JP2020044953A - Handle vibration system and method of controlling handle vibration system - Google Patents

Abstract

To obtain a system that can prevent vibration of a bar handle in a wide frequency range compared to a conventional system.SOLUTION: A handle vibration system of the present invention includes: a vibration device configured to vibrate; and a control device configured to control the vibration device. The handle vibration system is attached to a bar handle for a straddle type vehicle provided with the bar handle. The control device includes: a vibration acquisition part configured to acquire vibration of the bar handle; and a control part configured to control the vibration system to generate vibration for suppressing the vibration acquired by the vibration acquisition part.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a handle excitation system used for a saddle-ride type vehicle having a bar handle, and a control method of the handle excitation system.

  Some saddle-ride type vehicles employ a bar handle, which is a bar-type handle, as a handle for operating the front wheels. Since the tip end of the bar handle is not fixed, the vibration tends to increase when the vibration propagates to the bar handle. And the vibration of the bar handle may give the rider holding the bar handle an uncomfortable feeling. For this reason, conventionally, a bar handle of a motorcycle as an example of a straddle-type vehicle has been proposed in which a weight is attached to a tip end thereof in order to suppress the vibration of the bar handle (for example, Patent Document 1). 1). The resonance frequency of the bar handle can be changed by the weight of the weight attached to the tip of the bar handle. For this reason, by shifting the resonance frequency of the bar handle from the frequency range of the vibration to be suppressed, the vibration of the bar handle can be suppressed in the frequency range of the vibration to be suppressed.

JP-A-62-039385

  In the configuration in which the weight is attached to the tip of the bar handle to suppress the vibration of the bar handle, as described above, the resonance frequency of the bar handle is shifted to suppress the vibration in a specific frequency range. Therefore, in the frequency range around the shifted new resonance frequency, the vibration of the bar handle increases. That is, the configuration in which the weight is attached to suppress the vibration of the bar handle has a problem that it is difficult to suppress the vibration of the bar handle in a wide frequency range.

  The present invention has been made in view of the above problems, and has as its object to obtain a system capable of suppressing the vibration of a bar handle in a wider frequency range than before. Another object of the present invention is to obtain a control method for such a system.

  A handle vibration system according to the present invention is a handle vibration system including a vibration device that vibrates, and a control device that controls the vibration device, wherein the vibration device includes a bar handle. A vibration device attached to the bar handle of the straddle-type vehicle, wherein the control device performs a vibration acquisition unit that acquires the vibration of the bar handle, and a vibration that suppresses the vibration acquired by the vibration acquisition unit. And a control unit for generating the vibration in the vibration device.

Further, a control method of a handle vibration system according to the present invention is a control method of a handle vibration system including: a vibration device that vibrates; and a control device that controls the vibration device, wherein the vibration device includes: The apparatus is a vibration device attached to the bar handle of a saddle-ride type vehicle having a bar handle, and a vibration obtaining step of obtaining vibration of the bar handle, and suppressing the vibration obtained in the vibration obtaining step. A control step of causing the vibration device to generate vibration,
It has.

  By attaching the vibration device of the handle vibration system according to the present invention to the bar handle of the saddle-ride type vehicle, the vibration device can apply vibration to the bar handle to suppress vibration of the bar handle. For this reason, the handle excitation system according to the present invention can suppress the vibration of the bar handle in a wider frequency range than before.

1 is a side view showing a saddle-ride type vehicle equipped with a handle excitation system according to an embodiment of the present invention. FIG. 1 is a front view showing a configuration around a bar handle of a saddle-ride type vehicle equipped with a handle excitation system according to an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows an example of the system configuration of the handle excitation system which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the steering wheel excitation system which concerns on embodiment of this invention. It is a figure which shows an example of a system structure of another example of the handle excitation system which concerns on embodiment of this invention. It is a figure which shows an example of a system structure of another example of the handle excitation system which concerns on embodiment of this invention. It is a figure which shows an example of a system structure of another example of the handle excitation system which concerns on embodiment of this invention.

