JP4076537B2 - 能動的及び/又は制御可能なシャシを調整及び/又は制御するための方法 - Google Patents
能動的及び/又は制御可能なシャシを調整及び/又は制御するための方法 Download PDFInfo
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- JP4076537B2 JP4076537B2 JP2004538890A JP2004538890A JP4076537B2 JP 4076537 B2 JP4076537 B2 JP 4076537B2 JP 2004538890 A JP2004538890 A JP 2004538890A JP 2004538890 A JP2004538890 A JP 2004538890A JP 4076537 B2 JP4076537 B2 JP 4076537B2
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- Prior art keywords
- plunger
- diagonal
- vehicle
- control unit
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/005—Suspension locking arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/027—Mechanical springs regulated by fluid means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/10—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces not permanently interconnected, e.g. operative only on acceleration, only on deceleration or only at off-straight position of steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/30—Spring/Damper and/or actuator Units
- B60G2202/32—The spring being in series with the damper and/or actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
- B60G2204/81—Interactive suspensions; arrangement affecting more than one suspension unit front and rear unit
- B60G2204/8102—Interactive suspensions; arrangement affecting more than one suspension unit front and rear unit diagonally arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/014—Pitch; Nose dive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/21—Traction, slip, skid or slide control
- B60G2800/214—Traction, slip, skid or slide control by varying the load distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/915—Suspension load distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/93—Skid or slide control [ASR]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/95—Automatic Traction or Slip Control [ATC]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Description
2 地形
3 サスペンションシステム
4 リバウンド対角線
5 圧縮対角線
6 リバウンド方向
7 圧縮方向
8 車輪
9 バネ
10 負荷方向
11 プランジャー
12 車両
13 後車軸
14 前車軸
VL 前左
VR 前右
HL 後左
HR 後右
WAVA 前車軸の所望の横揺れモーメント要素
F 車輪に基づく実際のバネ行程
FS 車輪に基づく所望のバネ行程
P 車輪に基づく実際のプランジャー行程
PS 車輪に基づく所望のプランジャー行程
K1 (1−WAVA)*車輪に基づくバネ剛性−前車軸
K2 (0+WAVA)*車輪に基づくバネ剛性−後車軸
Claims (9)
- 車両(12)用の能動的及び/又は制御可能なシャシを調整及び/又は制御するための方法であって、前記シャシが、
4つの車輪(8)によって支持される車体(1)を有し、
前記車両(12)の各車輪(8)と前記車体(1)との間の受動的バネ要素(9)と、前記バネ要素(9)に直列に割り当てられ、制御ユニット(13)によって設定され得るプランジャー/変位要素(11)を有する流体変位ユニットとを備える調整可能なサスペンションシステム(3)を有し、
バネの行程とプランジャーの位置を測定するセンサシステムが前記制御ユニット(13)に割り当てられる方法において、
前記制御ユニット(13)は、圧縮対角線(5)である第1対角線上において互いに向き合って位置する前記車輪(8)が、リバウンド対角線(4)である他の対角線上における前記車輪(8)よりも、平均して、前記車体(1)から短い距離にある前記サスペンションシステム(3)の捩れの状態を測定し、これらの捩れの状態を、前記圧縮対角線(5)上の前記プランジャー(11)を引っ込め、及び/又は前記リバウンド対角線(4)上の前記プランジャーを伸ばすことによって、補正しており、この際に、所望のプランジャーの位置(PS1,PS2,PS3,PS4)または所望のプランジャーの位置と実際のプランジャー位置の差(PS1−P1,PS2−P2、PS3−P3,PS4−P4)を、制御偏差、バネの行程(F1,F2,F3,F4)、前車軸(14)の車輪に基づくバネ剛性(K1)、及び後車軸(13)の車輪に基づくバネ剛性(K2)の関数として計算し、この計算された結果に基づき、プランジャーの制御を行うことを特徴とする方法。 - 前記制御偏差は、水平高さの偏差(=所望の水平高さ−実際の水平高さ)、縦揺れ角の偏差(=所望の縦揺れ角−実際の縦揺れ角)及び横揺れ角の偏差(=所望の横揺れ角−実際の横揺れ角)であることを特徴とする請求項1記載の方法。
