JP2003294392A - Vibration damping apparatus for vehicle with mass projection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable continuous projections in a short time of period and at low cost without requiring space and volume or causing an increase in weight, and also to enable accurate and stable continuous projections by damping the inclination and oscillation of a vehicle body with good responsiveness. <P>SOLUTION: A plurality of suspension legs 11, 12, 13, and 14 are provided with respective vehicle height adjusting means 21, 22, 23, and 24 for adjusting the heights of the suspension legs. Based on the mass projection conditions of a mass projection device 60, the estimated height of each suspension leg during mass projection is computed from each suspension leg. Desired heights h to (t) that are common to all the suspension legs are preset and desired adjusted heights LHi to (t) (i=1, 2, 3, 4) obtained by subtracting the expected heights ωi (t) (i=1, 2, 3, 4) from the common desired heights h to (t) are computed for the respective suspension legs 11 to 14. In the mass projection, feed forward control of the vehicle height adjusting means is effected so that the desired adjusted heights LHi to (t) are attained. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle such as a combat vehicle equipped with a mass projection device for projecting the mass of a bullet or the like, and particularly to a roll direction generated in the vehicle when the mass is projected from the mass projection device. The present invention relates to a device capable of accurately performing continuous projection by damping vibration (swing) in the pitch direction.

[0002]

2. Description of the Related Art Conventionally, as shown in FIGS. 10A and 10B, a vehicle 100 equipped with a mass projection device 60 for continuously projecting bullets and the like.
However, it has been put to practical use as a battle vehicle, for example.

Here, in the present specification, "mass projection device"
Is a heavy object mounted in a vehicle (this is defined as "mass")
It is a device that flies away with a force such as gunpowder.Specifically, it is not only a so-called firearm that launches rockets and bullets, but also protective equipment that projects steel ingots and steel plates toward incoming dangerous objects. It is a concept that includes a device that projects a rope made from a distance. For example, in recent years, a vehicle called an "active ammer" that projects a block of steel toward a missile and intercepts has been studied and put into practical use. The "mass projection device projection vehicle" in this specification is not limited to a combat vehicle, but is a concept including a vehicle for disaster relief and the like.

By the way, in order to project a heavy object as described above to a long distance, it is necessary to give a sufficient initial velocity v at the moment of projection. Therefore, the momentum mv acquired by the projection object
The vehicle body supports a large reaction force corresponding to the impulse Ft corresponding to. Since the projection time t is extremely short, a reaction force F of several tens% of the weight of the vehicle body may occur. As a result, as shown in FIGS. 10A and 10B, the vehicle 100 largely swings in the roll and pitch directions before and after the mass projection.

Even if the image is projected while the vehicle 100 is stopped, if a large swing occurs, the vehicle 100 may be distorted and the vehicle strength may be impaired. Further, not only the strength of the vehicle is deteriorated, but also the safety of passengers may be impaired.

When a plurality of masses are projected continuously,
Although the attitude of the vehicle body is tilted by the first projection, it is important to suppress the tilt and swing of the vehicle body in order to perform the subsequent projection stably and accurately. That is, FIG.
When the subsequent projection is performed while the vehicle 100 is tilted by the first projection as shown in (b), the first projection direction L1
This is because there is a deviation between the projection direction L2 and the subsequent projection direction L2, and there is a deviation at the arrival point when the mass is projected far away. Therefore, conventionally, the inclination and swing of the vehicle body are suppressed by the following method.

1) The mass projection device is controlled by a servo mechanism to accurately determine the direction of the subsequent projection.

2) The mass projection device 60 incorporates a posture stabilizing device, that is, a stabilizer to accurately determine the direction of the subsequent projection.

3) Wait for the swing of the vehicle body to subside naturally before performing the subsequent projection.

However, according to the above technique 1), a complicated and large-scale servo mechanism must be manufactured in accordance with the mass projection device 60, and this must be built in the mass projection device 60, which increases the cost. Mass projection device 60
However, there is a problem that the size, weight, etc. of the vehicle become large, the space becomes large, and the vehicle weight increases.

Similarly, according to the above technique 2), a strong stabilizer must be manufactured in conformity with the mass projection device 60, and this must be built into the mass projection device 60, which increases cost and increases the mass projection device. There arises a problem that the size, weight and the like of 60 increase to increase the space and the vehicle weight.

Further, according to the above technique 3), since the projection interval must be lengthened by the time for waiting for the swing of the vehicle to subside, a large number of masses cannot be projected in a short time. Occurs.

Further, as a document showing a general technical level, there is JP-A-4-362408. 4) In this publication,
Inventions relating to "active suspensions" of passenger cars are described. That is, in this publication, the vehicle height changes in the vertical direction with respect to the vibration force applied to the unsprung part during traveling so that the inclination of the vehicle body due to the unevenness of the road surface during traveling does not affect the steering stability. The invention describes that the vehicle body posture is controlled to be horizontal with respect to the road surface. The technique described in this publication detects the actual vehicle height and controls the vehicle height adjusting device by using the detected actual vehicle height as a feedback amount.

However, the above-mentioned technique 4) relates to a general passenger car, and has a problem that the vehicle body leans and swings due to an exciting force applied from the road surface to the unsprung part (tire and axle),
The problem to be solved is to suppress this. On the other hand, FIGS. 10A and 10B relate to a vehicle 100 in which the mass projection device 60 is mounted on the vehicle body 101, and the vehicle body 100 tilts and shakes due to the vibration force applied to the sprung body (vehicle body). The problem is to move. Therefore, the technique of the above 4), in which the vibration force applied to the "unsprung" is a problem, is unchanged, and the vibration force applied to the "spring" is a problem.
Even if it is applied to the vehicle 100 equipped with the mass projection device shown in (a) and (b), it is not possible to eliminate the tilt and swing that occur in this vehicle 100.

The technique 4) is premised on feedback control using the actual vehicle height as a feedback amount. This is unsprung from the road (tires and axles)
This is because the exciting force applied to is generally unpredictable. On the other hand, the vehicle 10 equipped with the mass projection device shown in FIGS.
As described above, 0 causes the reaction force F to be applied to the vehicle body 101 in a short time t during mass projection, causing the vehicle body 101 to tilt and swing. Therefore, even if the feedback control is applied, a time delay occurs and the tilt and swing of the vehicle body 101 cannot be damped with good response.

The present invention has been made in view of the above circumstances, and solves the problems of the prior arts of 1), 2), 3), and 4) described above, and achieves low cost and space saving. Moreover, it is a problem to be solved that the continuous projection can be performed in a short time without causing an increase in weight, the tilt and swing of the vehicle body can be attenuated with good responsiveness, and accurate and stable continuous projection can be achieved. It is a thing.

[0017]

The first aspect of the invention is applied to a vehicle equipped with a mass projection device and having a plurality of suspension legs, and is used when a mass is continuously projected from the mass projection device. In a vibration damping device for a vehicle equipped with a mass projection device configured to damp vibrations generated in, a vehicle height adjusting means that is provided for each of a plurality of suspension legs and that adjusts the height of the suspension legs,
Based on the mass projection conditions of the mass projection device, the predicted height value of the suspension legs during continuous mass projection, a predicted value calculation means for calculating each suspension leg, and a target height value common to all suspension legs. A height adjustment target value calculating means for setting and setting a height adjustment target value obtained by subtracting the predicted height value from the common height target value for each suspension leg, and the height adjustment during mass continuous projection. And a control means for performing feedforward control of the vehicle height adjusting means so as to obtain a target value.