Hereinafter, the present invention will be described with reference to the drawings.
In the following, a description will be given of a case where the handle vibration system according to the present invention is adopted for a motorcycle.However, the handle vibration system according to the present invention may be used for a saddle type vehicle other than the motorcycle. Good. Other straddle-type vehicles of a motorcycle include, for example, a bicycle, a motorcycle, and a buggy driven by at least one of an engine and an electric motor. Note that a bicycle refers to any vehicle that can be propelled on the road by the pedaling force applied to the pedal. That is, the bicycle includes a normal bicycle, an electric assist bicycle, an electric bicycle, and the like. Further, a motorcycle or a tricycle means a so-called motorcycle, and the motorcycle includes a motorcycle, a scooter, an electric scooter, and the like.

  The configuration, operation, and the like described below are examples, and the handle vibration system according to the present invention is not limited to such a configuration, operation, and the like. Further, in each drawing, the same or similar members or portions may be denoted by the same reference numerals or may be omitted from the reference numerals. In addition, the illustration of the detailed structure is simplified or omitted as appropriate.

Embodiment.
Hereinafter, the handle vibration system according to the present embodiment will be described.

<Configuration and operation of handle excitation system>
The configuration and operation of the handle vibration system 30 according to the present embodiment will be described.
FIG. 1 is a side view showing a saddle-ride type vehicle equipped with a handle excitation system according to an embodiment of the present invention. FIG. 2 is a front view showing a configuration around a bar handle of a straddle-type vehicle equipped with the handle excitation system according to the embodiment of the present invention. FIG. 3 is a diagram showing an example of a system configuration of the handle vibration system according to the embodiment of the present invention. Note that, in FIG. 2, a lead line indicating a configuration hidden by another configuration is indicated by a broken line.

  The handle vibration system 30 is mounted on a straddle-type vehicle 100 that is a motorcycle, for example. The straddle-type vehicle 100 includes a body 1, a front wheel 2, a rear wheel 3, a bar handle 4, and the like. The front wheel 2 is rotatably held by the body 1 via a pair of front forks 20 and the like. The bar handle 4 for adjusting the steering angle of the front wheel 2 is also connected to the pair of front forks 20. The rear wheel 3 is rotatably held by the body 1 via a swing arm or the like.

The connection configuration of the bar handle 4, the pair of front forks 20, and the front wheel 2 will be described in detail with reference to FIG.
Each of the front forks 20 includes an inner tube 21 and an outer tube 22 into which the inner tube 21 is reciprocally inserted. The front fork 20 according to the present embodiment has a configuration in which the inner tube 21 is disposed above the outer tube 22. The front wheel 2 is rotatably connected between outer tubes 22 constituting a lower portion of each front fork 20.

  Each of the inner tubes 21 constituting the upper part of the front fork 20 has an upper end fixed to the top bridge 11 and a middle part fixed to the under bracket 10. The top bridge 11 and the under bracket 10 are connected by a stem shaft 12 extending in the up-down direction. The stem shaft 12 is inserted into the head pipe 5 of a frame constituting the skeleton of the body 1 of the saddle type vehicle 100, and is rotatably held by the head pipe 5. That is, the front wheel 2 is rotatably held by the body 1 via the stem shaft 12, the under bracket 10, the top bridge 11, and the pair of front forks 20.

  The top bridge 11 includes a handle bracket 11 a for fixing the bar handle 4. The bar handle 4 is fixed to a handle bracket 11a of the top bridge 11. In other words, the bar handle 4 is connected to the front fork 20 via the top bridge 11. That is, in the present embodiment, the handle bracket 11 a of the top bridge 11 serves as a connection portion between the bar handle 4 and the front fork 20. Conventionally, a bar handle of a straddle-type vehicle has a handle portion connected to a front fork 20 disposed on the right side in the traveling direction of the vehicle and a handle portion connected to a front fork 20 disposed on the left side in the traveling direction of the vehicle. There is also a bar handle that is separated from the handle portion. The bar handle 4 may be a so-called separate type bar handle.

