JP2794566B2 - Vibration control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial applications)   The present invention relates to a support device for a building or a traveling device.
Vibration caused by external force or disturbance (road surface)
The present invention relates to a vibration control device for suppressing movement. (Conventional technology and its problems)   Conventionally, as a vibration control device,
On the other hand, using the pressure of the hydraulic source from outside the suspension
Actuate that forcibly gives large energy and controls vibration
The output of the active control device or the vibration
Appropriate among the preset two or three stages of attenuation characteristics
And use a small amount of energy to
Semi-active control type to control vibration and control the effect of vibration
As necessary for equipment and conditions such as external force or disturbance
From the hydraulic source installed outside the suspension
Active system that guides the energy and suppresses sprung vibration
There is a control device.   However, these conventional vibration control devices do not
In a passive control type device, the suspension is always
It is necessary to control the control force acting on the
The energy consumed by the pressure source is large, and it constitutes a hydraulic source
Pumps, tank accumulators, and other components
Increase in size and cost
was there. In the case of semi-active control devices,
Because it is a continuous control method, it has the effect of suppressing vibration
Optimal target control force considering various external forces or disturbances
To obtain the optimal damping force characteristic control force.
It does not control the appropriate damping force characteristics, but sufficiently suppresses vibration.
There was a problem that it could not be controlled. In addition, Part Acty
Control type device, a part of the target control force is externally applied.
Signal control is not sufficient, and
Because it is a continuous control,
There was a problem that they could not follow.   In short, the main problem with the conventional equipment is that
Vibration suppression in devices using active control and part active control
It does not control all control power for control, but
In contrast, the control target, which is part of the total control force, is controlled discontinuously.
Was completely out of control.
On the other hand, in devices using active control,
You can directly control the control force required for vibration suppression,
Large power is always required for control, and equipment is large
It was to become.   In view of the problems of the prior art, the present inventor has set forth
A vibration control device that solves these problems was developed.
62-108319). This vibration control device is as shown in FIG.
Affect the characteristics of the suspension supporting the vibrating body.
And the movement of the suspension
State detecting means I for detecting a state quantity shown, and state detecting means
Suspension from physical quantity and state quantity which are the output of I
Optimum target control force taking into account external force or disturbance acting on
Target control force calculation means II₁State detection means I
Detection control that calculates the detection control force corresponding to the output physical quantity
Force calculation means II_TwoAnd the deviation between the target control force and the detected control force
Deviation calculation means II_ThreeControl means II consisting of
The deviation signal of both control forces, which is the output of
Based on the driving means III for amplifying and the power-amplified output
Target in consideration of external force or disturbance acting on the suspension
Control according to the deviation of the actual detected control force from the control force
Continuous suspension characteristics to generate power equivalently
Actuator means IV for variably controlling the
Target control considering external force or disturbance acting on the spence
Equivalently generates a control force according to the difference between the force and the detected control force.
Variable control of suspension characteristics continuously to produce
As a result, the target control force is equivalent to the suspension as a result
Vibration controlled by adding vibration
It is a control device.   This vibration control device calculates the physical quantity f from the optimal target control force.
By extracting the forces related to
External force or disturbance compared to conventional vibration control devices
The physical quantity f can be controlled finely and energy consumption can be reduced.
The cost is reduced, the structure is simplified, and the weight of the power source, piping, etc.,
This reduces space and cost. (Problems to be solved by the invention)   However, in this device, the suspension characteristics
In order to obtain the optimal target control force for continuous change,
The amount of state that indicates important suspension movement and the suspension
All physical quantities that affect the application characteristics must be detected.
I didn't. Therefore, many sensors are required and many
Signal line is required, so the signal line becomes longer and noise
The possibility of contamination increases and the accuracy decreases. Also it
Is required to ensure the reliability of the sensor, which increases the cost
There was a problem. In addition, sensor deterioration or failure
Control is performed without obtaining the optimal target control force
And the ride comfort and running stability are significantly impaired
was there.   Therefore, the present invention aims to solve the above problems.
Target. That is, it is necessary to calculate the optimal target control force.
The required quantities are obtained by the minimum number of detectors,
Simplified, reliable, stable control
The purpose is to do. (Means to solve the problem)   As shown in FIG. 1, the vibration control device of the present invention
At least, it generates control force acting on the suspension.
A vibrating body including a state quantity indicating the movement of the actuator
Detecting the state quantity indicating the movement of the supporting suspension,
State detecting means I for outputting a state quantity signal;
Means I output, acting at least on the suspension
Of the actuator means IV for generating a control force
Suspension based on a state quantity signal including a state quantity indicating
The physical quantity that affects the characteristics of the actuator
In addition to the estimation taking into account the characteristics of the stage,
Obtain the corresponding estimated control force and output the estimated control force signal
Control force estimation means II_Two′ And target control based on the state signal
Estimate the other state quantities necessary to obtain the force, and
State quantity estimating means for outputting a signal II₀And the state signal,
Suspension from constant state signal and estimated control force signal
Calculates the optimal target control force in consideration of external force or disturbance
Target control force calculating means II for outputting a target control force signal₁
And the target control force and the estimated control force corresponding to the target control force signal
Calculate the deviation from the estimated control force corresponding to the signal, and calculate the deviation signal.
