JP2018188101A - 車両姿勢制御装置 - Google Patents
車両姿勢制御装置 Download PDFInfo
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Abstract
【解決手段】制御器は、ロール角加速度をローパスフィルタで処理し、ローパスフィルタによって高周波数成分を除去されたロール角加速度を積分し、積分により得られたロール角速度をアクチュエータの操作量に変換する。ローパスフィルタは、車速の上昇に応じてカットオフ周波数が高くなる第1の車速−カットオフ周波数特性を有する。第1の車速−カットオフ周波数特性は、ホイールベースフィルタリングによる1次のロール極小周波数に、制御器による制御のむだ時間及び位相遅れにより増幅されるロール振動のピーク周波数が一致するように設計されている。
【選択図】図14
Description
以下、図面を参照して本発明の実施の形態について説明する。図1は、本実施の形態の車両姿勢制御装置のシステム構成を模式的に示す図である。車両姿勢制御装置は、4つの車輪4FL,4FR,4RL,4RRを備える車両2に搭載されている。車両2の駆動輪は前輪4FL,4FRでもよいし、後輪4RL,4RRでもよいし、全輪4FL,4FR,4RL,4RRでもよい。また、車両2の動力装置は、内燃機関でもよいし、電動モータでもよいし、内燃機関と電動モータの両方を含むハイブリッドシステムでもよい。
車両姿勢制御は、スカイフック理論に基づいて車両のロールをフィードバックし、アクティブスタビライザ10,20を制御するロールスカイフック制御である。図2は、車両姿勢制御のフィードバック制御信号のループ線図である。車両姿勢制御では、ロール角加速度センサ32の信号ととともに車速センサ30の信号が制御器40に入力される。制御器40は入力された信号に基づきスタビライザアクチュエータ12,22の操作量を決定し、操作量信号をスタビライザアクチュエータ12,22に出力する。スタビライザアクチュエータ12,22は、操作量信号を受けて動作し、スタビライザバー14L,14R,24L,24Rに捩りトルクを発生させる。
図4は、ロールスカイフック制御の1自由度モデルを示す図である。まず、この1自由度モデルを用いて、車両姿勢制御がロール振動に与える影響について分析する。
lx:ロール慣性モーメント
φ:車両のロール角度
φi:各車軸位置での路面上下変位から換算した路面入力ロール角度
Kφi:各車軸位置でのロール剛性
Cφi:各車軸位置でのアブソーバロール減衰係数
CA:ロールスカイフック減衰係数
s:ラプラス変数
なお、添字のiは前軸が1、後軸が2である。
m:車両重量
g:重力加速度
H:車両重心高
h:車両重心位置でのロールセンタ高
hi:各車軸位置でのロールセンタ高
U:車速
β:車両重心横滑り角度
γ:車両ヨー角速度
lz:ヨー慣性モーメント
Li:各車軸から重心までの距離
L:ホイールベース(L=L1+L2)
Fi:各車軸位置での接地点横力
Ki *:各車軸位置での複素等価コーナリングパワー
上述の分析の通り、車両姿勢制御を行うことで、ある周波数域でのロール振動の抑制は達成できるが、別の周波数域ではロール振動が増幅される。本実施の形態では、車両姿勢制御によるロール振動の増幅を抑えるため、ホイールベースフィルタリングと呼ばれる車両の挙動が利用される。
図14は、より広い車速域に対応した、ローパスフィルタのカットオフ周波数fBと位相遅れ補償時定数τAの設計例を示す図である。図14の上段のグラフには、車速に対するロールスカイフック減衰係数CAの設定の一例が示されている。図14の中段のグラフには、車速に対するカットオフ周波数fBの設定の一例が示されている。図14の下段のグラフには、車速に対する位相遅れ補償時定数τAの設定の一例が示されている。
アクティブスタビライザのスタビライザアクチュエータは油圧式でもよい。ただし、アクティブスタビライザは、車両のロールに能動的に作用することができるアクチュエータの一例である。本発明は、アクティブサスペンションによってロール振動を抑制する車両姿勢制御装置にも適用することができる。