  When the rider of the straddle-type vehicle 100 operates the bar handle 4, the bar handle 4, the top bridge 11, the stem shaft 12, the under bracket 10, the pair of front forks 20, and the front wheels 2 are integrated into a head of the frame. It rotates around the pipe 5. Thereby, the rider can adjust the steering angle of the front wheel 2 by the bar handle 4.

  Usually, a straddle-type vehicle is equipped with a front suspension that absorbs the impact that the front wheels receive from the road surface. In straddle-type vehicle 100 according to the present embodiment, front suspension 23 is incorporated in each front fork 20.

  Vibration of the engine is transmitted to the bar handle 4 of the straddle-type vehicle 100 configured as described above via the frame of the body 1 and the like. In addition, the impact that the front wheels 2 receive from the road surface is transmitted to the bar handle 4 of the saddle type vehicle 100 via the front fork 20 and the like as vibration. At this time, since the bar handle 4 is not fixed at the tip, the transmitted vibration is likely to be large. Then, the vibration of the bar handle 4 may give a feeling of discomfort to the rider holding the bar handle 4.

  In view of this, the straddle-type vehicle 100 according to the present embodiment is equipped with a handle excitation system 30 shown in FIG. The handle vibration system 30 provides vibration to the bar handle 4 for suppressing the vibration of the bar handle 4, and includes a vibration device 31, a vibration detection sensor 32, and a control device 40, as shown in FIG. I have.

  The vibration device 31 is a device that vibrates itself. 2. Description of the Related Art Conventionally, various types of vibration devices have been known. For example, as a conventional vibration device, there is known a device in which a weight whose center of gravity is eccentric with respect to a center axis of the output shaft is attached to a tip of an output shaft of a motor. For example, as a conventional vibration device, a device using a solenoid type actuator or a solenoid type vibrator is also known. The configuration of the vibration device 31 is not particularly limited, and various known vibration devices can be used as the vibration device 31.

  The vibration device 31 is attached to the bar handle 4 as shown in FIG. Then, the handle vibration system 30 applies vibration to the bar handle 4 from the vibration device 31 to suppress the vibration of the bar handle 4. At this time, by attaching the vibration device 31 inside the bar handle 4, it is possible to prevent the design of the saddle type vehicle 100 from being reduced. On the other hand, by adopting a configuration in which the vibration device 31 is attached to the outside of the bar handle 4, the handle vibration system 30 can be retrofitted to the manufactured saddle-ride type vehicle 100.

  Further, as shown in FIG. 2, it is preferable that the vibration device 31 is attached to a region of the bar handle 4 that is a tip end portion of the handle bracket 11 a that is a connection portion with the front fork 20. The bar handle 4 is more likely to vibrate in a region that is a tip portion than the handle bracket 11a. For this reason, by attaching the vibration device 31 to the area, it is possible to use a small and low-power vibration device as the vibration device 31. That is, the ease of mounting the vibration device 31 can be improved, and the cost of the vibration device 31 can be reduced.

  The vibration detection sensor 32 detects vibration generated in the bar handle. 2. Description of the Related Art Conventionally, as a vibration detection sensor for detecting vibration, those having various configurations such as an acceleration detection sensor, a speed detection sensor, and a displacement detection sensor are known. The configuration of the vibration detection sensor 32 is not particularly limited, and various known vibration detection sensors can be employed as the vibration detection sensor 32.

  The vibration detection sensor 32 is attached to the bar handle 4 as shown in FIG. At this time, by attaching the vibration detection sensor 32 inside the bar handle 4, it is possible to suppress the design of the saddle-ride type vehicle 100 from being reduced. On the other hand, by adopting a configuration in which the vibration detection sensor 32 is attached to the outside of the bar handle 4, the handle vibration system 30 can be retrofitted to the manufactured saddle-ride type vehicle 100. In addition, as described later, the vibration detection sensor 32 is not an essential component in the handle vibration system 30. However, by providing the vibration detection sensor 32 in the handle vibration system 30, the vibration of the bar handle 4 to be damped can be directly detected, and the vibration damping ability of the handle vibration system 30 can be improved. .

