JP2014512996A - サスペンション制御システム - Google Patents
サスペンション制御システム Download PDFInfo
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- JP2014512996A JP2014512996A JP2013555953A JP2013555953A JP2014512996A JP 2014512996 A JP2014512996 A JP 2014512996A JP 2013555953 A JP2013555953 A JP 2013555953A JP 2013555953 A JP2013555953 A JP 2013555953A JP 2014512996 A JP2014512996 A JP 2014512996A
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- Prior art keywords
- wheel
- vehicle
- suspension
- electric motor
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000000725 suspension Substances 0.000 title claims abstract description 63
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000013016 damping Methods 0.000 claims description 39
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 description 11
- 230000036461 convulsion Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000002238 attenuated effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 201000003152 motion sickness Diseases 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/30—In-wheel mountings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/50—Electric vehicles; Hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
【選択図】図5
Description
は、値1.2Ns/mmの能動減衰係数であり、
は、ばね上部分の速度であり、
は、ばね下部分の速度であり、
は、車輪の回転半径である。
制御アルゴリズムから決定されるトルクは、車両100の運転手によるスロットル要求によってインホイール電気モーターが発生させている現在のトルクを調節する。
Claims (10)
- 車体、車輪及びサスペンション装置を備える車両用のサスペンション制御システムであって、
前記車輪は、サスペンション装置に搭載され、
前記サスペンション装置は、前記車輪を駆動させるためのトルクを前記車輪に加えるように構成される電気モーターを備える前記車体におけるマウント位置において前記車体に搭載され、
前記サスペンション制御システムは、前記車体の前記マウント位置に対して相対変位する前記車輪の前後方向又は垂直方向移動に基づいて前記車体の前記マウント位置と相対変位する前記車輪の前後方向移動を減衰させるために前記電気モーターによって前記車輪に加えられるトルクを調節するように構成される制御装置を備える、サスペンション制御システム。 - 前記制御装置は、前記車輪に加えられるトルクを調節し、前記車体の前記マウント位置と相対変位する前記車輪移動を増やすように構成される、請求項1に記載のサスペンション制御システム。
- 前記制御装置は、
は、減衰係数であり、
は、前記車両のばね上部分の速度であり、
は、前記車両のばね下部分の速度であり、
は、前記車輪の回転半径である、請求項1又は2に記載のサスペンション制御システム。 - 前記制御装置は、前記マウント位置と相対変位する前記車輪の前後方向の加速度変化率が所定の値を超える場合、前記車輪に加えられるトルクを調節するように構成される、請求項1から3のいずれかに記載のサスペンション制御システム。
- 前記制御装置は、前記車体の前記マウント位置に対する前記車輪の前後方向の加速度変化率に基づいて前記車輪に加えられるトルクを調節するように構成される、請求項1から4のいずれかに記載のサスペンション制御システム。
- 前記制御装置は、前記車体の前記マウント位置に対する前記車輪の前後方向の速度変化率に基づいて前記車輪に加えられるトルクを調節するように構成される、請求項1から5のいずれかに記載のサスペンション制御システム。
- 請求項1から6のいずれかに記載のサスペンション制御システムを含む車両。
- 前記マウント位置と相対変位する前記車輪の相対的前後方向移動を測定するためのセンサーを更に備える、請求項7に記載の車両。
- 前記電気モーターは、インホイール電気モーターである、請求項7又は8に記載の車両。
- 前記車体の前記マウント位置に搭載される各サスペンション装置を介して前記車両に搭載される複数の車輪を更に備え、
前記車輪のうちの少なくとも2つは、各電気モーターによって駆動されるように構成され、
前記制御装置は、前記車体の各マウント位置に対して相対変位する、各電気モーターによって駆動される前記車輪の前後方向移動に基づいて各電気モーターのトルクを調節するように構成される、請求項7から9のいずれかに記載の車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1103463.4 | 2011-03-01 | ||
GB1103463.4A GB2479431B (en) | 2011-03-01 | 2011-03-01 | A suspension control system |
PCT/IB2012/050570 WO2012117305A1 (en) | 2011-03-01 | 2012-02-08 | A suspension control system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014512996A true JP2014512996A (ja) | 2014-05-29 |
JP6173221B2 JP6173221B2 (ja) | 2017-08-02 |
Family
ID=43904357
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013555953A Expired - Fee Related JP6173221B2 (ja) | 2011-03-01 | 2012-02-08 | サスペンション制御システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US9434229B2 (ja) |
EP (1) | EP2681061B1 (ja) |
JP (1) | JP6173221B2 (ja) |
CN (1) | CN103534112B (ja) |
GB (1) | GB2479431B (ja) |
WO (1) | WO2012117305A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016119738A (ja) * | 2014-12-18 | 2016-06-30 | トヨタ自動車株式会社 | 車両用制動力制御装置 |