According to the first invention, as shown in FIG. 1, vehicle height adjusting means 21, 22, 23, 24 for adjusting the height of each suspension leg 11, 12, 13, 14 for each suspension leg. Are provided respectively. Then, based on the mass projection condition of the mass projection device 60, as shown in FIG. 7, the predicted height value ω ^ 1 of the suspension legs 11, 12, 13, and 14 at the time of continuous mass projection.
(T), ω ^ 2 (t), ω ^ 3 (t), ω ^ 4 (t)
It is calculated for each suspension leg 11, 12, 13, 14. The height target values h to (t) common to all the suspension legs 11 to 14 are set, and the predicted height values ω ^ i (t) (i = 1, The height adjustment target value LHi to (t) (i = 1, 2, 3, 4) obtained by subtracting 2, 3, 4) is
Calculated for each suspension leg 11 to 14 (LHi to (t) = h
~ (T) -ω ^ i (t)). And during continuous mass projection,
The vehicle height adjusting means 21, 22, 23, and 24 are feedforward-controlled so that the height adjustment target value LHi to (t) is obtained.

According to the present invention, immediately after the mass is projected from the mass projection device 60, each suspension leg 11,
The heights of 12, 13, and 14 are ω1 (t) and ω2, respectively.
(T), ω3 (t), and ω4 (t) are changed, but these are predicted height values ω ^ 1 (t), ω ^ 2 (t), ω ^ 3 (t),
Because of the offset by ω ^ 4 (t), the height of each suspension leg 11, 12, 13, 14 during mass continuous projection corresponds to a common height target value h ~ (t). As described above, since the heights of the suspension legs 11 to 14 change substantially uniformly during continuous mass projection, the vehicle 1 can be projected during continuous mass projection as shown in FIG. 8B.
In 00, the height of the vehicle body 101 changes in the vertical direction (Z-axis direction), but the roll direction (X-axis direction) and pitch direction (Y-axis direction) do not tilt or swing. Therefore, continuous mass projection can be performed accurately and stably.

Further, according to the present invention, the prior art 1), 2).
It is not necessary to provide the mass projection device 60 with a complicated and large-scale device as described above, and since it is only necessary to perform the arithmetic processing as shown in FIG. 5, it is only necessary to additionally mount a small computer on the existing vehicle 100. . Therefore, the device cost does not increase, the storage space does not increase, and the vehicle weight does not increase significantly. Prior art 3)
Since you don't have to wait until the swing of the vehicle is settled like
The projection interval can be shortened and a large number of masses can be projected in a short time.

Further, according to the present invention, the disturbance ω ^ i (t) generated by the recoil of the projection is predicted, and the disturbance ω ^ i (t) is predicted.
Since the vehicle height adjusting element 15 is feedforward-controlled so as to obtain the height adjustment target value LHi to (t) corresponding to, the vibration in the roll direction and the pitch direction can be attenuated with high responsiveness. That is, the vehicle height can be adjusted with higher responsiveness as compared with the conventional technique 4) of controlling the height of the vehicle body by feedback control.

In the second invention and the first invention, the common height target value is obtained on the basis of the height of the suspension leg that is displaced to the maximum among the predicted height values of the suspension legs. Is characterized by.

According to the second invention, the common height target value h ~
(T) is a predicted height value ω ^ 1 (t), ω ^ 2 (t), ω ^ 3 (t), ω ^ 4 of the suspension legs 11, 12, 13, and 14.
In (t), the predicted height value of the suspension leg that is displaced to the maximum, for example, the predicted height value ω ^ 3 of the suspension leg 13 as shown in FIG.
It is calculated based on (t). Specifically, it is obtained by the following equation (1).

(Equation 1) The suspension leg 13 that changes its height most during continuous projection is
Extremely large reaction force F is concentrated and received during continuous projection. If such a suspension leg 13 is excessively adjusted by the vehicle height adjusting means 23, mechanically unreasonable force is applied, which adversely affects durability. Therefore, if the predicted height value ω ^ 3 (t) of the suspension leg 13 that changes the most during continuous projection is set to the common height target value h to (t), the height can be increased as shown in the above equation (1). Adjustment target value LH3〜
(T) becomes 0, and it becomes unnecessary to adjust the height of the suspension leg 13. Suspension leg 13 whose height changes most during continuous projection
Since the height adjustment operation is not performed in, the mechanically unreasonable force is prevented from being applied to the suspension leg 13, and the durability and the like can be dramatically improved.

A third aspect of the present invention further comprises means for measuring the actual height of the suspension leg during continuous mass projection, wherein the difference between the predicted height value and the actual height is a predetermined threshold value. A feature is that an alarm signal is output when the above is reached.

According to the third invention, for example, the actual height ω3 (t) of the suspension leg 13 at the time of mass projection is measured, and the predicted height value ω ^ 3 (t) and the actual height ω3 (t) are measured. The difference between is required. When the difference between them exceeds a predetermined threshold value, an alarm signal is output. As a result, the operator or the like can know that the height prediction value ω ^ 3 (t) includes an error of a certain level or more, or the control error ε3 is too large to be ignored. It is possible to promptly take measures to perform maintenance such as correction. As a result, it is possible to prevent the maintenance timing of the prediction calculation from being missed, and it is possible to always perform mass continuous projection in an optimal state with no error.

The fourth invention is applied to a vehicle equipped with a mass projection device and having a plurality of suspension legs, and is adapted to damp vibration generated in the vehicle when mass is continuously projected from the mass projection device. In a vibration damping device for a vehicle equipped with a mass projection device, a vehicle height adjusting means that is provided for each of a plurality of suspension legs and adjusts the height of the suspension legs, and a mass projection condition of the mass projection device. For each suspension leg, the predicted height value of the suspension leg is calculated so that the direction of the mass projected from the mass projection device during the continuous mass projection is the same as the predicted value calculation means for calculating each suspension leg. A height target value is set, a height adjustment target value obtained by subtracting the height predicted value from the height target value, a height adjustment target value calculation means for calculating each suspension leg, and during mass continuous projection, The vehicle harmonics are adjusted so that the height adjustment target value is obtained. Characterized in that and control means for feed-forward control means.

In the first invention, as shown in FIGS. 11 (a) and 11 (c), the target height h ~ common to all suspension legs 11-14 is set.
(T) is set, the vehicle height adjusting means 21 to 24 are controlled so that the common height target values h to (t) are obtained, and the mass projected from the mass projection device 60 during mass continuous projection. Is always the same direction L2. However, in order to achieve the problem to be solved by the present invention, all suspension legs 11 to 1 are required.
The heights of the suspension legs 11 to 14 are different from each other as long as the directions of the mass projected from the mass projection device 60 are always in the same direction L2 during continuous mass projection. May be.

Therefore, in the fourth invention, the directions of the masses projected from the mass projection device 60 during the continuous mass projection are the same direction L.
A target height value is set for each suspension leg 11, 12, 13, 14 so that it becomes 2. For example, in FIG.
As shown in (d), the height target values h to f (t) of the front suspension legs 11 and 12 are higher than the target height values h to r (t) of the rear suspension legs 13 and 14. Each suspension leg 11, 1
Height target values h to (t) are set for each of 2, 13, and 14. FIG. 11B shows the case where the vehicle 100 exists on a horizontal road surface, and the mass is smaller than that when all the suspension legs 11 to 14 are set to the same height as shown in FIG. 11A. It is projected upward. FIG. 11D shows a case where the rear wheels of the vehicle 100 ride on rocks or the like and the vehicle 100 leans forward,
As shown in FIG. 11C, the mass is projected upward as compared with the case where all the suspension legs 11 to 14 have the same height.

According to the present invention, during continuous mass projection, the mass projection device 60 is not driven and controlled, that is, the depression / elevation angle β is not controlled, but only the vehicle height adjusting means 21-24 are controlled. The mass projection direction can be set to any direction. In particular, when the vehicle 100 is tilted forward as in the case of FIG. 11C and all the suspension legs 11 to 14 are at the same height, the mass is projected downward with respect to the horizontal direction. Front suspension leg 11, as shown in (d),
By adjusting the vehicle height so that the height of 12 is higher than the height of the suspension legs 13 and 14 on the rear side, the mass is corrected so as to be projected in the horizontal direction or the correct direction upward from the horizontal direction. be able to.