  Further, as shown in FIG. 2, it is preferable that the vibration detection sensor 32 is attached to a region of the bar handle 4 that is a tip end portion of the handle bracket 11 a that is a connection portion with the front fork 20. As will be described later, the handle vibration system 30 determines the phase and the intensity (amplitude) of the vibration generated in the vibration device 31 based on the value detected by the vibration detection sensor 32. In the bar handle 4, a region which is a tip end portion of the handle bracket 11 a which is a connection portion with the front fork 20 is a position where the rider can grasp. For this reason, by attaching the vibration detection sensor 32 to the area, the vibration felt by the rider can be detected, and the vibration control capability of the handle vibration system 30 can be improved.

  The control device 40 controls the vibration device 31. The control device 40 may be one or may be divided into a plurality. Further, the mounting position of the control device 40 is arbitrary. For example, the control device 40 may be attached to the bar handle 4 together with the vibration device 31 and the vibration detection sensor 32. Further, for example, the control device 40 may be attached to a portion different from the vibration device 31 and the vibration detection sensor 32, such as the body 1. Further, a part or all of the control device 40 may be configured by, for example, a microcomputer, a microprocessor unit, or the like, may be configured by an updatable device such as firmware, and may be configured by a command from a CPU or the like. May be a program module or the like executed by the program.

  As shown in FIG. 3, the control device 40 according to the present embodiment includes a vibration acquisition unit 41 and a control unit 42 as functional units. The vibration acquisition unit 41 is a functional unit that acquires the vibration of the bar handle 4. In the present embodiment, the vibration acquisition unit 41 acquires the vibration of the bar handle 4 by inputting the detection value of the vibration detection sensor 32.

  The control unit 42 is a functional unit that causes the vibration device 31 to generate a vibration that suppresses the vibration acquired by the vibration acquisition unit 41. That is, the control unit 42 is a functional unit that applies vibration from the vibration device 31 to the bar handle 4 to attenuate vibration transmitted from the engine and the road surface to the bar handle 4. The vibration that suppresses the vibration acquired by the vibration acquisition unit 41 is, for example, a vibration having the opposite phase to the vibration acquired by the vibration acquisition unit 41. When the vibration device 31 and the vibration detection sensor 32 are installed near each other as in the present embodiment, the vibration that suppresses the vibration acquired by the vibration acquisition unit 41 is, for example, the vibration acquisition unit 41 The vibration having the same magnitude (amplitude) as the vibration obtained by the vibration obtaining unit 41 is in the opposite phase to the vibration obtained in (1).

  When the vibration acquisition unit 41 acquires the vibration of the bar handle 4 in a state where the vibration is applied to the bar handle 4 from the vibration device 31, the control unit 42 suppresses the vibration acquired by the vibration acquisition unit 41. As such, the phase and intensity (amplitude) of the vibration generated in the vibration device 31 may be feedback-controlled. The opposite phase in the present embodiment does not need to be exactly strictly opposite, but refers to a state in which it is substantially opposite. That is, the phase may be slightly shifted from the opposite phase in the present embodiment from the state of being strictly opposite phase. The same size (amplitude) in the present embodiment does not need to be exactly the same size (amplitude), but refers to a state in which the size (amplitude) is substantially the same. . That is, the same magnitude (amplitude) in the present embodiment may be slightly different in magnitude (amplitude) from a state in which the same magnitude (amplitude) is exactly the same.

  The handle vibration system 30 configured as above operates as follows.

FIG. 4 is a flowchart showing the operation of the handle excitation system according to the embodiment of the present invention. That is, FIG. 4 can also be said to be a flowchart showing a control method of the handle vibration system 30.
For example, when power is supplied to the steering wheel excitation system 30 by, for example, starting the engine of the straddle-type vehicle 100 (step S1), the control device 40 performs the vibration suppression control from step S2. Specifically, step S2 is a vibration acquisition step. In step S2, the vibration obtaining unit 41 of the control device 40 obtains the vibration of the bar handle 4. As described above, in the present embodiment, the vibration acquisition unit 41 acquires the vibration of the bar handle 4 by inputting the detection value of the vibration detection sensor 32.

