JP5046827B2 - Electric damper device for vehicle - Google Patents

Description

  The present invention relates to a vehicle electric damper device provided in a vehicle suspension device.

  The front portion of the vehicle body is suspended by a pair of left and right suspension devices, and the rear portion of the vehicle body is also suspended by a pair of left and right suspension devices. The left and right suspension devices are connected to each other by a stabilizer extending in the vehicle width direction. The stabilizer is a member that connects the left and right suspensions in order to suppress rolling of the vehicle body, and includes a torsion bar.

By the way, in recent years, development of a technique for replacing a generally used hydraulic damper device (hydraulic shock absorber) with an electric damper device in a suspension device has been advanced. The electric damper device attenuates the vertical motion by converting the vertical motion of the wheel relative to the vehicle body into a rotational motion and rotates the electric motor, and the damping force for attenuating the vertical motion of the wheel. Will occur. As such an electric damper device, various devices are known (for example, see Patent Document 1).
JP 2005-256922 A

  The electric damper device known from Patent Document 1 is such that a linear motion in the vertical direction is converted into a rotational motion by a rack and pinion mechanism to rotate the electric motor. The electric damper device known from Patent Document 1 does not have a function of suppressing rolling of the vehicle body. As a matter of course, the pair of left and right suspension devices including the electric damper device are also connected to each other by the stabilizer.

A vehicle requires a relatively wide arrangement space for arranging a stabilizer extending in the vehicle width direction.
In addition, when the stabilizer is disposed in the vehicle, it is required that the stabilizer is bypassed with respect to the passenger compartment and that the stabilizer does not interfere with other mounted parts such as the exhaust pipe, the drive shaft, and the fuel tank. For this reason, the stabilizer must be bent and has a complicated shape. As a result, the number of man-hours for designing the stabilizer increases, and the man-hour for the confirmation test for confirming the performance of the stabilizer increases.
In addition, providing the stabilizer is disadvantageous in terms of reducing the weight of the vehicle and increasing the space of the passenger compartment.

  The stabilizer has only a “spring” function for suppressing rolling of the vehicle body. The vibration in the rolling direction acting on the left and right wheels is attenuated by each damper device in the pair of left and right suspension devices. That is, each damper device sets a large damping performance in the vertical direction in order to attenuate the vibration in the rolling direction. In this case, when the vibration in the rolling direction is small, the damping effect of the vertical vibration of the vehicle body is too great. Therefore, it is disadvantageous in improving the riding comfort performance of the vehicle.

  It is an object of the present invention to provide a new suspension structure in which a damping function in the rolling direction is added to the function of a “spring” for suppressing rolling of the vehicle body without using a stabilizer. Furthermore, this invention makes it a subject to provide the new suspension structure which can improve riding comfort performance.

According to a first aspect of the present invention, there is provided a left electric motor that is rotated by a relative vertical movement of a left wheel with respect to a vehicle body, and that can displace the left wheel up and down relatively with respect to the vehicle body by drive control; A right electric motor which is rotated by a relative vertical movement of the right wheel with respect to the vehicle body and which can displace the right wheel up and down relatively with respect to the vehicle body by drive control; and the left electric motor with respect to the vehicle body A left displacement amount detection unit that detects a left displacement amount when the wheel is displaced in the vertical direction, and a right displacement amount when the right wheel is displaced in the vertical direction with respect to the vehicle body. When there is a difference between the right displacement amount detection unit and the left displacement amount and the right displacement amount, the left and right wheels are displaced upside down with respect to the vehicle body so as to reduce this difference. The left and right displacement amount. From the difference, determine the speed of the displacement difference, and a control unit for the difference in displacement so as to reduce the absolute value of the speed controls to drive the left and right electric motors,
It is an electric damper device for vehicles which consists of.

The inventions according to claims 2, Oite to claim 1, a vehicle speed detector for detecting the vehicle speed, further wherein the control unit until the detected vehicle speed reaches a predetermined speed, is issued該検In this configuration, the drive control amount of the left and right electric motors is increased as the vehicle speed increases .

