JP4566898B2 - Control device for variable damping force damper - Google Patents

Description

  The present invention relates to a control device for a variable damping force damper, and more particularly to a control device for a variable damping force damper for controlling a rolling motion of a vehicle body during turning.

  The spring provided in the suspension device of the vehicle is deformed while absorbing the impact, and when the external force is lost, the spring is repelled in a direction to restore the deformation, and as a result, reciprocating vibration is generated. In order to attenuate the vibration energy of the spring, a so-called shock absorber damper is used in combination with the vehicle suspension system. The damping force of the damper is preferably small in order to mitigate the impact, but is preferably somewhat large in order to improve the ground contact property and steering stability of the tire. A damping force variable damper capable of changing the damping force is known as one that can satisfy the contradictory conditions (see Patent Document 1).

On the other hand, a technique is known in which the roll rigidity during turning is increased by individually controlling the damping force of each wheel damper according to the rate of change of lateral acceleration (see Patent Document 2). . Here, the lateral acceleration is generally detected at the center of gravity of the vehicle body, in order to compensate for the phase difference caused by the distance between the axle that actually controls the motion and the detection point of the lateral acceleration. In addition, the yaw rate differential value is added to the control parameter.
JP-A-60-113711 Japanese Patent Laid-Open No. 11-115440

  However, the responsiveness is improved by advancing the phase with the differential value of the yaw rate, but on the other hand, for example, driving on a winding road or slalom driving, the control of damping force in a driving situation where the vehicle continuously turns back and forth. If the phase is simply advanced in order to enhance the responsiveness, the directionality of the control target value of the damping force is reversed immediately before the tire turning angle passes the neutral point. Therefore, speaking of the outer wheel of the turning circle, it actually feels like the force is lost even though you have to keep struggling more, so it may give the driver a sense of incongruity as if they were cramped for a moment. obtain.

  The present invention has been devised to cope with such disadvantages of the prior art, and its main purpose is improved so as to obtain an appropriate roll rigidity during turning without impairing high responsiveness. Another object of the present invention is to provide a control device for a variable damping force damper.

In order to solve such a problem, the present invention detects the damping force of the damper 7 used in the vehicle suspension device 1 and the lateral acceleration detecting means 11 for detecting the lateral acceleration at the center of gravity of the vehicle and the yaw rate of the vehicle. In a control device for a variable damping force damper for changing according to a damping force target value for increasing the roll stiffness calculated based on the output of the yaw rate detecting means 14, the calculation is performed based on the output value of the lateral acceleration detecting means. the to increase the first damping force and the target value a, the roll stiffness calculated based on the lateral acceleration value of the axle position calculated based on the output value of the yaw rate detecting means for increasing the roll stiffness, which is The damping force target value C of 2 is compared, and the damping force control of the damper is executed based on the value D of the larger absolute value of the first damping force target value and the second damping force target value. It was the thing. In another aspect of the invention, the first damping force target value is calculated by differentiating the output value of the lateral acceleration detecting means once and multiplying by a first coefficient, and the second damping force target value is calculated. The force target value is a yaw rate compensation value calculated by differentiating the output value of the yaw rate detecting means twice and multiplying by a second coefficient including a value corresponding to the distance from the center of gravity of the vehicle to the center of the wheel. , Being calculated by adding to the first damping force target value.

  According to the present invention as described above, for example, the higher absolute value of the target value A of damping force control obtained by multiplying the differential value of the lateral acceleration by a predetermined coefficient and the target value C subjected to phase compensation by yaw rate. The value with the higher absolute value of both is selected as the final control target value D, maintaining a high responsiveness and providing a step feel of damping force control. It can be lost.

  Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 shows an example of a basic configuration of an automobile suspension device that supports front, rear, left, and right wheels of a four-wheel automobile on a vehicle body. This suspension device 1 includes a knuckle 3 that supports a tire 2, upper and lower suspension arms 4 U and 4 L that support the knuckle 3 with respect to the vehicle body 5, and a lower suspension arm 4 L and the vehicle body 5 in parallel. The compression coil spring 6 and the hydraulic damper 7 are provided.

  As the hydraulic damper 7, for example, a variable damping force damper formed by enclosing MRF (Magneto-Rheological Fluid) is used. The damper 7 controls the current applied to an MLV (Magnetizable Liquid Valve) provided on the piston, whereby the piston moves through an orifice provided on the piston when the piston moves up and down and the damper 7 expands and contracts. The apparent viscosity of the MRF flowing between the upper chamber and the lower piston chamber can be changed, whereby the damping force can be continuously changed (see Patent Document 1).