  Step S3 after step S2 is a control step. In step S3, the control unit 42 of the control device 40 causes the vibration device 31 to generate a vibration that suppresses the vibration acquired by the vibration acquisition unit 41. For example, the control unit 42 causes the vibration device 31 to generate a vibration having an opposite phase to the vibration acquired by the vibration acquiring unit 41. In step S4 after step S3, control device 40 determines whether or not to end the vibration suppression control. For example, when the engine of straddle-type vehicle 100 is stopped, control device 40 determines to end vibration suppression control. If the control device 40 determines in step S4 to end the vibration suppression control, the control device 40 ends the vibration suppression control in step S5.

  On the other hand, if the control device 40 determines in step S4 that the vibration suppression control is not to be ended, the control device 40 returns to step S2 again. Then, in step S4, control device 40 repeats steps S2 and S3 until it is determined that control device 40 ends vibration suppression control. At this time, in step S2, the vibration acquisition unit 41 may acquire the vibration of the bar handle 4 in a state where the vibration is applied to the bar handle 4 from the vibration device 31. In this case, in step S3, the control unit 42 also performs feedback control on the phase and intensity (amplitude) of the vibration generated in the vibration device 31 so that the vibration acquired by the vibration acquisition unit 41 is suppressed. Good.

<Effect of handle vibration system>
The effect of the handle vibration system 30 according to the present embodiment will be described.

  The handle vibration system 30 according to the present embodiment includes a vibration device 31 that vibrates, and a control device 40 that controls the vibration device 31. The vibration device 31 is attached to the bar handle 4 of the straddle-type vehicle 100 having the bar handle 4. The control device 40 includes a vibration acquisition unit 41 that acquires the vibration of the bar handle 4, and a control unit 42 that causes the vibration device 31 to generate the vibration that suppresses the vibration acquired by the vibration acquisition unit 41. I have.

  In addition, the control method of the handle vibration system 30 according to the present embodiment includes a vibration acquisition step (step S2) for acquiring the vibration of the bar handle 4, and a vibration for suppressing the vibration acquired in the vibration acquisition step. A control step (step S3) to be generated by the device 31.

  For this reason, by attaching the vibration device 31 of the handle vibration system 30 according to the present embodiment to the bar handle 4 of the straddle-type vehicle 100, the vibration suppressing the vibration of the bar handle 4 by the vibration device 31 is achieved. Can be given to the bar handle 4. Therefore, the handle vibration system 30 according to the present embodiment suppresses the vibration of the bar handle 4 in a wide frequency range as compared to the conventional bar handle vibration damping configuration in which a weight is attached to the tip of the bar handle. Can be.

  Preferably, the vibration device 31 is attached to a region of the bar handle 4 that is a tip end portion of the bar handle 4 from a connection portion with the front fork 20. By attaching the vibration device 31 to the area where vibration is likely to occur, it is possible to use a small and low-power vibration device as the vibration device 31. That is, the ease of mounting the vibration device 31 can be improved, and the cost of the vibration device 31 can be reduced.

  Preferably, the handle vibration system 30 includes a vibration detection sensor 32 that detects the vibration of the bar handle 4. By providing the vibration detection sensor 32 in the handle vibration system 30, vibration of the bar handle 4 to be damped can be directly detected, and the vibration damping ability of the handle vibration system 30 can be improved.

  Preferably, when the handle vibration system 30 includes the vibration detection sensor 32, the vibration detection sensor 32 is attached to a region of the bar handle 4 that is located at a more distal end portion than a connection portion with the front fork 20. By attaching the vibration detection sensor 32 to the region that the rider grips, the vibration felt by the rider can be detected, and the vibration suppression capability of the handle excitation system 30 can be improved.