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vibration damping device for a vehicle equipped with a mass projection device according to the present invention will be described below with reference to the drawings. In the following description, the symbols "ω, L, h" with "~" mean "target values", the symbols "^" with "estimated values", and the codes themselves. Is used to mean "actual value".

FIG. 1 shows the overall configuration of a vehicle 100 of the embodiment. Further, FIG. 2B is a view of the vehicle 100 as viewed from above.

In the embodiment, the vehicle 100 is assumed to be a four-wheel independent suspension type vehicle 100, and suspension legs 11, 12, 13, 14 are suspended at the bottom of the vehicle body 101. The present invention is not limited to a four-wheel vehicle, but can be applied to a three-wheel vehicle, a two-wheel vehicle, or a five-wheel vehicle or more. N for independent suspension vehicles
Since N suspension legs 11 to 1N are provided for each of the wheels, the embodiment of the four-wheel vehicle described below can be applied as it is.

Further, in the embodiment, as described below, the suspension as a suspension device is assumed to be a hydropneumatic suspension for adjusting the vehicle height by adjusting the amount of oil. However, the present invention is not limited to a liquid such as oil, but may be applied to an air (gas) suspension that adjusts the vehicle height through a gas such as air.

The suspension legs 11 to 14 are composed of a spring element 17, a damper element 18, a height adjusting element 15 and a tire 16.

The height adjusting element 15 is a hydraulic cylinder, and the rod 15b of the hydraulic cylinder 15 (hereinafter, the vehicle height adjusting hydraulic cylinder 15) has a tire 16 through an axle.
Connected to. By supplying pressure oil to the oil chamber of the hydraulic cylinder 15 or discharging pressure oil from the oil chamber, the rod 15b is expanded and contracted to change the height of the suspension legs 11 to 14 and the height of the vehicle body 101 is adjusted. The oil chamber of the vehicle height adjusting hydraulic cylinder 15 communicates with the oil chamber of the accumulator 17 via a hydraulic pipe 18a. The accumulator 17 functions as an air spring and constitutes the spring element 17. A throttle 18 is provided on the hydraulic pipe 18a.
Constitute the damper element 18.

FIG. 2A conceptually shows the structure of the suspension legs 11 to 14 of FIG. As shown in FIG. 2A, the spring element 17 and the damper element 1 are provided “under the spring” of the vehicle body 101.
8 and 8 are connected in parallel, a vehicle height adjusting hydraulic cylinder 15 is connected in series below this, and a tire 16 is connected in series below the vehicle height adjusting hydraulic cylinder 15.

In the embodiment, the spring element 17 and the damper element 18 are connected in parallel, but the spring element 17 and the damper element 18 may be connected in series. Further, the vehicle height adjusting hydraulic cylinder 15 is connected in series to the spring element 17 and the damper element 18, but the vehicle height adjusting hydraulic cylinder 15 is connected in parallel to the spring element 17 and the damper element 18. You may.

When the mass is projected from the mass projector 60,
By the reaction of the projection, the spring element 17, the damper element 18, and the tire 16 are deformed and the heights of the suspension legs 11 to 14 are displaced.

In the embodiment, four suspension legs 11, 12,
Height adjusting devices 21, 22,
23 and 24 are provided independently. Height adjustment device 2
1 to 24 supply pressure oil to the vehicle height adjusting hydraulic cylinder 15 or discharge pressure oil from the vehicle height adjusting hydraulic cylinder 15 to displace the heights of the suspension legs 11 to 14 so that the height of the vehicle body 101 increases. Make adjustments. Height adjustment device 21-2
The detailed configuration of No. 4 will be described later.

A mass projection device 60 is provided above the vehicle body 101. The mass projection device 60 includes a mass projection table 61.
And a mass projector 62 that projects the mass of a bullet or the like. The mass projection table 61 is provided so as to be rotatable around the Z axis (vertical direction) with respect to the vehicle body 101. The turning angle is α. The mass projector 62 is provided so as to be able to rise and fall with respect to the mass projection table 61 in the elevation direction. The depression angle is β. The mass projection device 60 is provided with an angle sensor for detecting an actual turning angle α and an actual depression / elevation angle β. Mass projection device 60
The projection direction L of the mass projected from is uniquely determined by the position and orientation of the vehicle 100, the turning angle α, and the depression angle β.

FIG. 4 shows the overall configuration of the control system of this embodiment.

An operation panel 70 is provided at the driver's seat of the vehicle 100. On this operation panel 70, various mass projection conditions as conditions for operating the mass projection device 60 are set, and the current state of the vehicle 100 and the current state of the mass projection device 60 are displayed on a monitor. Further, the operation panel 70 is provided with a projection command button, and when this projection command button is pressed, a projection operation command signal is output. As the projection command button, one that performs one projection each time the button is pressed, one that continuously performs mass projection only while the button is pressed, and one time that the mass projection is performed a predetermined number of times by pressing once. However, it is possible to adopt buttons having any function.

Here, the "mass projection condition" means the mass projection direction L (turning angle α, depression angle β), projected mass, initial speed of projection, time series pattern of reaction force F associated with continuous projection of mass, projection. Timing signals.

Here, the time series pattern of the reaction force F is
As illustrated in FIG. 9, the reaction force F received by the vehicle body 101 when continuously projecting for a predetermined τ time is a pattern that changes with the elapse of time t. If the mass projection device 60 is, for example, a turret that projects a bullet, the time series pattern of the reaction force F differs depending on the acceleration pattern of the bullet until the bullet jumps out of the turret and the configuration of the shock absorber. The “buffer device” here means the reaction force associated with the bullet projection with the vehicle body 101.
The mass projection device 60 and the vehicle body 101
It is a shock absorber interposed between and. Therefore, the time series pattern of the reaction force F differs depending on the type of the mass projection device 60 and the type of the vehicle 100, and is set in advance for each mass projection device 60 or each vehicle 100.

The projection timing signal is a parameter that determines at what interval the continuous projection is performed, and this also depends on the type of the mass projection device 60 and the type of the vehicle 100. Therefore, for each mass projection device 60, Alternatively, it is set in advance for each vehicle 100.

Various mass projection conditions and projection operation command signals set on the operation panel 70 are sent to the mass projection controller 80.
Is output to. The mass projection control measure 80 is the operation panel 70.
Based on the setting contents of the various mass projection conditions input from, the mass projection device 60 is controlled so as to rotate and elevate, and the projection operation command signal input from the operation panel 70 is used as a trigger for a desired number of times. The mass projection device 60 is controlled to perform continuous mass projection. The actual turning angle α and the actual depression angle β detected by the angle sensor provided in the mass projection device 60 are the mass projection control device 8
It is displayed on the operation panel 70 via the monitor 0. Also, the actual turning angle α detected by the angle sensor and the actual depression angle β
With the feedback amount as the turning angle of the mass projection device 60,
Feedback control is performed so that the depression angle is equal to the target value.

Data of various mass projection conditions (operating conditions of the mass projection device 60) set on the operation panel 70 are output to the suspension controller 50 via the mass projection control device 80.

An acceleration sensor 4 is provided at each position of the vehicle body 101 corresponding to each suspension leg 11, 12, 13, 14.
1, 42, 43, 44 are provided respectively. Suspension leg 1 at the time of continuous mass projection by the acceleration sensors 41 to 44
Accelerations in the height direction of 1 to 14 are detected. Also the car body 1
An orientation sensor 45 that detects the orientation of the vehicle body 101 by detecting the roll angle and the pitch angle of the vehicle body 101 is provided at a predetermined position 01.

Acceleration sensors 41 to 44 and attitude sensor 45
The detection result of is input to the suspension controller 50 as data indicating the motion state of the vehicle 100.

