitude in the traveling direction 11 after the vehicle has shifted from the upwardly sloping ground 10 to the horizontal ground 9 is determined when the attitude of the vehicle is thereafter controlled to be parallel to the horizontal ground 9. Is set appropriately in consideration of ride comfort, axle strength, vehicle type, etc.

As described above, in the present embodiment, the correction attitude control when shifting from the upward slope 10 to the horizontal ground 9 has been described. However, the slope direction is also different when shifting from the downward slope 10 to the horizontal ground 9. In exactly the same way, the correction posture control by the vehicle height setting correction can be performed.

That is, the target value of the vehicle body height of each of the front and rear wheels is corrected and set so that the vehicle is inclined more gradually than the inclination parallel to the road surface on the descending slope 10 so as to have a slightly downward posture in the traveling direction 11. When the vehicle shifts to the horizontal ground 9, the posture is controlled so that the vehicle stays in a predetermined range of a backward and downward movement in the traveling direction 11 in parallel with the horizontal ground 9 or in the traveling direction 11. As in the case of shifting to the horizontal ground 9, the attitude control in the shift from the sloped ground 10 to the horizontal ground 9 can be smoothly performed,
It is possible to remove the adverse effects on the ride comfort and the load on the traveling device.

In the above-described embodiment, the front and rear two wheels of the fighting vehicle have been illustrated and described. However, this is an example for description, and the present invention is not limited to a four-wheel vehicle. This is not limited to the above, but merely indicates that the height of the vehicle body at the front and rear wheels is detected and controlled in performing the posture control. It goes without saying that height detection and control may be performed.

Further, the fighting vehicle according to the present invention is not limited to the one running on wheels, but naturally includes one on an endless track. The same applies as the equivalent of the wheel 2.

As described above, the height sensor 5 and the inclination sensor 8 are not limited to those described in the above embodiment.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various changes may be made to the specific structure within the scope of the present invention. Needless to say.

[0039]

(1) As described above, according to the first aspect of the present invention, a posture control device for a fighting vehicle is provided with a height sensor for detecting the height of the front and rear of the vehicle, and an inclination for detecting a front-back inclination of a road surface. A sensor, an attitude controller for controlling the height of the support portion of the wheel based on the detection signals of the height sensor and the inclination sensor, and an attitude control for keeping the vehicle parallel to the road surface, and after the vehicle shifts to a level ground The vehicle is configured to perform a corrected attitude control that applies a forward / backward slope to the vehicle on a slope, so that the vehicle is within a predetermined range of forward / backward slope with respect to the road surface. After moving to a level ground after control, the vehicle will be in a forward descent position, or after performing a posture control on a downward slope, the vehicle will be in a downward descent position after returning to a horizontal position. System Is required, lacks the smoothness to the attitude control, also load on the undesirable of ride comfort and running device,
It is possible to solve the problem of the conventional attitude control device of a fighting vehicle, to facilitate the attitude control in the transition from the front-rear sloping land to the horizontal ground, and to remove the adverse effect on the riding comfort and the load on the traveling device.

(2) According to the second aspect of the present invention, in the attitude control device for a fighting vehicle according to the first aspect, the attitude control device for the fighting vehicle is controlled so as to keep the vehicle parallel to the road surface on a slope. Since the correction attitude control is set to be started by an operator's operation, the vehicle can maintain the attitude of the vehicle parallel to the road surface as before when traveling on a horizontal ground or a slope. ,
Since the correction attitude control according to the first aspect of the present invention can be started at an appropriate timing such as when the vehicle shifts from a sloping ground to a horizontal terrain by an operation of an operator, traveling on the sloping ground can be further stabilized and more suitable for actual driving conditions. In addition, smooth posture control can be performed.