<Modification>
As described above, the vibration detection sensor 32 is not an essential component in the handle vibration system 30. The vibration acquisition unit 41 of the control device 40 of the handle vibration system 30 acquires the vibration of the bar handle 4 based on information other than the detection value of the vibration detection sensor 32, as shown in FIGS. Is also good.

FIG. 5 is a diagram illustrating an example of a system configuration of another example of the handle excitation system according to the embodiment of the present invention.
The bar handle 4 vibrates due to an impact that the straddle-type vehicle 100 receives from a road surface. At this time, the entire saddle-ride type vehicle 100 also vibrates. Some conventional straddle-type vehicles include a plurality of sensors for grasping the behavior of the vehicle. The sensor for grasping the behavior of the vehicle is, for example, a gyro sensor, an acceleration sensor, a displacement sensor, or the like. For this reason, when the straddle-type vehicle 100 includes a sensor for grasping the vehicle behavior, the vibration of the bar handle 4 can be acquired based on at least one detection value of the sensor.

  Specifically, the vehicle attached sensor 6 shown in FIG. 5 is one of a plurality of sensors provided for the saddle-ride type vehicle 100 to grasp the vehicle behavior. In the handle excitation system 30 shown in FIG. 5, the vibration acquisition unit 41 of the control device 40 is communicably connected to the sensor 6 attached to the vehicle. Note that the vibration acquisition unit 41 may be communicably connected to the plurality of vehicle attached sensors 6. Further, the vibration obtaining unit 41 shown in FIG. 5 stores data indicating a correlation between the detection value of the vehicle attached sensor 6 and the vibration of the bar handle 4. The data is, for example, an expression indicating a correlation between the detected value of the sensor 6 attached to the vehicle and the vibration of the bar handle 4, or a table indicating a correlation between the detected value of the sensor 6 attached to the vehicle and the vibration of the bar handle 4. It is.

  In the handle excitation system 30 configured as shown in FIG. 5, the detection value of the vehicle attached sensor 6 is input to the vibration acquisition unit 41. Then, the vibration acquisition unit 41 can acquire the vibration of the bar handle 4 based on the input detection value of the vehicle attached sensor 6 and the data stored in the vibration acquisition unit 41. Therefore, even if the handle excitation system 30 is configured as shown in FIG. 5, the control unit 42 causes the excitation device 31 to generate the vibration that suppresses the vibration acquired by the vibration acquisition unit 41, so that the vibration can be obtained in a wide frequency range. Vibration of the bar handle 4 can be suppressed. Note that the vehicle attached sensor 6 and the vibration acquisition unit 41 may be connected via a control device or the like of the saddle-ride type vehicle 100.

  Here, the vehicle attached sensor 6 is preferably a behavior sensor that detects the behavior of the front suspension 23. The behavior sensor that detects the behavior of the front suspension 23 is, for example, a sensor that detects the stroke amount of the front suspension 23 (in the present embodiment, the movement amount of the inner tube 21 with respect to the outer tube 22). Further, for example, the behavior sensor that detects the behavior of the front suspension 23 is acceleration during operation of the front suspension 23 (in this embodiment, acceleration of movement of the inner tube 21 with respect to the outer tube 22).

  The front suspension 23 absorbs the impact that the front wheels 2 receive from the road surface. Further, the vibration caused by the impact of the front wheel 2 from the road surface propagates to the bar handle 4 through a small number of components (the front fork 20 and the top bridge 11), and thus has a high relationship with the vibration of the bar handle 4. Therefore, when the vibration acquisition unit 41 acquires the vibration of the bar handle 4 based on the detection value of the behavior sensor that detects the behavior of the front suspension 23, the vibration acquired by the vibration acquisition unit 41 is the actual bar handle 4 It becomes something close to the vibration of. In other words, when the vibration acquisition unit 41 acquires the vibration of the bar handle 4 based on the behavior of the front suspension 23, the vibration acquired by the vibration acquisition unit 41 is close to the actual vibration of the bar handle 4. . Therefore, when the handle excitation system 30 is configured to use the sensor 6 attached to the vehicle, the vibration acquisition unit 41 acquires the vibration of the bar handle 4 based on the behavior of the front suspension 23, so that the vibration is obtained based on the behavior other than the front suspension 23. As compared with the case where the vibration obtaining unit 41 obtains the vibration of the bar handle 4, it is possible to improve the vibration damping ability of the handle vibration system 30.