The suspension controller 50 includes the acceleration sensor 4
1-44, the detection result of the attitude sensor 45 and the operation panel 70
Based on various mass projection conditions (mass projection device operating conditions) set in step 1, the vehicle height adjusting devices 21 to 21 will be described later.
The height adjustment target values L to Hi (t) (i = 1 to 4) are generated as the feedforward amount for each 24, and are output to the vehicle height adjusting devices 21 to 24, respectively. Feed-forward control of the height adjusting elements 15 of .about.14. In addition, as described above, when there are a plurality of N wheels (tires 16) and a plurality of N suspension legs 11 to 1N are provided, the suspension controller 50 outputs N suspension legs 11 to 1N. Height adjustment target value L to Hi
(T) (i = 1 to N) will be output.

2A and 2B show the mass projection device 60.
It is a figure explaining the relationship between the mass projection by and the height displacement of each suspension leg 11-14. FIG. 2A is a perspective view of the vehicle 100, and FIG. 2B is a vehicle 10 shown in FIG.
It is the figure which looked at 0 from the upper surface.

A surface 101a shown by a broken line in FIG.
Indicates the upper surface of the vehicle body 101 in the so-called “1G” state before mass projection, and the surface 101b indicated by the solid line represents the upper surface of the vehicle body 101 that has received the reaction force F accompanying projection after mass projection.

As described above, the mass projection device 60 is actually provided on the upper portion of the vehicle body 101, and the suspension legs 11 to 14 are provided on the lower portion of the vehicle body 101. In explaining the relationship with the height displacement, FIG.
As shown in (a), a model in which the mass projection device 60 is provided on the surfaces 101a and 101b formed by the upper portions of the four suspension legs 11 to 14 can be described.

When the mass is projected from the mass projection device 60 in the L direction, the suspension leg 13 closest to the straight line in the direction opposite to the projection direction L (this is shown by the one-dot chain line in FIG. 2B) is the most. It will be greatly displaced. That is, the upper surface 101a of the vehicle body before mass projection (this is shown by the broken line in FIG. 2A) is
After the mass projection, the portion corresponding to the suspension leg 13 is deformed into the most displaced upper surface 101b of the vehicle body (this is shown by the thick solid line in FIG. 2A).

Next, referring also to FIG. 3, the vehicle height adjusting device 2
The configurations of 1 to 24 will be described.

FIG. 3 shows the structure of the vehicle height adjusting device 21 provided corresponding to the suspension leg 11, but the other vehicle height adjusting devices 22 to 24 have the same structure as the vehicle height adjusting device 21. is there.

As shown in FIG. 3, the vehicle height adjusting device 21
Is largely composed of a drive source 35, a hydraulic pump 34, a tank 33, a proportional control valve 27, an upper drive cylinder 26,
It is composed of a lower drive cylinder 25 and a controller 37. The lower drive cylinder 25 is arranged below the upper drive cylinder 26.

An oil chamber 15 is provided in the vehicle height adjusting hydraulic cylinder 15.
a is provided, and this oil chamber 15a communicates with the oil chamber 25a of the lower drive cylinder 25 via the hydraulic pipe 30.

The upper drive cylinder 26 is defined by a piston 26c into two oil chambers 26a and 26b. The piston 26c of the upper drive cylinder 26 is connected to the rod 26d, and this rod 26d also serves as the rod of the lower drive cylinder 25.

A position sensor 31 is attached to the rod 26d, and the position sensor 31 detects the vertical movement position xp (t) of the piston 26c.

The drive source 35 is, for example, an electric motor or engine mounted on the vehicle 100, and the drive source 35 drives the hydraulic pump 34.

The pressure oil discharge port of the hydraulic pump 34 has an oil passage 36.
Through the pump port P of the proportional control valve 27. The tank port T of the proportional control valve 27 communicates with the tank 33 via the oil passage 32.

The A port of the proportional control valve 27 communicates with one oil chamber 26a of the upper drive cylinder 26. The B port of the proportional control valve 27 communicates with the other oil chamber 26b of the upper drive cylinder 26.

The proportional control valve 27 is, for example, an electromagnetic proportional control valve. When the electric signal j output from the controller 37 is applied to the electromagnetic solenoid of the proportional control valve 27, the spool is moved, the pressure oil supply direction, The supply flow rate of pressure oil is controlled. That is, either port A or port B is selected as the supply port for supplying pressure oil to the upper drive cylinder 26, and the flow rate of pressure oil supplied from this supply port to the upper drive cylinder 26 is changed. .

The operation when pressure oil is controlled to be supplied from the A port of the proportional control valve 27 will be described.
In this case, the pressure oil discharged from the hydraulic pump 34 is supplied to one oil chamber 26 a of the upper drive cylinder 26 via the oil passage 36, the A port of the proportional control valve 27, and the oil passage 28. When pressure oil is supplied to the oil chamber 26a of the upper drive cylinder 26,
The piston 26c moves downward in the figure. Along with this, the rod 26d moves downward in the drawing to move to the lower drive cylinder 25.
The oil chamber 25a is compressed. As a result, the pressure oil in the oil chamber 25a of the lower drive cylinder 25 is pushed out and pushed into the oil chamber 15a of the height adjusting hydraulic cylinder 15 via the hydraulic pipe 30. When pressure oil is supplied to the oil chamber 15a of the height adjusting hydraulic cylinder 15 in this way, the rod 15b of the height adjusting hydraulic cylinder 15 extends and displaces the vehicle body 101 upward. Since the pressure oil is supplied to the oil chamber 26a of the upper drive cylinder 26 and the rod 26d moves downward in the figure, the other oil chamber 26b of the upper drive cylinder 26 is compressed, so that the pressure oil in the oil chamber 26b is , The proportional control valve 27 via the oil passage 29
Is discharged to the return port B. The pressure oil discharged to the port B is discharged to the tank 33 via the proportional control valve 27 and the oil passage 32.

The operation when pressure oil is controlled to be supplied from the B port of the proportional control valve 27 will be described.
In this case, the pressure oil discharged from the hydraulic pump 34 is supplied to the other oil chamber 26 b of the upper drive cylinder 26 via the oil passage 36, the B port of the proportional control valve 27, and the oil passage 29. When pressure oil is supplied to the oil chamber 26b of the upper drive cylinder 26,
The piston 26c moves upward in the figure. Along with this, the rod 26d moves upward in the drawing to move to the lower drive cylinder 25.
The oil chamber 25a is expanded. As a result, the pressure oil in the oil chamber 15a of the height adjusting hydraulic cylinder 15 is discharged to the oil chamber 25a of the lower drive cylinder 25 via the hydraulic pipe 30. When pressure oil is discharged from the oil chamber 15a of the height adjusting hydraulic cylinder 15, the rod 15b of the height adjusting hydraulic cylinder 15 is discharged.
Contracts and displaces the vehicle body 101 downward. It should be noted that since pressure oil is supplied to the oil chamber 26b of the upper drive cylinder 26 and the other oil chamber 26a of the upper drive cylinder 26 is compressed as the oil chamber rod 26 moves upward in the figure, the pressure oil in the oil chamber 26a is compressed. Is discharged to the return port A of the proportional control valve 27 via the oil passage 28. The pressure oil discharged to the port A is discharged to the tank 33 via the proportional control valve 27 and the oil passage 32.

The position sensor 31 detects the displacement xp (t) of the piston 26c as the height of the height adjusting hydraulic cylinder 15.

The portion indicated by the broken line in FIG. 3, that is, the constituent portion relating to the hydraulic pressure source of the hydraulic oil is the height adjusting device 2 of each vehicle.
1, 22, 23, and 24 can be separately provided, or can be shared by the vehicle height adjusting devices 21 to 24.

Here, consideration will be given to the response frequencies of the suspension legs 11 to 14 to be controlled.