Inventions is according to claim 3, in claim 1 or claim 2, as the control unit, when a difference between the displacement amount and the right amount of displacement of the left occurs, to reduce this difference, the A first reference roll control current for driving and controlling the left and right electric motors is calculated so that the left and right wheels are displaced upside down with respect to the vehicle body, and a displacement difference is calculated from the difference between the left and right displacement amounts. A second reference roll control current for driving and controlling the left and right conduction motors is calculated so as to reduce the absolute value of the speed of the displacement difference, and the first reference roll control current and the second reference roll are calculated. The left and right electric motors are driven and controlled based on the sum of control currents .

The inventions according to claim 4, in any one of claims 1 to claim 3, when the wheels of the left is displaced in the vertical direction with respect to the vehicle body, detecting a displacement speed of the left A left displacement speed detection unit, and a right displacement speed detection unit that detects a right displacement speed when the right wheel is displaced in the vertical direction with respect to the vehicle body, and the control unit includes: the drive controller controls the left electric motor of absolute value to the small Kusuru so the displacement speed of the left, an absolute value Reduces the so said right motor driving and controlling the configuration of the right displacement velocity It is characterized by being.

The inventions according to claim 5, Oite to claim 4, wherein, when a difference between the displacement amount and the right amount of displacement of the left occurs, so as to reduce the difference, on the vehicle body On the other hand, a first reference roll control current for driving and controlling the left and right electric motors is calculated so that the left and right wheels are displaced in the reverse direction, and the left displacement speed is further reduced by reducing the absolute value of the left displacement speed. A reference damper control current for driving and controlling the right electric motor so as to reduce an absolute value of the right displacement speed, and calculating the first reference roll control current and the reference damper control. It characterized the Turkey to drive control the left and right electric motors based on the sum of the currents.
The inventions according to claims 6, according to claim 4 or 5, wherein the control unit, based on said at least one value of the displacement velocity of the displacement amount and the left of the left, the displacement direction of the left wheel vertical When the left displacement direction is the upward direction, the first control characteristic is suitable when the left displacement direction is the upward direction. The left electric motor is driven and controlled by a second control characteristic suitable for a direction, and the displacement direction of the right wheel is determined based on at least one of the right displacement amount and the right displacement speed. When the right displacement direction is an upward direction, the first control characteristic suitable for a displacement direction is an upward direction. When the right displacement direction is a downward direction, the displacement direction is determined. Due to the second control characteristic suitable for the downward direction, A configuration for driving and controlling the chromatography data, the second control characteristic and the first control characteristic is characterized by a different characteristics.
The inventions according to claims 7, in claim 6, in the first control characteristic, as the displacement speed of the left and right is greater, a configuration to increase the drive control amount of the left and right electric motors in two stages, wherein The second control characteristic is characterized in that the drive control amount of the left and right electric motors is increased in three stages as the left and right displacement speeds are increased.

According to the first and third aspects of the invention , the left displacement amount in which the left wheel is displaced in the vertical direction with respect to the vehicle body, and the right displacement amount in which the right wheel is displaced in the vertical direction with respect to the vehicle body. In order to reduce the difference between the left and right electric motors, for example, the left and right electric motors can be driven and controlled so that the left and right wheels are displaced upside down with respect to the vehicle body. For example, when the left displacement amount is larger than the right displacement amount, the vehicle body rolls to the right. In this case, for example, the rotation direction of the left electric motor is controlled to rotate forward, for example, so that the left wheel is displaced downward, for example, and the rotation direction of the right electric motor, for example, is controlled to rotate reversely, for example, to the right wheel. Is displaced upwardly to cancel the rolling force (such as centrifugal force) acting on the vehicle body. By controlling in this way, rolling of the vehicle body can be suppressed when a rolling force acts on the vehicle body. That is, the vehicular electric damper device also has a stabilizer function.
Therefore, there is no need for a stabilizer made of twisted steel or the like. By eliminating the stabilizer, the weight of the vehicle can be reduced, the space of the passenger compartment can be increased, and the cost of the vehicle can be reduced. Therefore, it is possible to provide a new suspension structure in which a damping function in the rolling direction is added to the function of a “spring” for suppressing rolling of the vehicle body without using a stabilizer. Furthermore, since the stabilizer is abolished, the vehicle becomes lighter. For this reason, the spring constant of the vertical motion in the coil spring provided in the vehicle suspension device can be set low. As a result, the riding comfort performance of the vehicle can be enhanced.
Further, according to the inventions according to claims 1 and 5, the left and right electric motors are arranged so as to obtain the speed of the displacement difference from the difference between the left and right displacement amounts and to reduce the absolute value of the speed of the displacement difference. Since the drive is controlled, the rolling can be quickly converged when the rolling occurs in the vehicle body. For this reason, the running stability of the vehicle can be further improved. Furthermore, the damping force of the vertical motion by the electric damper device for vehicles can be reduced. As a result, the riding comfort performance of the vehicle can be further enhanced.