  The damping force of the damper 7 is stored in an electronic control unit (ECU) 16 based on the outputs of the lateral acceleration sensor 11, the longitudinal acceleration sensor 12, the vertical acceleration sensor 13, the yaw rate sensor 14, the damper stroke sensor 15,. The control target value is calculated by the calculated arithmetic unit, and the vehicle behavior at that time is controlled to be optimum.

  Next, the point of damping force control according to the present invention will be described.

  FIG. 2 is a control flow diagram of the present invention. First, the output of the lateral acceleration sensor 11 installed at the center of gravity of the vehicle body is differentiated once, and this value is multiplied by a predetermined coefficient to obtain a lateral G-dependent damping force target value A proportional to the lateral acceleration (step 1).

  Next, after the output of the yaw rate sensor 14 installed at the center of gravity of the vehicle body is differentiated twice, the yaw rate compensation value B is obtained by multiplying a predetermined coefficient including a value corresponding to the distance from the center of gravity to the front wheel center. (Step 2).

  Next, the yaw rate compensation value B is added to the lateral G-dependent damping force target value A to obtain the yaw rate compensating damping force target value C (step 3).

  Next, the lateral G-dependent damping force target value A and the yaw rate compensation damping force target value C are compared, a value having a larger absolute value is selected, and a sign of the value is attached (step 4).

  The damping force of the damper 7 is controlled using the value obtained in step 4 as the final damping force target value D (step 5).

  FIG. 3 shows the relationship between the aforementioned damping force target values A, C, and D at the time of constant speed slalom. The positive region is the stretch side and the negative region is the shrink side.

  As shown in FIG. 3, the lateral G-dependent damping force target value A based only on the output of the lateral acceleration sensor 11 changes as shown by a dotted line, whereas the yaw rate compensation damping force target value C to which the yaw rate compensation value B is added. Changes like a thin line. As apparent from FIG. 3, the phase of the yaw rate compensation damping force target value C is ahead of the phase of the lateral G-dependent damping force target value A, and at the time point a when the lateral G-dependent damping force target value A passes the zero point. In comparison, the time point b at which the yaw rate compensation damping force target value C passes the zero point is earlier. In other words, when the damping force control is executed with the yaw rate compensation damping force target value C, the responsiveness is improved by the advance of the phase, but the direction of the damping force is switched before the snake angle reaches the neutral point. This means that the driver is given a stepped feeling as if he / she fell for a moment at the midpoint of the reverse steering.

  According to the above-described process of the present invention, the lateral G-dependent damping force target value A and the yaw rate compensation damping force target value C are compared, and the larger absolute value is selected and the larger absolute value is selected. When the reference value is set as the final damping force target value D, the damping force control target value D changes as shown by a thick line, and the damping force is controlled without causing load loss while maintaining high response. It turns out that it becomes possible.

  In applying the present invention, the structure of the damping force varying means is not particularly limited, and can be implemented by switching the area of the mechanical orifice by, for example, a rotary valve. The concept of the present invention can be applied not only to a passive control suspension device but also to an active control suspension device in which the functions of a coil spring and a damper are replaced with hydraulic actuators.

It is a lineblock diagram of one wheel of a suspension device to which the present invention is applied. It is a control flow figure by this invention. It is a graph which shows transition of damping force target value.

Explanation of symbols

1 Suspension device 7 Damper 11 Lateral acceleration sensor 14 Yaw rate sensor 16 ECU

Claims (2)

In order to increase the roll stiffness calculated by the damping force of the damper used in the vehicle suspension system based on the output of at least the lateral acceleration detecting means for detecting the lateral acceleration at the center of gravity of the vehicle and the yaw rate detecting means for detecting the yaw rate of the vehicle In the control device of the variable damping force damper for changing according to the damping force target value of
A first damping force target value for increasing the roll stiffness calculated based on the output value of the lateral acceleration detecting means;
A second damping force target value for increasing the roll stiffness calculated based on the lateral acceleration value of the axle position calculated based on the output value of the yaw rate detecting means,
A damper damping force control target value is set based on a larger absolute value of the first damping force target value and the second damping force target value. apparatus. The first damping force target value is calculated by differentiating the output value of the lateral acceleration detecting means once and multiplying by a first coefficient,
The second damping force target value is calculated by differentiating the output value of the yaw rate detecting means twice and multiplying by a second coefficient including a value corresponding to the distance from the center of gravity of the vehicle to the center of the wheel. 2. The variable damping force damper control device according to claim 1, wherein the yaw rate compensation value is calculated by adding the yaw rate compensation value to the first damping force target value.

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