A) Suspension leg 11 due to reaction force at the time of mass projection
When the height ωi (t) of ~ 14 is displaced, the displacement ωi
The major part of (t) is deformation of the spring element 17 and the damper element 18. The fluctuations of the spring element 17 and the damper element 18 are gentle fluctuations of the response frequency of about 1 Hz.

B) The displacement of the height ωi (t) of the suspension legs 11 to 14 due to the distortion of the tire 16 has a response frequency if it is vibrated from the unsprung (tire and axle) side. It also includes high-speed phenomena of 10 to 20 Hz. However, in the case of the present embodiment, since the vibration is applied from the sprung (vehicle body) side, the fluctuation of the high frequency of about 10 to 20 Hz is absorbed by the upper spring element 17 and the damper element 18, and the tire 16 is not transmitted. Therefore, the response frequency of the tire 16 is also around 1 Hz, which is a gentle response.

As described in a) and b) above, the response frequency of the suspension legs 11 to 14 to be controlled can be considered to be around 1 Hz. Therefore, by controlling the suspension legs 11 to 14 by using an actuator operating at a frequency higher than this as a response frequency, that is, several tens of Hz, a control system with high responsiveness can be constructed.

Generally, the response of the spool of the control valve is several tens of hours.
It is said to be z. In the present embodiment, as described with reference to FIG. 3, the vehicle height adjusting devices 21 to 24 are connected to the hydraulic cylinders 25 and 2.
6. Since it is composed of the proportional control valve 27, it is considered to operate at a response frequency of several tens of Hz, and it is possible to realize control with high responsiveness to vibration (about 1 Hz) from the upper side of the spring.

FIG. 6 shows the vehicle height adjusting devices 21 to 24 shown in FIG.
The configuration of the control system is shown.

As shown in FIG. 6, the suspension controller 50
From the height adjustment target value L ~
Hi (t) (i = 1 to 4) is given to the vehicle height adjusting devices 21 to 24. On the other hand, the displacement x of the height adjusting hydraulic cylinder (height adjusting element) 15 of the suspension legs 11 to 14 is detected by the position sensor 31.
p (t) is detected. The displacement xp (t) of the height adjusting hydraulic cylinder 15 is fed back and added to the compensating element 38. In the compensation element 38, the estimated value L ^ Hi (t) of the displacement of the height adjusting hydraulic cylinder 15 is calculated.
This estimated height value L ^ Hi (t) is used for the drive cylinders 25, 2
It is determined in consideration of the ratio between the pressure receiving area of No. 6 and the pressure receiving area of the height adjusting hydraulic cylinder 15, the delay of the piping system such as the hydraulic piping 30, and the like.

In the subtracting section 39, the height adjustment target values L to Hi
The deviation between (t) and the estimated height value L ^ Hi (t) is calculated and added to the controller 37 as a control command. As a result, the controller 37 outputs the electric signal j to the proportional control valve 27 so that the deviation between the height adjustment target value L to Hi (t) and the height estimated value L ^ Hi (t) becomes zero. As described with reference to FIG. 3, the drive cylinders 25, 2,
6 is driven, and the height adjusting hydraulic cylinder 15 is operated in response to the drive of the drive cylinders 25 and 26. As a result, the rod 15b of the height adjusting hydraulic cylinder 15 is displaced, whereby the heights of the suspension legs 11 to 14 are set to the height adjusting target values L to Hi.
The height of the vehicle body 101 is adjusted by adjusting only (t).

Next, the operation of the above-described embodiment will be described.

(First Embodiment) FIG. 5 shows a suspension controller 5.
It is a block diagram explaining the content of the arithmetic processing performed in 0.

The suspension controller 50 uses the following i), i
The height adjustment target values L to Hi (t) are generated and output by the procedure of i) and iii).

I) Disturbance Prediction Calculation Processing In the disturbance predictor 55 shown in FIG. 5, the input data, that is, the detection values of the acceleration sensors 41 to 44, the attitude sensor 45, and the mass projection conditions (operation conditions of the mass projection device 60) are used. Based on the reaction force of the mass projection, the spring elements 17, the damper elements 18, and the tires 16 of the suspension legs 11 to 14 are distorted, and the height change of the suspension legs 11 to 14 is changed. For i (t) (i = 1, 2, 3, 4), prediction calculation is performed for each suspension leg 11, 12, 13, 14.

Predicted height value ω ^ i (t) (i = 1, 2,
3, 4) are time-series data having time t as a function as illustrated in FIG. As shown in FIG. 9, if a predetermined number of projections are continuously performed for τ time, the predicted height value ω ^ i (t) (i = 1, 2, 3, 4) during this τ time is obtained. It is calculated using the time t as a variable.

Further, the height predicted value ω ^ i in consideration of data other than the detected values of the acceleration sensors 41 to 44 and the attitude sensor 45 and the mass projection condition (operating condition of the mass projection device 60).
(T) (i = 1, 2, 3, 4) may be predicted and calculated.

Acceleration sensors 41 to 44 and attitude sensor 45
And the data other than the mass projection conditions (operating conditions of the mass projection device 60) are, for example, "mass distribution of the vehicle body 101 and the suspension legs 11 to 14" and "the vehicle body 101 and the suspension legs 11 to 11."
14 rigidity ”,“ initial state of suspension legs 11-14 ”,“ type of spring element 17 of suspension legs 11-14 (whether linear or non-linear) ”and the like.

The reason for considering the data "mass distribution of the vehicle body 101 and the suspension legs 11 to 14" is that if the mass distributions are different, the moment of inertia for the reaction force F is different, and the same reaction force F is received. Even suspension legs 11-1
This is because the height prediction values ω ^ i (t) (i = 1, 2, 3, 4) of 4 are different.

The reason why the data "the rigidity of the vehicle body 101 and the suspension legs 11 to 14" is taken into consideration is that if the rigidity is different, the distortion of each part when receiving the reaction force F is different, and the same reaction force is caused by this. Even if you receive F, suspension legs 11-14
This is because the height prediction value ω ^ i (t) (i = 1, 2, 3, 4) of is different.

The reason why the data "the initial state of the suspension legs 11-14" is taken into consideration is that each suspension leg 11-14 is
Spring element 17 initial state (initial contraction amount, initial pressure), damper element 18 (initial contraction amount, initial contraction amount,
If the initial pressure) and the initial state (initial hydraulic pressure) of the vehicle height adjusting hydraulic cylinder 15 are different, even if the same amount of oil is supplied to the vehicle height adjusting hydraulic cylinder 15, each suspension leg 11 to 1 is used.
This is because the height change amount is different for each four.

The reason for considering the data "the type of spring element 17 of the suspension legs 11 to 14 (whether it is linear or non-linear)" depends on whether the spring element 17 is linear or non-linear. Even if the same amount of oil is supplied to the vehicle height adjusting hydraulic cylinder 15, the height change amounts of the suspension legs 11 to 14 are different.

Therefore, if these data such as mass distribution and rigidity are taken into consideration, the predicted height value ω ^ i (t) can be more accurately calculated.
(I = 1, 2, 3, 4) can be obtained.

The simulation performed by the disturbance predicting section 55 is performed by known commercial software such as "ADAMS".
(Product or trademark name), "EASY5" (Product or trademark name), etc. can be used. For example, install the software that is a simple rewrite of these commercially available software on a small vehicle-mounted computer, and estimate the height ω ^
i (t) (i = 1, 2, 3, 4) is calculated.

The response frequency of the suspension legs 11 to 14 when vibrating from the spring side (vehicle body) side is 1 Hz as described above.
As shown in FIG. 9, the predicted value ω ^ i (t) (i = i) of the disturbance generated within a few seconds (= τ) after projection is
It is sufficient to calculate 1, 2, 3, 4). Further, since it takes several tens of milliseconds (= Δt) from the start of mass projection until the vehicle body 101 starts to tilt, the suspension controller 50 causes the time series data ω of the disturbance prediction value for several seconds τ after projection during this Δt. It is quite possible to calculate ^ i (t) (i = 1, 2, 3, 4). Also, time series data ω ^ i (t) (i = 1, 2, 3, 4) of the disturbance prediction value for several seconds τ after projection is
Instead of collectively calculating for several tens of millimeters Δt, time series data ω ^ i (t) (i = 1,
2, 3, 4) may be predicted and calculated each time projection is started.