Deviation calculation means II that outputs a signal_ThreeControl means II
And a driving means III for power amplifying the deviation signal, and a power
Estimation system for target control force based on amplified deviation signal
To generate a control force equivalent to the deviation of the control force.
Actuator that continuously and variably controls the characteristics of the
Means IV, the target control force signal and the estimated control force signal
Suspension so that a control force corresponding to the difference
The suspension characteristics are continuously variably controlled.
Vibration is suppressed by adding the target control force to
Control. (Action)   In the above configuration, the identification which is the output of the state detecting means I
, The control force f acting on the suspension
State quantity indicating the movement of the actuator means IV that generates the
x_sControl as a function of the state quantity x depending on the type of control force
Your power f (x_s, x) is determined. For example, if the control force is spring f_kPlace
If the suspension displacement is y, then f_k(X_s, y) and
It is expressed as The damping force f_cIn the case of a suspension
F_c(X_s,). I
Therefore, the state quantity x_sAnd x are detected, the control force
f can be estimated.   Further, the state detection means I detects acceleration as a state quantity.
Thus, the speed is obtained by the first-order integration and the speed is obtained by the second-order integration.
Displacement can be estimated.   From the above, the target control force calculating means II₁Asked by
All the state quantities necessary for calculating the optimal target control force u
The state quantity x output from the detection means I and the state quantity estimation means II
₀As the estimated state quantity, which is the output of
Control force estimation means II_Two′, The estimated control force
The optimal target control force u can be calculated.
is there.   If the optimal target control force u is found, II_ThreeWith the estimated control power
Outputs the deviation ε, amplifies it by the driving means III,
Actuator means IV attached to the suspension
Drives, continuously and optimally controls suspension characteristics
I do. (The invention's effect)   The present invention is based on the state quantity detected by the state detecting means.
Other state variables necessary to obtain the target control force.
Estimated by means of
Estimate the physical quantities that affect the characteristics by the control force estimation means
Required to calculate the target control force.
Significantly reduced number of sensors for obtaining state and physical quantities
Can be reduced. Therefore, the sensor and its connection
The possibility of noise from the signal lines
Thus, the reliability can be significantly improved. Also,
Advantages of simplified configuration and reduced cost
There is. [First embodiment] Constitution   The first embodiment of the present invention is the same as the basic configuration shown in FIG.
Control force estimation means II_Two′, As shown in FIG.
Movable range of actuator means output by state detection means I
Necessary for estimating the physical quantity based on the state quantity output signal indicating the surrounding movement.
First coefficient setting means 11 for setting two important coefficients and
2 coefficient setting means 12 and time-differentiating the state quantity output signal
Variable calculating means 13 for calculating a state variable by using
A state quantity output signal output by the means I and the first coefficient setting means;
Two coefficients output by the stage 11 and the second coefficient setting means 12
Estimated physics based on the state variables output by the state variable calculation means 13
Estimated physical quantity calculating means 14 for calculating the quantity, the estimated physical quantity
Control force corresponding to the estimated physical quantity signal output by the calculating means 14
And an estimated control force calculating means 15 for obtaining
Stage II₀Is a state quantity output signal output by the state detection means I.
A first integrating means 16 for performing time integration, and the first integrating means 16
And second integration means 17 for time-integrating the output signal.
ing. Action   Control force estimation means II_Two′, The state detecting means I
Output at least the control force acting on the suspension
Extensive indications of the movement of the actuator means IV to be generated
The suspension output signal that is the
In order to obtain an estimate of the physical quantity that affects the
The physical coefficient of the physical quantity is related to the state quantity output signal and the nonlinear function.
Two function values set by the function relation including the relation
(Physical coefficient) by the first coefficient setting means and the second coefficient setting means.
, And further output by the state detecting means I.
State quantity output indicating the movement of the suspension supporting the vibrating body
The signal is estimated by differentiating it with time according to the control cycle.
State variable operator that calculates the state variable of the physical quantity to be
Estimated physical quantity calculating means obtained from step 13 and conveniently from the third party
14 to determine the physical quantity that affects the characteristics of the suspension
Get an estimate. Corresponding to this estimated physical quantity signal
Control force to be obtained by the estimated control force calculating means 15.
You.   State quantity estimation means II₀, The state detection means I
The first and second integrators are provided by the input state quantity output signal.
Stages 16 and 17 provide estimates of the first and second state variables.
The estimated values of these physical quantities and state quantities and the state
From the state quantity output signal output from the output means I, the target control force
Target control force calculation means necessary to obtain₁Input signal to
obtain. Effect   In the first embodiment having the above configuration and operation, the state detection is performed.
The number of state quantity detection outputs generated by the output means I can be significantly reduced.
Therefore, when installing the state detecting means I,
The amount of noise etc. in the signal input line
This allows the control system to operate stably and
Control can be continued safely, and accurate control is realized.
It has the advantage that it can be realized. It should be noted that the first
In the vibration control apparatus according to the embodiment, the first coefficient setting means
One of the step and the second coefficient setting means is configured to estimate
The index of the state variable related to the physical quantity to be
It is set as a function of the state quantity indicating the movement of the actuator IV.
It is preferable to specify Thereby, the magnitude of the physical quantity
Vibration control can be performed accurately and stably according to
The reliability of the device can be greatly improved. [Second embodiment] Constitution   A second embodiment of the present invention is the same as the basic embodiment shown in FIG.