FIG. 6 is a diagram illustrating an example of a system configuration of another example of the handle excitation system according to the embodiment of the present invention.
The bar handle 4 of the straddle-type vehicle 100 also vibrates due to propagation of engine vibration. Therefore, there is a correlation between the vibration of the bar handle 4 and the vibration of the engine. Here, among conventional control devices for a straddle-type vehicle, there is a control device that grasps the number of revolutions of an engine. For example, a control device that controls the number of revolutions of the engine according to the degree of opening of the accelerator knows the number of revolutions of the engine. Further, for example, a control device that controls the fuel injection amount according to the engine speed also knows the engine speed. Hereinafter, among the control devices of the straddle-type vehicle, the control device that grasps the rotation speed of the engine will be referred to as a vehicle control device 7. For this reason, when the straddle-type vehicle 100 includes the vehicle control device 7, the frequency of the bar handle 4 can be acquired based on the rotation speed of the engine that the vehicle control device 7 knows.

  Specifically, in the handle excitation system 30 shown in FIG. 6, the vibration acquisition unit 41 of the control device 40 is communicably connected to the vehicle control device 7. In addition, the vibration acquisition unit 41 illustrated in FIG. 6 stores data indicating a correlation between the rotation speed of the engine and the vibration of the bar handle 4. The data is, for example, an expression indicating the correlation between the engine speed and the vibration of the bar handle 4, or a table indicating the correlation between the engine speed and the vibration of the bar handle 4.

  In the handle excitation system 30 configured as shown in FIG. 6, the rotation speed of the engine is input to the vibration acquisition unit 41 from the vehicle control device 7. Then, the vibration obtaining unit 41 can obtain the vibration of the bar handle 4 based on the input engine speed and the data stored in the vibration obtaining unit 41. Therefore, even when the handle vibration system 30 is configured as shown in FIG. 6, the control unit 42 causes the vibration device 31 to generate the vibration that suppresses the vibration acquired by the vibration acquisition unit 41, so that the vibration can be performed in a wide frequency range. Vibration of the bar handle 4 can be suppressed.

  The handle vibration system 30 according to the present embodiment can also vibrate the bar handle 4 intentionally by vibrating the vibration device 31. For this reason, by intentionally vibrating the bar handle 4 by the vibration device 31, the handle vibration system 30 can be used as a notification system as shown in FIG. 7, for example.

FIG. 7 is a diagram illustrating an example of a system configuration of another example of the handle excitation system according to the embodiment of the present invention.
The handle vibration system 30 shown in FIG. 7 includes a notification determination unit 43 as a functional unit of the control device 40 in addition to the configuration of any of the handle vibration systems 30 described above. The notification determination unit 43 is a functional unit that determines whether notification is necessary, and executes a step of determining whether notification is required. Then, in the handle vibration system 30 illustrated in FIG. 7, the control unit 42 is configured to vibrate the vibration device 31 when the notification determination unit 43 determines that the notification is necessary. When the vibration device 31 vibrates, the rider holding the bar handle 4 feels the vibration of the bar handle 4. This allows the rider to know that some information has been reported. For example, the vibration generated by the vibration device 31 at this time is a vibration that amplifies the vibration acquired by the vibration acquisition unit 41 at that time. Further, the vibration generated by the vibration device 31 may be a vibration that does not depend on the vibration acquired by the vibration acquiring unit 41 (for example, a vibration whose amplitude, frequency, and the like are controlled to fixed values).