- 前記制御ユニット(13)は、主に前記リバウンド対角線(4)上の前記プランジャー(11)を伸ばすことによって、前記車両(12)において測定された捩れの状態を補正することを特徴とする請求項1または2に記載の方法。
- 前記制御ユニット(13)は、主に前記圧縮対角線(5)上の前記プランジャー(11)を引っ込めることによって、前記車両(12)において測定された捩れの状態を補正することを特徴とする請求項1または2に記載の方法。
- 前記制御ユニット(13)は、前記圧縮対角線(5)上の前記プランジャー(11)を引っ込め、前記リバウンド対角線(4)上の前記プランジャー(11)を伸ばすことによって、前記車両(12)において測定された捩れの状態を、略均一な量に、補正することを特徴とする請求項1または2に記載の方法。
- 水平高さ、縦揺れ、及び横揺れの状態を補正するとき、前記車輪(8)の全てが前記車体(1)から同一距離にある前記車両(12)のニュートラル位置が、所望の位置として用いられることを特徴とする請求項1記載の方法。
- 捩れの状態を補正するときに、前記車輪(8)の全てが前記車体(1)から同一距離にある前記車両(12)のニュートラル位置から実際の位置に向かって逸脱している位置が、所望の位置として用いられることを特徴とする請求項1〜6のいずれか一項に記載の方法。
- 前記ニュートラル位置から逸脱している位置の逸脱量は、ニュートラル位置と実際の位置との間の差が増すにつれて、大きくなることを特徴とする請求項7に記載の方法。
- 車両(12)用の能動的及び/又は制御可能なシャシを調整及び/又は制御するための制御ユニットであって、シャシが、4つの車輪(8)によって支持される車体(1)を有し、前記車両(12)の各車輪(8)と前記車体(1)との間の受動的バネ要素(9)と、前記バネ要素(9)に直列に割り当てられ、前記制御ユニット(13)によって設定され得るプランジャー/変位要素(11)を有する流体変位ユニットとを備える調整可能なサスペンションシステム(3)を有し、
バネの行程とプランジャーの位置を測定するセンサシステムが割り当てられる前記制御ユニット(13)において、
前記制御ユニット(13)は、圧縮対角線(5)である第1対角線上において互いに向き合って位置する前記車輪(8)が、リバウンド対角線(4)である他の対角線上における前記車輪(8)よりも、平均して、前記車体(1)から短い距離にある前記サスペンションシステム(3)の捩れの状態を測定し、これらの捩れの状態を、前記圧縮対角線(5)上の前記プランジャー(11)を引っ込め、及び/又は前記リバウンド対角線(4)上の前記プランジャーを伸ばすことによって、補正しており、この際に、所望のプランジャーの位置(PS1,PS2,PS3,PS4)または所望のプランジャーの位置と実際のプランジャー位置の差(PS1−P1,PS2−P2、PS3−P3,PS4−P4)を、制御偏差、バネの行程(F1,F2,F3,F4)、前車軸(14)の車輪に基づくバネ剛性(K1)、及び後車軸(13)の車輪に基づくバネ剛性(K2)の関数として計算し、この計算された結果に基づき、プランジャーの制御を行うことを特徴とする制御ユニット。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10244363A DE10244363B4 (de) | 2002-09-24 | 2002-09-24 | Verfahren zur Regelung und/oder Steuerung eines aktiven und/oder steuerbaren Fahrwerks |
PCT/EP2003/010146 WO2004028837A1 (de) | 2002-09-24 | 2003-09-12 | Verfahren zur regelung und/oder steuerung eines aktiven und/oder steuerbaren fahrwerks |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006500272A JP2006500272A (ja) | 2006-01-05 |
JP4076537B2 true JP4076537B2 (ja) | 2008-04-16 |
Family
ID=32009872
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004538890A Expired - Fee Related JP4076537B2 (ja) | 2002-09-24 | 2003-09-12 | 能動的及び/又は制御可能なシャシを調整及び/又は制御するための方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20050189729A1 (ja) |
EP (1) | EP1542877A1 (ja) |
JP (1) | JP4076537B2 (ja) |
DE (1) | DE10244363B4 (ja) |
WO (1) | WO2004028837A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004056610A1 (de) * | 2004-11-24 | 2006-06-01 | Zf Friedrichshafen Ag | Verfahren zum Steuern und Regeln eines aktiven Fahrwerksystems |
JP4114679B2 (ja) * | 2005-05-24 | 2008-07-09 | トヨタ自動車株式会社 | 車両の減衰力制御装置 |
DE102012010864A1 (de) * | 2012-06-01 | 2013-07-04 | Audi Ag | Kraftfahrzeug mit einer Diebstahlsicherung |
JP5847696B2 (ja) * | 2012-12-21 | 2016-01-27 | 株式会社ショーワ | 自動二輪車の車高調整装置 |
DE102013001305B4 (de) * | 2013-01-26 | 2014-11-06 | Audi Ag | Kraftfahrzeug |
DE102014112445B4 (de) | 2014-08-29 | 2020-12-31 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zur Niveauregulierung einer beweglichen Radaufhängung |
JP6260607B2 (ja) * | 2015-11-27 | 2018-01-17 | トヨタ自動車株式会社 | サスペンションシステム |
US10661669B1 (en) | 2017-09-07 | 2020-05-26 | Apple Inc. | Charging station with passive alignment mechanism |