Control force estimation means II₀However, as shown in FIG.
Estimation means II_Two'And state detecting means I
Judge whether the status output signal output by
Abnormality determination means 21 to be turned off,
If the output signal is determined to be an abnormal value, the control force
Estimation means II_Two′ Outputs the estimated control force,
The normal determination means 21 determines that the state quantity output signal is not an abnormal value.
Signal selecting means 22 for outputting a state quantity output signal when
And a target control based on the signal output by the signal selecting means 22.
State quantity calculator for estimating other state quantities necessary to obtain control
It consists of step 23. Action   In the abnormality determining means 21, the output of the state detecting means I is an abnormal value.
Is determined, and a determination signal is output. signal
The selection means 22 is in a normal state based on the output of the abnormality determination means 21.
Then, based on the output signal itself of the state detection means I, the state
To perform the state quantity estimation calculation by the quantity calculation means 23.
Outputs a force signal and responds to the estimated physical quantity in abnormal conditions
Control force estimating means to obtain controlled control force II_Two′ Output signal
Then, the state quantity estimation calculation by the state quantity calculation means 23 is performed.
Output signal as shown in FIG.   In the state quantity calculation means 23, the output of the signal selection means is output.
The target control force is obtained based on the output signal according to the force signal.
Estimate and calculate other state quantities necessary for the calculation. Effect   According to the second embodiment, the state detection
Even if the output of the means I shows an abnormal value and breaks down,
The target control force can be calculated.
And stable control can be guaranteed.
Stable control even if a condition outside the measurable range of the detector occurs
It will be possible to continue and achieve reliable control
Have the advantage. [Third embodiment] Constitution   A third embodiment of the present invention is a vibration control device according to the present invention.
Control force estimating means I in the basic configuration of FIG. 1
I_Two'Is necessary for estimating the physical quantity based on the state quantity signal.
Coefficient setting means for setting a necessary coefficient; and
State variable calculating means for calculating a state variable by differentiating with time;
Estimated by the state quantity signal, the coefficient, and the state variable
Estimated physics that calculates physical quantities and outputs estimated physical quantity signals
Calculating means for obtaining a control force corresponding to the estimated physical quantity signal;
Estimated control force calculating means. Action   In the above configuration, the identification which is the output of the state detecting means I
, The control force f acting on the suspension
State quantity indicating the movement of the actuator means IV that generates the
x_sOf the physical quantity F that affects the characteristics of the suspension
As a function of the class dependent state quantity x, the control force F (x_s, x)
Is determined. For example, if the physical quantity is the spring force f_kIn the case of the suspension
If the displacement of the pension is y, f_k(X_s, y)
It is. The damping force f_cIn case of suspension speed
Then f_c(X_s,). But
X_sAnd x are detected, the physical quantity F
Can be estimated.   Specifically, a state indicating the movement of the actuator means
Attitude x_sDetermine the physical quantity set as a function of
The physical coefficient for the state quantity x_sThe coefficient setting based on
Means, and depending on the type of physical quantity
A state variable based on the state quantity signal;
From the two parties to the estimated physical quantity calculation means.
Estimation of physical quantities that affect suspension characteristics more
Get the value. With this estimated physical quantity signal, the corresponding
The control force f is obtained by the estimated control force calculation means.   Further, the state detection means I detects acceleration as a state quantity.
Thus, the speed is obtained by the first-order integration and the speed is obtained by the second-order integration.
Displacement can be estimated.   From the above, the target control force calculating means II₁Asked by
All the state quantities necessary for calculating the optimal target control force u
The state which is the output of the detecting means I and the state quantity estimating means II₀
As the estimated state quantity, which is the output of
Control force estimation means II_Two′ As the estimated control force
Therefore, the optimum target control force u can be calculated.
You.   If the optimum target control force u is obtained, the deviation calculating means II_ThreeWith
The deviation ε from the constant control force is output, and this is
Actuator mounted on the suspension
Driving eta means IV to continuously adjust suspension characteristics
Optimum variable control. Effect   In the third embodiment having the above configuration and operation, the state detection is performed.
Obtain the target control force based on the state quantity detected by the output means
Estimate other state quantities necessary for
Physical properties that affect suspension characteristics
The quantity is the state quantity x of the actuator means_sAnd its physical quantity
Is estimated as a function of the state variable x
The corresponding estimated control force is estimated and estimated by the control force estimation means.
The object generated by the actuator means
The value close to the actual control force is
can get. Therefore, it is necessary to calculate the target control force.
Significantly reduced number of sensors for obtaining state and physical quantities
Can be reduced. Therefore, the sensor and its connection
The possibility of noise from the signal lines
Thus, the reliability can be significantly improved. Also,
Increased accuracy in estimating the control force stabilizes the control system
Performance and cost reduction without compromising ride comfort
There are advantages that can be made. (Specific examples) <First embodiment>   FIG. 5 (a) shows a vibration control device according to the present invention.