4FL,4FR,4RL,4RR 車輪
6FL,6FR,6RL,6RR サスペンション機構
10,20 アクティブスタビライザ
12,22 スタビライザアクチュエータ
14L,14R,24L,24R スタビライザバー
30 車速センサ
32 ロール角加速度センサ
40 制御器
41 むだ時間要素
42 ローパスフィルタ
43 積分器
44 ロールスカイフック減衰ゲイン
45 遅れ補償器
46 係数換算部
Claims (6)
- 車両のロールに能動的に作用することができるアクチュエータと、
前記車両のロール角加速度を計測するロール角加速度センサと、
前記車両の車速を計測する車速センサと、
前記ロール角加速度と前記車速とに基づき、前記車両のロールを抑制するための前記アクチュエータの操作量を算出する制御器と、を備え、
前記制御器は、前記ロール角加速度をローパスフィルタで処理し、前記ローパスフィルタによって高周波数成分を除去された前記ロール角加速度を積分し、積分により得られたロール角速度を前記操作量に変換するように構成され、
前記ローパスフィルタは、前記車速の上昇に応じてカットオフ周波数が高くなる第1の車速−カットオフ周波数特性を有し、
前記第1の車速−カットオフ周波数特性は、ホイールベースフィルタリングによるロール極小周波数に、前記制御器による制御のむだ時間及び位相遅れにより増幅されるロール振動のピーク周波数が一致するように設計されている
ことを特徴とする車両姿勢制御装置。 - 前記第1の車速−カットオフ周波数特性は、前記ホイールベースフィルタリングによる1次のロール極小周波数に前記ピーク周波数が一致するように設計されている
ことを特徴とする請求項1に記載の車両姿勢制御装置。 - 前記ローパスフィルタは、前記第1の車速−カットオフ周波数特性よりも同一車速に対するカットオフ周波数が高く、前記ホイールベースフィルタリングによる2次のロール極小周波数に前記ピーク周波数が一致するように設計された第2の車速−カットオフ周波数特性を有し、
前記制御器は、前記車速が第1の閾値速度よりも低くなった場合、前記ローパスフィルタの特性を、前記第1の車速−カットオフ周波数特性から前記第2の車速−カットオフ周波数特性へ切り替えるように構成されている
ことを特徴とする請求項2に記載の車両姿勢制御装置。 - 前記制御器は、前記車速が前記第1の閾値速度よりも高い第2の閾値速度よりも高くなった場合、前記ローパスフィルタの特性を、前記第2の車速−カットオフ周波数特性から前記第1の車速−カットオフ周波数特性へ切り替えるように構成されている
ことを特徴とする請求項3に記載の車両姿勢制御装置。 - 前記制御器は、前記ローパスフィルタによって高周波数成分を除去された前記ロール角加速度に位相遅れ補償時定数を乗じて補正値を算出し、前記操作量へ変換される前記ロール角速度に前記補正値を加算するように構成され、
前記位相遅れ補償時定数は、車速に応じて値を変更される
ことを特徴とする請求項1乃至4の何れか1項に記載の車両姿勢制御装置。 - 前記制御器は、前記車速が第3の閾値速度以下の場合、前記位相遅れ補償時定数をゼロに設定し、前記車速が前記第3の閾値速度よりも高い場合、前記車速の上昇に応じて前記位相遅れ補償時定数を大きくするように構成されている
ことを特徴とする請求項5に記載の車両姿勢制御装置。
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DE102018110283.6A DE102018110283B4 (de) | 2017-05-11 | 2018-04-27 | Fahrzeuglage-steuervorrichtung |
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CN112525471B (zh) * | 2020-12-07 | 2022-03-25 | 中国空气动力研究与发展中心高速空气动力研究所 | 一种用于风洞自由滚转动态实验的滚转阻尼补偿方法 |
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