Ii) Calculation processing of common height target value Next, in the target value calculation unit 56, all suspension legs 11 to 14 are calculated.
The height target values h to (t) common to the above are calculated. This common height target value h to (t) is the height predicted value ω ^ i.
Similar to (t), it is time-series data having time t as a function.

Generally, the common height target values h to (t) are calculated as a function having the predicted height value ω ^ i (t) as a variable as shown in the following equation (3).

H to (t) = f {ω ^ 1 (t), ω ^ 2 (t), ω ^ 3 (t), ω ^ 4 (t)} (3) As an example of the function f, Calculate the average value of the height prediction values ω ^ i (t), take the maximum value of the height prediction values ω ^ i (t), and the minimum value of the height prediction values ω ^ i (t) Take
And so on. Further, the common height target value h to (t) is 0, that is, the reaction force F due to the projection is not received and each suspension leg 1
The height when 1 to 14 are in the so-called “1G” state may be set as the target value.

Iii) Calculation processing of height adjustment target value Next, in the subtraction units 51, 52, 53 and 54 (5N), as shown in the following equation (4), from the common height target values h to (t), Height prediction values ω ^ 1 (t), ω ^ 2 (t), ω ^ 3
A process of subtracting (t) and ω ^ 4 (t) is executed, and height adjustment target values LH1 to (t), LH2 to (t), and LH2
H3 to (t) and LH4 to (t) are the suspension legs 11, 12, 1
It is calculated every 3 and 14.

LHi- (t) = h- (t) -ω ^ i (t) (i = 1, 2, 3, 4) (4) As described above, the suspension controller 50 sets the height adjustment target. When the values LHi to (t) are calculated, as shown in FIG.
From the suspension controller 50 to each vehicle height adjusting device 21, 22,
23, 24, height adjustment target values LH1 to (t), L
H2 to (t), LH3 to (t), and LH4 to (t) are output.

As a result, as described with reference to FIGS. 3 and 6, the rods 15b of the height adjusting hydraulic cylinders 15 of the suspension legs 11 to 14 respectively have the height adjusting target values LH1 to (t),
It is displaced in the vertical direction by LH2 to (t), LH3 to (t), and LH4 to (t).

During continuous mass projection, FIG.
As indicated by (t), the vehicle height adjusting hydraulic cylinders 15 of the suspension legs 11 to 14 have disturbances ω1 (t) and ω2.
(T), ω3 (t), and ω4 (t) are added respectively, and the suspension legs 11, 12, 13, and 14 are added by these disturbances ω1 (t), ω2 (t), ω3 (t), and ω4 (t). The height of each changes. On the right side of the above equation (4), "ωi
(T) ”is added.

Therefore, the height prediction value (disturbance prediction value) ω ^ i
If (t) matches the actual disturbance ωi (t) without error, "ω ^ i (t)" and "ωi
(T) ”is canceled out and only the term of“ h to (t) ”becomes, and during the period τ during which the mass is continuously projected, each suspension leg 11 to 14 has the same height h to (t). To maintain.

Next, the effect of this embodiment will be described with reference to FIG.

According to this embodiment, during the period τ in which the mass is continuously projected, each suspension leg 11 to 14 has the same height h.
Since (a) to (t) is maintained, the mass is continuously projected (FIG. 10A) before mass projection (FIG. 10A) not receiving the reaction force F.
In (c), the vehicle body 101 is displaced in the vertical direction (Z axis), but is not tilted or swung in the roll direction (X axis) and the pitch direction (Y axis). In this way, the vehicle body 101 only moves in parallel in the vertical direction, so that the inclination and vibration in the roll direction and the pitch direction are greatly damped.

Therefore, the projection direction L2 at the time of continuous mass projection substantially coincides with the projection direction L1 at the time of continuous mass projection in the vertical direction with respect to the projection direction L1 before the mass projection, and the mass reaching point at the time of continuous mass projection is almost the same. It will be constant. Therefore, continuous mass projection can be performed accurately and stably. That is, since the projection direction L1 before mass projection and the projection direction L2 after mass projection do not match (FIGS. 10A and 10B),
The problems of the prior art that could not perform continuous mass projection accurately and stably are solved.

According to this embodiment, the prior art 1),
Unlike the case of 2), it is not necessary to provide the mass projection device 60 with a large-scale and complicated mechanism such as a stabilizer, and it is only necessary to add the function of performing the simple arithmetic processing shown in FIG. For example, it is sufficient to add a small computer to the existing vehicle 100. Therefore, the device cost does not increase, the storage space does not increase, and the vehicle weight does not increase significantly.

Further, it is not necessary to wait until the swing of the vehicle is stopped unlike the prior art 3), so that the projection interval can be shortened and a large number of masses can be projected in a short time.

According to this embodiment, the disturbance ω ^ i
(T) is predicted, and the vehicle height adjustment element 15 is feedforward-controlled so that the height adjustment target value LHi to (t) corresponding to the disturbance prediction value ω ^ i (t) is obtained. Vibration in the roll direction and the pitch direction can be damped by the responsiveness. That is, the vehicle height can be adjusted with higher responsiveness as compared with the conventional technique 3) of adjusting the height of the vehicle body by feedback control. For example, in this embodiment,
The actual values of the roll angle and pitch angle of the vehicle body 101 are detected,
If the vehicle height is feedback-controlled with this as a feedback amount, a response delay occurs and the vehicle height adjusting element 15 responds to actual roll changes and pitch changes of the vehicle body 101.
Control of will not be in time.

In the present embodiment, the above i), i
The arithmetic processing described in i) and iii) is performed by the operation panel 70.
May be performed before the projection command button is pressed, or after the mass projection button is pressed. As shown in FIG. 9, even after the projection command button is pressed and the projection operation is started, there is a time Δt of several tens of milliseconds until the vehicle body 101 starts swaying due to the reaction force F of the projection. By using a CPU (arithmetic element) having the specifications generally used at present, it is possible to finish all arithmetic processing during Δt during this period.

Further, during the time Δt, it is also possible to calculate the time series pattern of the reaction force F, the timing signal of the projection, etc. among the mass projection conditions.

(Second Embodiment) Next, a second embodiment which is a modification of the first embodiment will be described.

In the second embodiment, the contents of the calculation processing of the common height target value in ii) of the first embodiment are different. The different parts will be described below.

Ii) Calculation processing of common height target value In the target value calculation unit 56 shown in FIG. 5, all suspension legs 11 to 11 are processed.
The height target values h to (t) common to the fourteen are calculated.

In this case, the common height target values h to (t) are
Predicted height of each suspension leg 11, 12, 13, 14 ω ^ 1
(T), ω ^ 2 (t), ω ^ 3 (t), and ω ^ 4 (t) are the predicted values of the height of the suspension leg that is displaced to the maximum.

For example, as shown in FIG. 7, each suspension leg 11,
Predicted height of 12, 13, 14 ω ^ 1 (t), ω ^ 2
It is assumed that (t), ω ^ 3 (t), and ω ^ 4 (t) have been acquired. FIG. 7 shows time-series data ω ^ i (t) of predicted height values when the mass is projected in the projection direction L shown in FIG.
Is shown. In this case, the suspension leg 13 receives the largest disturbance due to the reaction force F at the time of mass projection, and is displaced the largest.

Therefore, as shown in the following equation (5), the predicted height value ω ^ 3 of the suspension leg 13 that is most displaced is ω ^ 3.
(T) is set as the common height target value h to (t).