Communication between the hydraulic cylinder 37 and the gas-liquid fluid spring 38
Variable orifice mechanism 39 in the middle of the oil passage or pipe 40
Installed in a gas-liquid fluid suspension system of an installed car
Things. Here, representatively the wheel suspension
Will be described with reference to FIGS. 5 to 7. FIG.   As shown in FIG. 6, the vibration control device of this embodiment
State detecting means I, control means II, driving means III,
And tutor means IV.   The control means II includes state quantity estimation means II.₀And target control
Force calculation means II₁And control force estimation means II_Two′ And the deviation operator
Stage II_ThreeSign adjustment means II_FourAnd have
You.   As shown in FIG. 6, the state detecting means I
Suspension arm that rotatably supports the vehicle's wheels 34
Between the body 32 and the body frame 33 to reduce the relative displacement.
The potentiometer 31 to be detected and the potentiometer 31
Connected and the relative position between the axle and
An amplifier 41 that outputs a signal representing the displacement y, and an output of the amplifier 41
Differentiation to detect relative velocity by differentiating the applied relative displacement y
And acceleration to the vehicle body just above the suspension
The acceleration sensor 43 to be detected and connected to the acceleration sensor 43
An amplifier 44 for converting to a voltage signal, a displacement sensor 45, and a displacement
And an amplifier 46 that outputs a signal representing The displacement cell
The sensor 45 is a linear actuator as shown in FIG.
Actuator hand consisting of eta 47 and valve body 48
In stage IV, the oil passage 40 is continuously opened and closed and the variable orifice
The displacement of the spool 49 as the mechanism 39
That is detected by magnetic detecting means comprising the coil 51
It is.   Control force estimation means II_Two′ Is the reset output from the amplifier 46.
Spool displacement x of near actuator 47_sAnd relative speed
Estimated damping force_cIs calculated by a calculator 52.   Estimated damping force_cIs the oil passage before and after the variable orifice mechanism 39
Multiplied by the piston cross-sectional area A of the hydraulic cylinder 37
It is a combination.   _c= ΔPA (1)   The pressure difference ΔP is the flow rate passing through the variable orifice mechanism 39
Let Q be Q, given by:   Where a (x_s): Orifice of variable orifice mechanism 39
Spool displacement x_sFunction, c: variable orifice part
Flow coefficient, ρ: density of oil.   The flow rate Q is determined by the piston speed of the hydraulic cylinder 37, that is,
Relative speed obtained by differentiating relative displacement y between axle and body
Is used, the following equation is obtained.   Q = A (3)   Therefore, the estimated damping force_cIs (1), (2),
From equation (3), it is given as the following equation.   _c= K (x_s)²                    …… (4)   here, It is.   That is, spool displacement x_sIs constant when
Damping force_cAnd the relative speed are the square of the relative speed.
There is a linear relationship. Moreover, the actual damping force f_cIs the formula (5)
Is not a constant and the spool displacement x_sDepended on
In addition to being a non-linear element, as shown in FIG.
And oil leaking from the annular gap in the valve body 48
The design value a (x_sGreater than)
The actual orifice
It was not easy to calculate the area. Therefore, the variable
The gain K (x_s)
It is difficult to reduce the damping force with strong nonlinear characteristics.
Estimation from a small to a large level
And couldn't.   Estimating damping force with such complicated nonlinear characteristics
In order to achieve this, the actuator characteristics of the variable orifice
Estimation measures taken into account are essential. So, the variable orifice
Linear actuator which is the actuator of the disc mechanism 39
47 spool displacement x_sAnd the spool displacement x_s
Experiment on the relationship between vibration and damping force using relative speed as a parameter
The following equation is obtained by conducting an experimental study and deriving an empirical equation.   Here, the gain K (x_s) And the index n (x_s) And the characteristics
It depends on the design of the orifice shape.
As shown in FIG.   As shown in FIG. 7, the gain K (x_s) And the index n (x_s)
The characteristic is that the spool displacement x_sVery strong against
Have a nonlinear relationship. Here, the state is calculated by the arithmetic unit 52.
Spool displacement x detected by detection means I_s(6) corresponding to
The gain K (x_s) And the index n (x_s) And the actuator
These values were obtained from the characteristics shown in FIG.
Differentiate the relative displacement y between the axle and the car body detected by the
The relative velocity obtained by the above is substituted into equation (6) for calculation.
Estimated damping force with complicated nonlinear characteristics
_cIs calculated.   State quantity estimation means II₀Is the sprung output of the amplifier 44
acceleration₂High-pass filter 53 that removes the DC component of the signal
And its output are integrated to estimate the sprung velocity And an output of the first integrator 54 for calculating the
Displacement₂And a second integrator 55 that calculates   Target control force calculation means II₁Before active control
Optimal gain G obtained from the proposed model₁~ G_FiveAnd it
Calculate the optimal target control force u from the corresponding state signal according to the following equation
And five adders 56 to 60 and an adder 61.
You.   Deviation calculation means II_ThreeIs the target control force calculation means II₁More output
To control for the optimal target control force u
Decay f_cAnd a deviation unit 62 for calculating a deviation ε from the above.   Sign adjustment means II_FourIs the suspension of the output ε of the deviation unit 62.
And a multiplier 63 for multiplying the relative speed. Multiplication
The device 63 controls the damping force according to the deviation ε from the target control force u.
In control, the deviation ε from the target control force depends on the damping force.
To determine whether control is possible, and if control is possible,
Outputs a signal that determines the direction in which the damping force increases or decreases.