JP2017034816A (ja) * | 2015-07-30 | 2017-02-09 | トヨタ自動車株式会社 | 電動車両 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2013095309A (ja) * | 2011-11-02 | 2013-05-20 | Ntn Corp | インホイールモータ車両用サスペンションシステム |
US9205717B2 (en) | 2012-11-07 | 2015-12-08 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
ES2699245T3 (es) | 2012-11-07 | 2019-02-08 | Polaris Inc | Vehículo con suspensión con control continuo de amortiguación |
US9561715B2 (en) * | 2012-11-16 | 2017-02-07 | Deere & Company | Wheel hub with electric motor |
CA2965309C (en) | 2014-10-31 | 2024-01-23 | Polaris Industries Inc. | System and method for controlling a vehicle |
CN113183701A (zh) | 2015-05-15 | 2021-07-30 | 北极星工业有限公司 | 多用途车辆 |
WO2017018180A1 (ja) * | 2015-07-30 | 2017-02-02 | 本田技研工業株式会社 | 車両 |
EP3513484B1 (en) | 2016-09-13 | 2024-05-15 | Indigo Technologies, Inc. | Multi-bar linkage electric drive system |
MX2019005524A (es) | 2016-11-18 | 2019-11-21 | Polaris Inc | Vehiculo que tiene suspension ajustable. |
US10406884B2 (en) | 2017-06-09 | 2019-09-10 | Polaris Industries Inc. | Adjustable vehicle suspension system |
KR102478125B1 (ko) * | 2017-11-24 | 2022-12-16 | 현대자동차주식회사 | 모터 구동 차량 제어방법 및 제어시스템 |
US10493990B2 (en) | 2017-12-15 | 2019-12-03 | Tenneco Automotive Operating Company Inc. | Systems and methods for ride control blending in electric vehicles |
US10946736B2 (en) | 2018-06-05 | 2021-03-16 | Polaris Industries Inc. | All-terrain vehicle |
US10987987B2 (en) | 2018-11-21 | 2021-04-27 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
WO2022016155A1 (en) | 2020-07-17 | 2022-01-20 | Polaris Industries Inc. | Adjustable suspensions and vehicle operation for off-road recreational vehicles |
US11654780B2 (en) | 2020-12-17 | 2023-05-23 | Consolidated Metco, Inc. | Vehicle electronic control unit and method |
US20220234410A1 (en) * | 2021-01-28 | 2022-07-28 | Volvo Car Corporation | Rear damper adjustment |
US20220234408A1 (en) * | 2021-01-28 | 2022-07-28 | Volvo Car Corporation | Limiting vehicle damper jerk |
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2011
- 2011-03-01 GB GB1103463.4A patent/GB2479431B/en active Active
-
2012
- 2012-02-08 US US14/002,707 patent/US9434229B2/en active Active
- 2012-02-08 JP JP2013555953A patent/JP6173221B2/ja not_active Expired - Fee Related
- 2012-02-08 CN CN201280021317.2A patent/CN103534112B/zh active Active
- 2012-02-08 EP EP12706929.2A patent/EP2681061B1/en active Active
- 2012-02-08 WO PCT/IB2012/050570 patent/WO2012117305A1/en active Application Filing
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JPH0692126A (ja) * | 1992-09-16 | 1994-04-05 | Nippondenso Co Ltd | 減衰力可変ショックアブソーバ制御装置 |
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JP2010247652A (ja) * | 2009-04-15 | 2010-11-04 | Toyota Motor Corp | 車両用電源システム |
JP2010285144A (ja) * | 2009-05-13 | 2010-12-24 | Toyota Motor Corp | 車両のバネ上制振制御装置 |
JP2011016382A (ja) * | 2009-07-07 | 2011-01-27 | Toyota Motor Corp | 車両の減衰力制御装置 |
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JP2016119738A (ja) * | 2014-12-18 | 2016-06-30 | トヨタ自動車株式会社 | 車両用制動力制御装置 |
JP2017034816A (ja) * | 2015-07-30 | 2017-02-09 | トヨタ自動車株式会社 | 電動車両 |
Also Published As
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CN103534112A (zh) | 2014-01-22 |
GB2479431B (en) | 2012-08-08 |
US20140058606A1 (en) | 2014-02-27 |
CN103534112B (zh) | 2016-05-11 |
JP6173221B2 (ja) | 2017-08-02 |
GB2479431A (en) | 2011-10-12 |
GB201103463D0 (en) | 2011-04-13 |
EP2681061B1 (en) | 2016-11-23 |
EP2681061A1 (en) | 2014-01-08 |
WO2012117305A1 (en) | 2012-09-07 |
US9434229B2 (en) | 2016-09-06 |
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