(3) According to the third aspect of the present invention, in the attitude control device for a fighting vehicle according to the first aspect of the present invention, the attitude control device is controlled to keep the vehicle parallel to the road surface on a slope. Since the correction attitude control is set to start when the angle of the front-rear inclination of the road surface on the slope exceeds a predetermined value, the correction attitude control according to the invention of claim 1 is configured to perform the correction of the slope of the slope. The correction posture control is started when the angle exceeds a predetermined value, so that the correction posture control does not start carelessly on a gentle slope, and the correction posture control is automatically performed on a steep slope having a predetermined slope or more that requires the correction posture control. In addition, the smoothness and certainty of the attitude control are further improved.

(4) According to a fourth aspect of the present invention, in the attitude control device for a fighting vehicle according to any one of the first to third aspects, the height sensor is used for the vehicle. The height sensor is adapted to detect the relative position between the vehicle body and the wheels of the vehicle, so that the height sensor is adapted to the wheel support structure of a general battle vehicle.
Can easily be implemented, and the effects of the invention can be enjoyed.

(5) According to a fifth aspect of the present invention, there is provided the attitude control device for a fighting vehicle according to any one of the first to fourth aspects, wherein the support portion of the wheel comprises an oil. Since it is configured to be constituted by the pneumatic suspension device, the support portion of the wheel is adapted to the wheel support structure of a general battle vehicle, and the invention of claims 1 to 4 can be easily implemented. The effect of the invention can be enjoyed.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an attitude control device for a fighting vehicle according to an embodiment of the present invention.

FIG. 2 is a flowchart of attitude control by the attitude control apparatus for a fighting vehicle according to the present invention.

FIG. 3 is an explanatory diagram of the attitude of the vehicle when the corrected attitude control is performed by the attitude control device of the battle vehicle according to the present invention;
(A) is a figure which shows the driving | running state of an ascending slope, and (b) is a figure which shows the driving | running state immediately after it changes to a level ground from an ascending slope.

FIG. 4 is an overall configuration diagram of a conventional attitude control device for a fighting vehicle according to the present invention.

FIG. 5 is an explanatory view of a posture of a vehicle in a running state on a horizontal ground by a conventional posture control device for a fighting vehicle.

FIG. 6 is an explanatory diagram of a posture of a vehicle in a running state on an inclined ground by a conventional fighting vehicle posture control device.

7A and 7B are explanatory diagrams of the attitude of a vehicle when attitude control is performed by a conventional attitude control apparatus for a fighting vehicle, wherein FIG. 7A illustrates a traveling state on an uphill slope, and FIG. It is a figure showing the running state immediately after shifting to the ground.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic pressure suspension device 2 Wheel 3 Hydraulic valve 4 Hydraulic pump 5 Height sensor 6 Attitude controller 7 Body 8 Tilt sensor 9 Horizontal ground 10 Slope ground 11 Traveling direction

Claims (5)

[Claims] 1. A height sensor for detecting front and rear heights of a vehicle, an inclination sensor for detecting a front-rear inclination of a road surface, and a height of a wheel supporting portion based on detection signals of the height sensor and the inclination sensor. The vehicle has an attitude controller that controls the vehicle, and controls the attitude of the vehicle to keep it parallel to the road surface. A posture control device for a fighting vehicle, wherein the posture control device performs a corrected posture control for adding a front-rear inclination from a inclination parallel to a road surface. 2. The attitude control device for a fighting vehicle according to claim 1, wherein the control is performed such that the vehicle is maintained parallel to a road surface on an inclined ground, and the correction attitude control is started by an operation of an operator. An attitude control device for a battle vehicle, comprising: 3. The attitude control device for a fighting vehicle according to claim 1, wherein the vehicle is controlled so as to be parallel to a road surface on an inclined ground, and the angle of the front-rear inclination of the road surface on the inclined ground exceeds a predetermined value. The attitude control device for a fighting vehicle is set to start the corrected attitude control. 4. The attitude control device for a fighting vehicle according to claim 1, wherein the height sensor detects a relative position between a vehicle body and wheels of the vehicle. Characteristic attitude control device for battle vehicles. 5. The fighting vehicle attitude control device according to claim 1, wherein the support portion of the wheel is constituted by an oil pressure suspension device. Attitude control device.