If this is not possible, reduce the damping force so that it approaches zero.
It is to output a signal.   Using the table and FIG.
The adjustment function will be described. Target control force u perpendicular to vehicle body
Direction positive and also the suspension shrinkage
When the direction is positive, the target control force u and the relative speed are both
In the same direction, for example, the piston of the hydraulic cylinder 37 is upward
(Positive direction) and the target control force u is also upward (positive direction).
In some cases, the oil in the hydraulic cylinder 37 is
For example, flow through the variable orifice mechanism 39 to the gas-liquid fluid spring 38
ToThe opening of the variable orifice mechanism 39 is controlled by a control signal.
The pressure inside the hydraulic cylinder 37,
In other words, the damping coefficient f is increased (positive direction)._cSize of
In this case, the output ε of the deviation device 62 is positive.
(U> f_cIn), the orifice opening is set to the closing direction and the damping coefficient
To increase the damping force, so that ε is negative (u <f_c)
Opening it, reducing the damping coefficient and reducing the damping force
What is necessary is just to output the control signal which makes it do. Also, the hydraulic system
The piston of the Linda 37 moves downward (negative direction),
When the force u is also downward (negative direction), the above is reversed.
Oil from gas-liquid fluid spring 38 passes through variable orifice mechanism 39
Since it flows into the hydraulic cylinder 37, the orifice
By controlling the degree, the downward (negative) damping force f_c
Can be changed in size. Again, ε is positive
(-U> -f_cIn), the orifice opening is set to the open direction,
The coefficient is reduced to decrease the damping force, and ε becomes negative (−u <−
f_cIn), the direction is closed, the damping coefficient is increased,
To increase the damping force acting equivalently on the pension
What is necessary is just to output a suitable control signal. Therefore, the target control force
When u and suspension relative speed are in the same direction, target
Damping force f based on your power u_cCan be controlled. one
On the other hand, the target control force u and the relative speed are opposite,
The piston of the Linda 37 moves upward (positive direction) and the target is set.
When the power u is downward (negative direction), the hydraulic cylinder
The oil in the damper 37 is supplied to the gas-liquid fluid spring through the variable orifice mechanism 39.
As it flows into the 120, the orifice opening is kept at a certain
(Without control), together with the relative speed
The damping force in the direction (positive direction) acts,
The damping force cannot be controlled based on the control force u.   Therefore, the orifice opening is fully opened by the control signal,
Acts equivalently on suspension with minimal damping coefficient
Positive damping force f_cControl is as if
Damping force f when not_cForce in the direction of the target control force u
To make it smaller. At this time
Output ε (= u−f)_c) Indicates that the target control force u is negative.
With damping force f_cIs more positive than the same direction as the relative speed,
Negative. Also, the piston of the hydraulic cylinder 37 faces downward
(Negative direction) and the direction of the target control force u is upward (square
In the same manner as described above, based on the target control force u.
And the damping force cannot be controlled.
With the orifice opening fully open and the damping coefficient minimized
Reduce the damping force equivalent to the suspension
It is desirable. At this time, the output ε of the deviation device 62 (= u−f_c)
Means that the target control force u is positive and f_cIs more negative than the same direction as the relative speed
Is always positive. Therefore, the target control force u and
When the direction of the relative speed is the reverse direction, based on the target control force u,
Control signal cannot control the damping force.
To fully open the orifice opening to reduce the damping force.
It will be good.   As described above, the deviation unit 62 for each state is
Control direction of damping force and orifice opening
And it becomes like the table. Basically accomplish this logic
In order to obtain the damping force f_cSuspension in the same direction as
Multiplied by the sign of the relative speed
Is a control signal corresponding to the control direction of the orifice opening.
Becomes Here, the control signal determines the direction in which the damping force increases or decreases.
And the deviation ε from the target control force.
To improve the signal-to-noise ratio, or signal-to-noise ratio
And the multiplier 63 directly multiplies ε by the relative speed.
Is a control signal.   The driving means III activates the output of the deviation device 62.
The negative displacement of the spool displacement signal of the
Drive to output a current proportional to the deviation signal.
It comprises a dynamic circuit 64.   The actuator means IV is shown in FIGS. 5 and 6.
To the suspension arm 32 and body frame 33.
With the hydraulic cylinder 37 of the gas-liquid fluid suspension
The valve body 48 and the accumulator 38 oil
Between the oil chamber of the hydraulic cylinder 37 and the oil chamber of the hydraulic cylinder 37.
Oil passage 40, and the oil passage 40 is opened and closed continuously.
A spool 49 serving as a variable orifice mechanism 39 and its spool
Moving linear actuator 47 integrated with
A coil 51 and a driving circuit 64 flowing through the moving coil
To give a force acting on it according to the current that is the output of
Attached to the permanent magnet 50 and the linear actuator 47
To reduce the force acting on the bing coil.
A displacement sensor 45 for detecting displacement and a signal indicating displacement are output.
And a power amplifier 46.   The operation of the first embodiment having the above configuration is as follows.
is there.   In the running state of the car, the linear potentiometer
The relative displacement (suspension displacement) y detected in
The voltage is converted to a voltage signal by a step 41, and the output is differentiated by a differentiator 42.