  For example, the notification determination unit 43 is communicably connected to a vehicle control device 8 which is a control device included in the straddle-type vehicle 100. Then, the notification determination unit 43 determines that notification is necessary when information that causes the saddle-ride type vehicle 100 to behave unpredictably by the rider is input. For example, in the case of a recent straddle-type vehicle, if there is a possibility of collision, the vehicle control device may automatically apply a brake without a rider applying a brake. For example, in recent saddle-ride type vehicles, during cruise control, even if the rider does not apply a brake, the vehicle control device may automatically apply a brake to maintain an interval with a preceding vehicle. The behavior of the saddle-ride type vehicle when the brake is automatically applied in this manner cannot be foreseen by the rider. For this reason, in the steering wheel vibration system 30 shown in FIG. 7, the notification determination unit 43 determines that the notification is necessary when the information that the automatic braking is applied is input from the vehicle control device 8. Accordingly, the rider holding the bar handle 4 feels the vibration of the bar handle 4. Thereby, the rider holding the bar handle 4 can know that the behavior of the straddle-type vehicle 100 changes due to the automatic brake being applied by feeling the vibration of the bar handle 4.

  The handle vibration system 30 according to the present embodiment has been described above, but the handle vibration system according to the present invention is not limited to the description of the present embodiment. For example, only a part of the present embodiment may be implemented.

DESCRIPTION OF SYMBOLS 1 Body, 2 front wheels, 3 rear wheels, 4 bar handles, 5 head pipes, 6 Sensors attached to vehicle, 7 Vehicle control device, 8 Vehicle control device, 10 Under bracket, 11 Top bridge, 11a Handle bracket, 12 Stem shaft, 20 Front fork, 21 inner tube, 22 outer tube, 23 front suspension, 30 handle vibration system, 31 vibration device, 32 vibration detection sensor, 40 control device, 41 vibration acquisition unit, 42 control unit, 43 notification determination unit, 100 Saddle riding type vehicle.

Claims (8)

A vibrating vibration device (31),
A control device (40) for controlling the vibration device (31);
A handle excitation system (30) comprising:
The vibration device (31) is a vibration device attached to the bar handle (4) of a straddle-type vehicle (100) including a bar handle (4);
The control device (40) includes:
A vibration acquisition unit (41) for acquiring vibration of the bar handle (4);
A control unit (42) for causing the vibration device (31) to generate vibration for suppressing the vibration acquired by the vibration acquisition unit (41);
A handle vibration system (30) comprising: The handle vibration system (30) according to claim 1, wherein the vibration device (31) is attached to a region of the bar handle (4) that is a tip end portion of a connection portion (11a) with a front fork (20). ). The handle vibration system (30) according to claim 1 or 2, further comprising a vibration detection sensor (32) for detecting vibration of the bar handle (4). The handle vibration system (30) according to claim 3, wherein the vibration detection sensor (32) is attached to a region of the bar handle (4) that is a tip end portion of the bar handle (4) beyond a connection portion (11a) with a front fork (20). ). The vibration acquisition unit (41)
The handle vibration system (30) according to claim 1 or 2, wherein the vibration of the bar handle (4) is acquired based on a behavior of a front suspension (23) of the saddle type vehicle (100). The control device (40) includes a notification determination unit (43) that determines whether notification is necessary,
The said control part (42) is a structure which makes the said vibration apparatus (31) vibrate, when the said notification determination part (43) determines that notification is needed. The handle vibration system (30) as described. The vibration suppressing the vibration acquired by the vibration acquisition unit (41) is a vibration having a phase opposite to that of the vibration acquired by the vibration acquisition unit (41). A handle vibration system (30) according to claim 5. A vibrating vibration device (31),
A control device (40) for controlling the vibration device (31);
A method for controlling a handle vibration system (30) comprising:
The vibration device (31) is a vibration device attached to the bar handle (4) of a straddle-type vehicle (100) including a bar handle (4);
A vibration obtaining step (S2) for obtaining the vibration of the bar handle (4);
A control step (S3) of causing the vibration device to generate a vibration that suppresses the vibration acquired in the vibration acquisition step (S2);
A method for controlling a handle vibration system (30), comprising:

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