According to the second aspect of the present invention , the drive control amount (for example, control current) of the left and right electric motors is increased as the detected vehicle speed increases until the detected vehicle speed reaches a predetermined speed. The spring constant of the electric damper device for a vehicle when rolling occurs can be changed according to the vehicle speed.
For example, it is possible to control to set a small spring constant at the time of medium / low speed travel and to set a large spring constant at the time of high speed travel. As a result, the ride comfort of the vehicle can be made better during normal, medium and low speed travel, and the controllability of the vehicle can be made better during high speed travel.

According to the invention of claim 4, drives and controls the left electric motor with absolute value smaller Kusuru so the displacement speed when the left wheel is displaced in the vertical direction, the right wheel in the vertical direction can be driven and controlled the right electric motor absolute value smaller Kusuru so the displacement speed when the displacement. For this reason, the electric damper device for vehicles can perform damper control of attenuating the vertical movement of the wheels. That is, both damper control and rolling control can be performed only by the vehicle electric damper device. Therefore, the weight of the vehicle can be reduced and the cost of the vehicle can be reduced.

In the inventions according to claims 6 and 7 , the control characteristics that are different depending on whether the displacement direction of each of the left and right wheels (that is, the expansion / contraction direction of the electric damper device for a vehicle) is upward or downward, that is, Each electric motor is driven and controlled by a first control characteristic suitable for the direction and a second control characteristic suitable for the downward direction. Preferably, in the first control characteristic, the greater the left and right displacement speed, In the second control characteristic, the drive control amounts of the left and right electric motors are increased in three stages as the left and right displacement speeds are increased. For this reason, the damping force of the electric damper device for vehicles by each electric motor can be appropriately changed according to the displacement direction. That is, the electric motor can be finely adapted to correspond to the vertical movement of the wheel, and both damper control and rolling control can be attenuated more optimally. As a result, the riding comfort of the vehicle can be further enhanced.

The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.
FIG. 1 schematically shows a vehicle equipped with the vehicle suspension device of the present invention as viewed from the back. The vehicle 10 includes a pair of left and right vehicle suspension devices 20L and 20R on the vehicle body 11. The vehicle body 11 has damper housings 11a and 11a on the upper left and right sides. That is, the damper housings 11 a and 11 a are part of the vehicle body 11. The left and right vehicle suspension devices 20L and 20R are employed as a front suspension or a rear suspension of the vehicle 10 (automobile), and the left and right wheels 25L and 25R are suspended from the vehicle body 11.

  The left vehicle suspension device 20L is, for example, a double wishbone suspension including an upper arm 21 and a lower lower arm 22, a wheel support member 23, and an electric damper device 30L for the vehicle.

  The upper arm 21 and the lower arm 22 are connected to the side of the vehicle body 11 so as to be able to swing up and down. The wheel support member 23 is composed of a knuckle for rotatably supporting the wheel 25L, and is connected to the distal end portion of the upper arm 21 and the distal end portion of the lower arm 22 so as to be able to swing up and down. The left vehicle electric damper device 30L (hereinafter, simply referred to as “electric damper device 30L”) is stretched between the damper housing 11a and the lower portion of the wheel support member 23 and acts on the wheel 25L in the vertical direction. It is intended to attenuate the vibrations.

  The right vehicle suspension device 20R has the same configuration as that of the left vehicle suspension device 20L except that it is bilaterally symmetric. The right vehicle electric damper device is denoted by reference numeral 30R. Moreover, 35L is attached | subjected about the left electric motor, and 35R is attached | subjected about the right electric motor.