To obtain a relative speed signal. Meanwhile, the linear actuator
The spool displacement of the motor 47 is
Detected by the amplifier, converted to a voltage signal by the amplifier 46, and
Position signal x_sIs obtained. This signal and the relative speed found earlier
Based on the calculation, the spool displacement x_sCorresponding to
The gain K (x_s) And the index n (x_s) And acti
These values were obtained from FIG.
By substituting the relative speed into the equation (6) and calculating
Estimated damping force with complicated nonlinear characteristics_cIs obtained
You.   Estimated sprung speed by integrating sprung acceleration signal Further integration and estimated sprung displacement₂In calculating
And there is a slight offset potential at the output of amplifier 44
And the second-order integrated estimated sprung displacement signal₂Is a big dolphin
Control using the signal as it is
This has an adverse effect on ride comfort and steering stability. There
6, between the amplifier 44 and the first integrator 54, as shown in FIG.
Provided with a high-pass filter 53. Of high-pass filter 53
The order is 1st order and the cart frequency is
0.1Hz as a frequency range that does not adversely affect
I do.   The relative displacement y, relative speed, and estimated sprung displacement obtained above
Rank_Two, Estimated sprung speed Estimated damping force with complex nonlinear characteristics_cThe best signal and
Gain G₁~ G_FiveFrom the above, the optimal target based on the above equation (2)
The control force u is calculated and obtained as the output of the adder 61. This
Of trying to control the output of the target control force u
Weakness_cAnd the multiplier 63 calculates the deviation ε
By multiplying by the speed, it changes to the damping force control signal,
By moving the drive circuit 64 according to the output, attenuation
The coefficient changes and the damping force f_cCan be changed continuously
You.   The advantages of the first embodiment are as follows. Acceleration sensor
From the sprung acceleration signal detected by
And the first integrator 54, the second product
A divider 55 is generally used, but a slight
If the output voltage drifts, the sprung displacement obtained by integrating the second order
In the operation, the output of the integrator is saturated due to the high integration gain.
Sometimes. Therefore, the output of the amplifier 44
Is passed through a 0.1 Hz primary high-pass filter 53.
Stably estimate the output of sprung speed and sprung displacement.
Can be On the other hand, damping with complicated nonlinear characteristics
In estimating the force, the actuator of the variable orifice
By using empirical formulas that take into account eta characteristics,
Wider range from low level to high level, more accurate
A large damping force can be estimated and calculated.   By using these state estimation calculation methods,
Output is obtained and the state quantity is almost the same as the actual state quantity change
Changes can be estimated, adapting to riding comfort and driving conditions
Damping force control. As a result, vehicle vibration reduction
Plan to improve ride comfort and driving stability
Can be. <Second embodiment>   The second embodiment is similar to the first embodiment shown in FIG.
It is embodied in a gas-liquid fluid suspension device for a motor vehicle.
And it is configured as shown in FIG. First of FIG.
What is significantly different from the embodiment is the control means enclosed by a broken line.
II replaced with microcomputer 70, hydraulic cylinder
Oil temperature sensor 13 attached to 37 detects and estimates oil temperature
Damping force_cTemperature compensation point and damping force control
The point is that the actuator is replaced with a pulse motor.   First, the actuator means IV for controlling the damping force is described.
The description will be made with reference to FIGS. 8 and 9. Suspension
Gas-liquid suspension attached to the arm 32 and body frame 33
An orifice 112 is provided in the hydraulic cylinder 110 of the pension.
Opening / closing plate 113 and integrated with the opening / closing plate 113
Rotary shaft 114 and its rotary shaft 1
It consists of a pulse motor 80 connected to. Therefore,
Rotate the rotary shaft 114 with a loose motor
The opening and closing plate 113 rotates, and the opening surface of the orifice 112
The product is continuously variable, resulting in a variable orifice.
You.   Next, the state detecting means I performs the relative change as in the first embodiment.
Potentiometer 31 for detecting the position and potentiometer
An amplifier 41 that converts the movement of 31 into a voltage signal and a suspension
Acceleration that detects sprung acceleration by attaching it to the vehicle body directly above
Connected to the degree sensor 43 and the acceleration sensor 43 to convert to a voltage signal.
The oil temperature sensor 81 and the oil temperature sensor 81
And an amplifier 82 for converting the voltage signal into a voltage signal.   The control means II includes a state quantity estimating means II.₀And the target control ability performance
Arithmetic means II₁And control force estimation means II_Two'And deviation calculation means II
_ThreeAnd sign adjustment means II_Four8-bit micro with the function of
It has a computer 70. This microcomputer
Is relative displacement y and sprung acceleration₂And the temperature t
Operation of the control means II from the input unit 71 and their state signals.
Calculation unit 72 for performing
Storage unit 73 and the damping force control signal calculated by the arithmetic processing unit 72.
It comprises an output section 74 for outputting a pulse signal. here
The details of the functions performed by the microcomputer 70
This will be described with reference to the flowchart of FIG. 10 and FIG.   After initialization at P0, relative displacement y and sprung acceleration at P1
₂And data of the oil temperature t. Next, in P2, take in P1
Embedded sprung acceleration₂The primary frequency is 0.1Hz
High-pass filtered signal To   First order high-pass filter uses Laplace operator S
The transfer characteristics obtained are as follows.  Where T: time constant   From equation (8), transform to the output equation of the high-pass filter.