H to (t) = ω ^ 3 (t) (5) iii) Calculation processing of height adjustment target value Next, the subtraction units 51, 52, 53 and 54 (5 shown in FIG. 5
In N), as shown in the following equation (1), the predicted height values ω ^ 1 (t), ω ^ 2 (t), from the common height target values h to (t),
A process for subtracting ω ^ 3 (t) and ω ^ 4 (t) is executed to execute height adjustment target values LH1 to (t), LH2 to (t), and LH2 to (t), L
H3 to (t) and LH4 to (t) are the suspension legs 11, 12, 1
It is calculated every 3 and 14. However, in equation (5) above, the common height target values h to (t) are calculated as the predicted height ω ^ 3 of the suspension leg 13.
Since it is set to (t), the term “common height target value h to (t)” on the right side of the following equation (1) is replaced with “the predicted height ω ^ 3 (t) of the suspension leg 13”. Has been done.

(Equation 1) When the suspension controller 50 calculates the height adjustment target values LHi to (t) as described above, as shown in FIG.
From the suspension controller 50 to each vehicle height adjusting device 21, 22,
23, 24, height adjustment target values LH1 to (t), L
H2 to (t), LH3 to (t), and LH4 to (t) are output.

As a result, as described with reference to FIGS. 3 and 6, the rods 15b of the height adjusting hydraulic cylinders 15 of the suspension legs 11 to 14 respectively have the height adjusting target values LH1 to (t),
It is displaced in the vertical direction by LH2 to (t), LH3 to (t), and LH4 to (t).

When mass is continuously projected, FIG.
As indicated by (t), the vehicle height adjusting hydraulic cylinders 15 of the suspension legs 11 to 14 have disturbances ω1 (t) and ω2.
(T), ω3 (t), and ω4 (t) are added respectively, and the suspension legs 11, 12, 13, and 14 are added by these disturbances ω1 (t), ω2 (t), ω3 (t), and ω4 (t). The height of each changes. On the right side of the above equation (1), "ω1
(T) ”,“ ω2 (t) ”,“ ω3 (t) ”,“ ω4
(T) ”is added respectively.

Therefore, the height prediction value (disturbance prediction value) ω ^ i
If (t) agrees with the actual disturbance ωi (t) without error, "ω ^ i (t)" and "ωi
(T) ”is canceled out and only the term of“ ω ^ 3 (t) ”becomes, and the suspension legs 11 to 14 have the same height h to (t during the period τ during which the mass is continuously projected. ) That is, the predicted height value ω
Keep ^ 3 (t).

FIG. 8A shows each suspension leg 11, 12, 1
Height prediction values ω ^ 1 (t) and ω ^ 2 for 3 and 14 respectively
8B shows (t), ω ^ 3 (t), and ω ^ 4 (t).
Shows the actual height of each suspension leg 11-14 at the time of continuous mass projection. As shown in the figure, during continuous mass projection, the height of each suspension leg 11 to 14 depends on the disturbance ω3 received by the suspension leg 13.
It almost coincides with (t).

Next, the advantages of the second embodiment will be described.

The suspension leg 13 whose height changes most during mass projection receives the extremely large reaction force F concentrated during mass projection. If such a suspension leg 13 is excessively adjusted by the vehicle height adjusting device 23, mechanically unreasonable force is applied, which adversely affects durability and the like. Therefore, the suspension leg 1 whose height changes the most during continuous mass projection
The predicted height value ω ^ 3 (t) of 3 is the common height target value h ~
If set to (t) (see the above equation (5)), the above (1)
As shown in the formula, the height adjustment target value LH3 of this suspension leg 13
(T) becomes 0, and it becomes unnecessary to adjust the height of the suspension leg 13. Since the height adjustment operation is not performed at the suspension leg 13 that receives the reaction force F in a concentrated manner during mass continuous projection and the height changes most, an unreasonable force may be applied to the suspension leg 13 mechanically. It can be prevented and the durability can be dramatically improved.

(Third Embodiment) Next, the control error εi generated between the height prediction value (disturbance prediction value) ω ^ i (t) and the actual disturbance ωi (t) will be examined.

The control error generated in the vehicle height adjusting devices 21 to 24 provided for each suspension leg 11 to 14 is controlled by εi.
(I = 1 to 4). The control error εi (i = 1 to 4) occurs in the control system shown in FIG.

During mass continuous projection, since "control error εi" and "disturbance ωi (t)" are added to the right side of (1) above, the actual height LH1 of each suspension leg 11, 12, 13, 14 is
(T), LH2 (t), LH3 (t) and LH4 (t) are represented by the following equation (2).

(Equation 2) Predicted height (disturbance predicted value) ω ^ i (t) in equation (2) above
Is very close to the actual disturbance ωi (t) and the control error εi is small enough to be ignored, all suspension legs 11 to 14 maintain a height very close to the height of the suspension leg 13 as described in FIG. As a result, the roll of the vehicle body 101 and the swinging in the pitch direction are significantly reduced.

However, the suspension legs 11 to 14, the vehicle height adjusting device 2
When the prediction accuracy of the disturbance prediction value ω ^ i (t) decreases or the control error εi increases due to changes with time of the constituent elements 1 to 24 or the like, the rolling of the vehicle body 101 in the pitch direction is reduced. The effect of doing so decreases.

Therefore, in the third embodiment, the vehicle body 101
Of the roll angle ωx (t), the pitch angle ωY (t), and the angular velocities ω · x (t) and ω · Y (t) of
Set the lower limit as the threshold. During mass continuous projection, these roll angle ωx (t) and pitch angle ωY
(T), roll angular velocity ω · x (t), pitch angular velocity angle ω
-If Y (t) is compared with the threshold value and exceeds the upper limit value or falls below the lower limit value, the suspension legs 11 to 14 and the vehicle height adjusting devices 21 to 24 are defective. It is judged that there is an error and a maintenance warning signal is output. This processing is executed by the suspension controller 50. As shown in FIG. 1, when the suspension controller 50 outputs a maintenance warning signal, the maintenance warning signal is input to the operation panel 70. When the maintenance alarm signal is input to the operation panel 70, an alarm device provided inside the vehicle is activated to prompt an operator or the like to "maintenance is necessary". As a result, the operator or the like can quickly perform maintenance on the suspension legs 11 to 14, the vehicle height adjusting devices 21 to 24, and the like. As a result, the effects of damping the roll of the vehicle 100, the inclination in the pitch direction, and the swing are always maintained above a certain level. A maintenance warning signal may be output to the outside of the vehicle to notify a person outside the vehicle 100.

(Fourth Embodiment) In the third embodiment, the roll angle ωx (t), the pitch angle ωY (t), and the roll angular velocity ω ·
Although x (t) and pitch angular velocity angle ω · Y (t) are respectively compared with threshold values, height predicted value (disturbance predicted value) ω ^ i
(T) may be directly compared with the actual disturbance ωi (t). Here, as described with reference to FIG. 1, the vehicle 100 is provided with the acceleration sensors 41 to 44 for each of the suspension legs 11 to 14. Therefore, the actual height displacement of each suspension leg 11-14, that is, the actual disturbance ωi (t) can be obtained by integrating twice the accelerations detected by the acceleration sensors 41-44.

The suspension controller 50 carries out the following processing.