US10730359B2 (en) * | 2017-12-11 | 2020-08-04 | Cnh Industrial America Llc | Suspension control system providing suspension height corrections for an agricultural machine |
DE102018118062A1 (de) * | 2018-07-26 | 2020-01-30 | Fsp Fluid Systems Partners Holding Ag | Verfahren und System zur Lageregelung eines Fahrzeugs |
EP3882056B1 (de) * | 2020-03-18 | 2023-10-25 | ZF CV Systems Europe BV | Verfahren zur steuerung einer luftfederungsanlage eines fahrzeugs |
US11912089B1 (en) | 2023-08-01 | 2024-02-27 | Gravic, Inc. | Method and apparatus to dynamically increase tire traction in a vehicle by generating positive forces between a wheel and a body of the vehicle and then quickly removing such forces |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61178212A (ja) * | 1985-02-04 | 1986-08-09 | Nippon Denso Co Ltd | 車高制御装置 |
WO1989000512A1 (en) * | 1988-01-20 | 1989-01-26 | Moog Inc. | Vehicle suspension system, and method of operating same |
GB2227722B (en) * | 1989-02-03 | 1993-01-13 | Fuji Heavy Ind Ltd | Method of and apparatus for controlling height of a vehicle |
DE4042490C2 (de) * | 1989-02-03 | 1995-06-01 | Fuji Heavy Ind Ltd | Verfahren zur Steuerung der Höhe eines Fahrzeugs |
FR2647063B1 (fr) * | 1989-05-18 | 1992-11-06 | Peugeot | Dispositif de suspension semi-active et vehicule automobile equipe de ce dispositif |
DE4026790C1 (en) * | 1990-08-24 | 1991-10-24 | Mercedes-Benz Aktiengesellschaft, 7000 Stuttgart, De | Computer controlled suspension system for motor vehicle - uses computer or hydraulic failure to automatically stiffen suspension to max. via shock absorber |
DE4303160A1 (de) * | 1993-02-04 | 1994-08-11 | Bosch Gmbh Robert | System zur Regelung und/oder Steuerung eines Kraftfahrzeugfahrwerks |
DE4414022C2 (de) * | 1994-04-22 | 1996-02-29 | Daimler Benz Ag | Aktives Federungssystem |
DE19700567A1 (de) * | 1997-01-10 | 1998-08-27 | Auer Anatol Von | Aktiv Vierrad Antieinfederung-Diagonalkarosseriestabilisation-Niveaudifferenzkorrekturregel System (AVAS) zur dynamischen Fahrzeugstabilitätserzeugung |
DE29805174U1 (de) * | 1997-01-10 | 1998-07-16 | Auer Anatol Von | Vorrichtung zur Stabilisierung eines Fahrzeuges |
US6264212B1 (en) * | 1998-08-20 | 2001-07-24 | Technology Investments Limited | Vehicle suspension system |
DE19912898C1 (de) * | 1999-03-23 | 2000-11-23 | Daimler Chrysler Ag | Verspannungsregleranordnung für ein Fahrzeug |
-
2002
- 2002-09-24 DE DE10244363A patent/DE10244363B4/de not_active Expired - Fee Related
-
2003
- 2003-09-12 JP JP2004538890A patent/JP4076537B2/ja not_active Expired - Fee Related
- 2003-09-12 WO PCT/EP2003/010146 patent/WO2004028837A1/de not_active Application Discontinuation
- 2003-09-12 EP EP03748010A patent/EP1542877A1/de not_active Withdrawn
-
2005
- 2005-03-22 US US11/086,785 patent/US20050189729A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
DE10244363A1 (de) | 2004-04-15 |
WO2004028837A1 (de) | 2004-04-08 |
JP2006500272A (ja) | 2006-01-05 |
DE10244363B4 (de) | 2007-03-29 |
US20050189729A1 (en) | 2005-09-01 |
EP1542877A1 (de) | 2005-06-22 |
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