Then, the following equation is obtained.   Where the integral gain K is It is.   Therefore, the operation of the primary high-pass filter output is
This is performed based on equation (9). Note that the cut frequency f_cIs 0.
The time constant T of 1 Hz is Therefore, T = 1.59 sec.   Next, in P3, the high-pass filter output calculated in P2 Estimated sprung velocity by integrating the first order And the first-order integration to estimate the sprung displacement₂Act
Calculate.   Next, at P4, the relative displacement y captured at P1 is differentiated and calculated.
Calculate the speed.   As described above, P2 to P4 are the high-passes of the first embodiment shown in FIG.
Filter 53, first integrator 54, second integrator 55, and differentiator 42
Just replaces analog arithmetic with digital arithmetic
It is.   P5 is the relative speed calculated in P4 and the oil temperature t taken in P1
Calculation of damping force from the orifice opening area
Now. Here, the orifice opening area is
Since a pulse motor is used for means IV, the pulse motor rotation
Is expressed as a function of the turning angle θ, and the turning angle θ is output at P9
Pulse motor rotation angle control signal θ_cMatches. did
Therefore, the orifice opening area a (θ) becomes known.
And the estimated damping force when the reference for the oil temperature t is t = tn
_cIs the empirical formula (6) shown in the first embodiment as a function of θ.
It is obtained by the following equation.   _c= K (θ)^{n (θ)}              …… (11)   Here, the damping force for the relative speed and the rotation angle θ
Is calculated based on equation (11), and it is related to θ.
It is mapped.   Next, when the oil temperature changes, the oil density ρ changes as follows.
Become   ρ = ρ₀−kt …… (12)   Where ρ: density of oil at oil temperature of 0 ° C Fig. 11 shows the change in oil density ρ with respect to oil temperature as an example.
You. Therefore, the gain K (θ) in equation (11) is given by (5)
As shown in the equation, it is proportional to the oil density ρ,
It changes according to the change.   Therefore, the oil temperature t is detected, and the oil density ρ is calculated from the equation (12).
Calculate and calculate the density ratio between the value and the density ρn at the reference oil temperature.
Estimated damping force obtained by calculating ρ / ρn by equation (11)_cMultiply by
The damping force according to the oil temperature change_c'
Can be. That is,_c'Becomes the following equation.   In P6, the optimal target is calculated by the equation (7) shown in the first embodiment.
Calculates the control force u and controls the optimum target control force u in P7.
The damping force to be controlled, that is, the damping force obtained in P5
_c'Is calculated.   Next, in P8, the relative speed obtained in P4 is added to the deviation ε obtained in P7.
, Calculate ε, and use it for the pulse motor.
Rotation angle control signal θ_cAnd This is the same reason as in the first embodiment.
The explanation is omitted here.   In P9, θ obtained in P8_cOf the pulse motor according to the direction of
If you switch to the signal line for CR for right rotation or CCR for left rotation
At the same time, θ_cOutput a pulse proportional to the magnitude of   The driving means III is output from the microcomputer 70.
Connected to the CR and CCR signal lines
It comprises a drive circuit 64 for outputting a current pulse.   The operation of the second embodiment having the above configuration is as follows.
is there. Microcomputer initialized at P0
The relative displacement signal detected by the linear potentiometer in P1
No. y and the oil temperature sensor attached to the hydraulic cylinder
The detected oil temperature signal t and the spring detected by the persistence sensor
Upper acceleration signal data is sampled every 10 ms
I do.   Output of primary high-pass filter of sprung acceleration at P2 After calculating, the estimated sprung speed at P3 And estimated sprung displacement₂Is calculated.   Next, after calculating the relative speed in P4, the output and
Pulse motor rotation angle system calculated in P8 just before (10msec before)
Control signal θ_c(= Θ) from the previously stored
Estimated damping force at the standard oil temperature tn_cRead
You. Then, the value of the oil obtained from the oil temperature t
Estimated by multiplying by the density variation ratio ρ / ρn and applying temperature compensation
Damping force_c'.   Next, at P6 the optimal target control force u, at P7 the deviation and at P8 the
Loose motor rotation angle control signal θ_cAsk for. And last
In addition, CR for right rotation or left rotation according to the output obtained in P8
Output CCR pulse. Above, execution of P1 to P9 is 10m
Ends within sec and returns to P1 again.   Right or left rotation from microcomputer
Drive pulse output by the drive circuit 64
Drive 80. By rotating the pulse motor,
The orifice opening area a (θ) is continuously changed. Sand
The damping coefficient changes, and the damping force can be changed continuously.
it can.   The second embodiment has the following advantages. That is, the first actual
In addition to the advantages of the embodiment, detect the oil temperature t in the hydraulic cylinder
And the estimated damping force_cTemperature compensation,
To estimate the damping force generated by the suspension
Optimum for the reason according to the constantly changing road surface condition
Since a control force close to the target control can be obtained,
Damping force control suitable for the condition can be performed. As a result, the vehicle
The ride is reduced and the ride comfort and running stability are greatly improved.
There is an advantage that can be made.   Also, a pulse motor was used for the actuator means.
To detect the rotation angle and provide feedback
-Loop control is not required, simplifying the circuit configuration.
Wear.   Further, the differentiator 42 of the first embodiment shown in FIG.