That is, the actual heights ω1 (t), ω2 (t), ω3 of the suspension legs 11 to 14 during continuous mass projection.
(T) and ω4 (t) are measured, and the predicted height value ω ^ i (t)
The control error εi (i = 1, 2, 3, 4), which is the difference between the measured actual height ωi (t) and Then, these control errors εi are compared with a predetermined threshold value, and when the control error εi is equal to or more than the threshold value, a maintenance warning signal is output. As a result, the operator or the like can know that the height prediction value ω ^ i (t) includes an error of a certain level or more, or the control error εi is too large to be ignored, so the parameters of the prediction calculation are corrected. It is possible to quickly take measures such as maintenance. As a result, it is possible to prevent the maintenance timing of the prediction calculation from being missed, and it is possible to always perform mass continuous projection in an optimal state with no error. It should be noted that a specific suspension leg, for example, the suspension leg 13 that is displaced the most is selected, the actual height ω3 (t) is measured only for this suspension leg 13, and the height predicted value ω ^ 3 (t) is measured. Height of ω3
A control error ε3, which is the difference from (t), is calculated, this control error ε3 is compared with a predetermined threshold value, and when the control error ε3 is equal to or greater than the threshold value, a maintenance alarm signal is output. Implementation is also possible.

(Fifth Embodiment) By the way, in the above-mentioned first and second embodiments, as shown in FIGS. 11 (a) and 11 (c), a target height value common to all suspension legs 11 to 14 is set. h ~ (t)
Is set, and the vehicle height adjusting devices 21 to 24 are controlled so that the common height target values h to (t) are obtained, and the direction of the mass projected from the mass projection device 60 is set during mass continuous projection. Always in the same direction L2. However, as the present invention,
It is not always necessary to make all the suspension legs 11 to 14 at the same height, and during mass continuous projection, as long as the direction of the mass projected from the mass projection device 60 is always the same direction L2, the suspension legs 11 to 14 are the same. May have different heights.

Therefore, in this fifth embodiment, all suspension legs 1
Instead of setting the common height target values h to (t) for each of the suspension legs 1 to 14, the mass of the mass projection device 60 is projected in the same direction L2 during continuous mass projection.
Height target value h to 1 (t), h for each 1, 12, 13, 14
~ 2 (t), h ~ 3 (t), h ~ 4 (t) are set. The other arithmetic processing is the same as in the first and second embodiments. For example, as shown in FIGS. 11B and 11D, target heights h to f (t) (h to 1) of the suspension legs 11 and 12 on the front side are set.
(T), h ~ 2 (t)) becomes higher than the height target value h ~ r (t) (h ~ 3 (t), h ~ 4 (t)) of the rear suspension legs 13,14. So that each suspension leg 11, 12, 13, 14
Height target values h ~ 1 (t), h ~ 2 (t), h ~ 3 for each
(T) and h to 4 (t) are set.

FIG. 11B shows the posture of the vehicle 100 when the vehicle height is adjusted in the fifth embodiment during continuous mass projection when the vehicle 100 is on a horizontal road surface. .

It can be seen that the mass is projected upward as compared with the case of FIG. 10A in which the vehicle height is adjusted so that the suspension legs 11 to 14 have the same height.

FIG. 11D shows the vehicle 100 when the vehicle height adjustment of the fifth embodiment is performed during mass continuous projection when the rear wheels of the vehicle 100 ride on rocks or the like and the vehicle 100 leans forward. Shows the posture.

It can be seen that the mass is projected upward as compared with the case of FIG. 10C in which the vehicle height is adjusted so that the suspension legs 11 to 14 have the same height.

According to the fifth embodiment, the mass continuation is achieved by controlling the vehicle height adjusting devices 21 to 24 without driving and controlling the mass projection device 60 during mass continuous projection, that is, without controlling the depression / elevation angle β. The mass projection direction at the time of projection can be set to any direction. In particular, when the vehicle 100 leans forward as in the case of FIG.
If the heights are the same, the mass is projected downward with respect to the horizontal direction. However, as shown in FIG. 11D, the height of the front suspension legs 11 and 12 is higher than that of the rear suspension legs 13 and 14. By adjusting the vehicle height so as to be higher than the height, it is possible to correct the mass so that the mass is projected in the horizontal direction or the correct direction that is upward from the horizontal direction.

In the embodiment, in the hydraulic circuit diagram of FIG. 3, the upper drive cylinder 26 is used to extend and contract the lower drive cylinder 25, but the structure is not necessarily limited to this.

The upper drive cylinder 26 for expanding and contracting the lower drive cylinder 25 is provided with an arbitrary actuator that moves linearly, for example, "rotating motor and ball screw", "rotating motor and rack and pinion mechanism", "linear motor". , "Rotating motor and link mechanism" and the like. In addition, the "motor" is a concept including an electric motor, a hydraulic motor, a pneumatic motor, and other rotary actuators.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a vehicle according to an embodiment.

FIG. 2 (a) is a perspective view showing how each suspension leg is displaced, and FIG. 2 (b) is a view of the vehicle seen from above.

FIG. 3 is a hydraulic circuit diagram showing the configuration of the vehicle height adjusting device shown in FIG.

4 is a block diagram showing an overall configuration of a control system of the vehicle shown in FIG.

5 is a block diagram illustrating a calculation process performed by the suspension controller shown in FIGS. 1 and 4. FIG.

FIG. 6 is a block diagram showing a control system of the vehicle height adjusting device shown in FIG. 1.

FIG. 7 is a graph showing a time series predicted value (height predicted value) of a disturbance applied to each suspension leg.

8 (a) and 8 (b) are diagrams for explaining control for matching the height of each suspension leg to the height of the suspension leg that is displaced most.

FIG. 9 is a graph showing a time series change of the reaction force received by the vehicle body when the mass is continuously projected.

10 (a), (b) and (c) are diagrams for explaining rocking of a vehicle according to the related art and the present invention.

FIG. 11A, FIG. 11B, FIG. 11C, and FIG. 11D are diagrams showing the projection direction during continuous mass projection.

[Explanation of symbols]

11-14 Suspension legs 15 Height adjustment element (hydraulic cylinder for height adjustment) 21-24 Vehicle height adjustment device 50 suspension controller 60 mass projection device 100 vehicles

Claims (4)

[Claims] 1. A mass projection device mounted with a mass projection device, applied to a vehicle having a plurality of suspension legs, and adapted to damp vibration generated in the vehicle when mass is continuously projected from the mass projection device. In a vibration damping device for an on-vehicle vehicle, vehicle height adjusting means that is provided for each of a plurality of suspension legs and adjusts the height of the suspension legs, and a suspension leg during continuous mass projection based on the mass projection conditions of the mass projection device. Predicted value calculation means for calculating the height predicted value of each suspension leg, and the height target value common to all suspension legs is set, and the height predicted value is subtracted from the common height target value. Height adjustment target value calculation means for calculating the height adjustment target value for each suspension leg, and control means for feedforward controlling the vehicle height adjustment means so that the height adjustment target value is obtained during mass continuous projection. Mass projection equipment characterized by including Vibration damping device of a vehicle equipped with. 2. The common height target value is obtained on the basis of the height of the suspension leg that is displaced to the maximum among the predicted height values of the suspension legs.
A vibration damping device for a vehicle equipped with the described mass projection device. 3. An alarm signal when the difference between the predicted height value and the actual height exceeds a predetermined threshold value, further comprising means for measuring the actual height of the suspension leg during continuous mass projection. The vibration damping device for a vehicle equipped with the mass projection device according to claim 1, wherein 4. A mass projection device which is equipped with a mass projection device and which is applied to a vehicle having a plurality of suspension legs so as to damp vibration generated in the vehicle when mass is continuously projected from the mass projection device. In a vibration damping device for an on-vehicle vehicle, vehicle height adjusting means that is provided for each of a plurality of suspension legs and adjusts the height of the suspension legs, and a suspension leg during continuous mass projection based on the mass projection conditions of the mass projection device. Prediction value calculation means for calculating the height prediction value for each suspension leg, and the height target for each suspension leg so that the direction of the mass projected from the mass projection device during the mass continuous projection is the same direction. A height adjustment target value calculating means for calculating a height adjustment target value by setting a value and subtracting the predicted height value from this height target value for each suspension leg; The vehicle height adjusting means is used to obtain the adjustment target value. Vibration damping apparatus of the mass projection apparatus equipped vehicle, characterized in that it comprises a controller for I over-forward control.