Operation of control means II is performed by 8-bit microcomputer
Is less drift than analog arithmetic
Precise control is possible and expensive analog multipliers are not required.
To save space and cost.
There is a point.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram of the present invention, FIG. 2 is a schematic configuration diagram showing a conventional technique, FIG. 3 is a schematic configuration diagram showing a first embodiment of the present invention, FIG. FIG. 5A is a schematic configuration diagram showing a second embodiment of the present invention, FIG. 5A is a schematic configuration diagram of an automotive gas-liquid fluid suspension of the first embodiment of the present invention, and FIG. FIG. 6 is a cross-sectional view of the actuator means, FIG. 6 is a system configuration diagram showing the entire first embodiment, FIG. 7 shows the relationship between spool displacement and damping force in the gas-liquid fluid spring, and FIG. FIG. 4B is a diagram showing the relationship between the displacement and the gain, and FIG. FIG. 8 is a block diagram showing the configuration of the second embodiment, FIG. 9 (a) is a cross-sectional view of the actuator means of the second embodiment, and FIG. 8 (b) is a cross-sectional view taken along line AA in FIG. FIG. 10 is an operation flowchart for explaining the operation of the second embodiment, and FIG. 11 is a diagram showing a change in oil density with respect to oil temperature. I: state detecting means, II: control means, II ₀ ... state quantity estimating means, II ₁ ... target control force calculating means, II ₂ '... control force estimating means, II ₃ ... deviation calculating means, III …… Drive means,
IV ... actuator means, 11 ... first count setting means,
12 second counting setting means 13 state variable calculating means 14
…… Estimated physical quantity calculation means, 15 …… Estimated control force calculation means,
16... First integrating means, 17... Second integrating means.

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Eiichi Yasuda               Aichi-gun Aichi-gun Nagakute-machi               Address 1 Toyota Central Research Laboratory Co., Ltd. (72) Inventor Toshiyasu Mito               1 Toyota Town, Toyota City, Aichi Prefecture               Dosha Co., Ltd.                (56) References JP-A-62-108319 (JP, A)

Claims (1)

(57) [Claims] State detecting means for detecting a state quantity indicating movement of the suspension supporting the vibrating body including a state quantity indicating movement of the actuator means for generating at least a control force acting on the suspension, and outputting a state quantity signal; Based on a state quantity signal output from the detection means and including a state quantity indicating a movement of the actuator means that generates at least a control force acting on the suspension, a physical quantity affecting the characteristics of the suspension is considered in consideration of the characteristics of the actuator means. Control force estimating means for obtaining an estimated control force corresponding to the estimated value of the physical quantity, and outputting an estimated control force signal; and a control force estimating means for obtaining a target control force based on the state quantity signal. State amount estimating means for estimating a state amount of the state signal and outputting an estimated state amount signal; A target control force calculating means for calculating an optimum target control force in consideration of an external force or a disturbance acting on the suspension from the amount signal and the estimated control force signal, and outputting a target control force signal; A control means comprising a deviation control means for calculating a deviation between the target control force to be performed and the estimated control force corresponding to the estimated control force signal, and a deviation calculation means for outputting a deviation signal; The actuator means for continuously variably controlling the characteristics of the suspension to generate a control force equivalent to a deviation of the estimated control force from the target control force based on the power-amplified deviation signal; The suspension characteristic is continuously variably controlled so that a control force corresponding to a difference between the target control force signal and the estimated control force signal is generated equivalently. By the to target control force adding equivalently to pension, vibration control apparatus characterized by suppressed vibration. 2. The control force estimating means, a coefficient setting means for setting a coefficient necessary for estimating the physical quantity based on the state quantity signal, a state variable calculating means for calculating a state variable by differentiating the state quantity signal with time, An estimated physical quantity calculating means for calculating an estimated physical quantity by using the state quantity signal, the coefficient and the state variable, and outputting an estimated physical quantity signal; and an estimated control force calculating means for receiving a control force corresponding to the estimated physical quantity signal. The vibration control device according to claim 1, wherein: 3. The control force estimating means includes a first coefficient setting means for setting two coefficients necessary for estimating the physical quantity based on a state quantity signal indicating a movement of a movable range of the actuator means outputted by the state quantity detecting means, Coefficient setting means, state variable calculating means for calculating a state variable by time-differentiating the state quantity signal, calculating an estimated physical quantity by the state quantity signal, the two coefficients and the state variable, and An estimated physical quantity calculating means for outputting, and an estimated control force calculating means for receiving a control force corresponding to the estimated physical quantity signal, wherein the state quantity estimating means integrates the state quantity signal over time; 2. The vibration control device according to claim 1, further comprising second integration means for integrating the signal output from the first integration means with time. 4. The state quantity estimating means is connected to the control force estimating means, and an abnormality determining means for determining whether the state quantity signal is an abnormal value. The abnormality determining means determines that the state quantity signal is an abnormal value. A signal selection unit that outputs the estimated control force when it is determined that the signal is not an abnormal value, and that outputs the state amount signal when the abnormality determination unit determines that the state amount signal is not an abnormal value; 3. The vibration control device according to claim 1, further comprising state quantity calculating means for estimating another state quantity necessary for obtaining a target control force based on a signal output from the means.