  FIG. 2 shows a cross-sectional structure of the left vehicle electric damper device 30L shown in FIG. FIG. 3 shows a cross section taken along line 3-3 of FIG. As shown in FIGS. 2 and 3, the electric damper device 30 </ b> L includes a cylinder 31, a rod 32, a rack and pinion mechanism 33, a rod guide 34, an electric motor 35 </ b> L, a coil spring 36, and a dust boot 37.

  The cylinder 31 is a vertically elongated member, and includes a first cylinder 41 and a second cylinder 42. The first and second cylinders 41 and 42 are cylinders arranged coaxially with each other. The first cylinder 41 has a bottom plate 41a at one end, and the other end is open. The bottom plate 41 a has a dish-shaped insulator 43 and mounting bolts 44. The mounting bolt 44 serves as a mounting portion on the cylinder side. Hereinafter, the mounting bolt 44 is referred to as a “cylinder side mounting portion 44”. The second cylinder 42 is open at both ends. One end of the second cylinder 42 is fixed to the open end of the first cylinder 41. The other end of the second cylinder 42 has a bearing 45 (sliding bearing) that supports the rod 32 slidably therein.

  The rod 32 is composed of an elongated round bar arranged coaxially with the cylinder 31, and is slidably accommodated in the cylinder 31, and one end portion 32a projects from the cylinder 31 (from the other end of the second cylinder 42). The protruding one end portion 32a has an annular connecting portion 47 at the tip. Hereinafter, the connecting portion 47 is referred to as a “rod-side mounting portion 47”.

  As shown in FIGS. 1 and 2, the cylinder-side attachment portion 44 is attached to the damper housing 11a. The rod side mounting portion 47 is swingably attached to the lower portion of the wheel support member 23. The rod-side attachment portion 47 may be attached to the lower arm 22 so as to be swingable. In this way, the cylinder 31 is attached to the vehicle body 11, and the one end 32 a of the rod 32 is attached to the wheel support member 23.

  Incidentally, the first cylinder 41 has a bump stopper 48 at the bottom. The bump stopper 48 is made of an elastic material such as rubber and gently interferes when the end surface of the rod 32 approaches the bottom plate 41a of the cylinder 31.

  As shown in FIGS. 2 and 3, the rack and pinion mechanism 33 includes a rack 51 and a pinion 52 that meshes with the rack 51, and is disposed inside the first cylinder 41. The rod 32 has a rack 51. A pinion shaft 53 having a pinion 52 extends in a direction perpendicular to the rod 32, and both ends thereof are rotatably supported by the first cylinder 41 via bearings 54 and 55.

  As described above, the rod 32 is an elongated round bar (cylindrical member). That is, the rod 32 is a member having a circular cross-sectional shape when viewed from the longitudinal direction of the rod. The rack 51 is formed on the outer peripheral surface of the rod 32 having a circular cross section.

  By the way, the rack and pinion mechanism 33 receives a large output from the electric motor 35L, and converts it into a rotational motion at a high speed when the wheel 25L moves up and down at a high speed. Even in this case, the meshing state of the rack 51 and the pinion 52 needs to be reliably maintained. For this reason, each tooth width of the rack 51 and the pinion 52 is set large. That is, the rod 32 has a rack 51 having a large tooth width.

In order to have the rack 51 having a large tooth width on the rod 32, it is conceivable that the cross-sectional shape of the rod 32 (cross-sectional shape when the rod 32 is viewed from the longitudinal direction) is rectangular. However, in the rod 32 having a rectangular cross section, a corner portion on the back surface that does not have the rack 51 protrudes. In this case, the first cylinder 41 that houses the rod 32 must be large.
On the other hand, in the present invention, since the rack 51 is provided on the outer peripheral surface of the rod 32 having a circular cross section, the first cylinder 41 that houses the rod 32 can be reduced in size.

  The rod guide 34 applies a preload to the rack 51 against the pinion 52 by pressing the back surface of the elongated cylindrical rod 32 against the pinion 52. The rod guide 34 includes a contact member 61, a guide portion 62, a compression coil spring 63, an adjustment bolt 64, and a lock nut 65, and is provided in the first cylinder 41.

  The guide portion 62 supports the rod 32 from the opposite side of the rack 51 and guides the rod 32 so as to be slidable in the axial direction. The abutting member 61 is interposed between the rod 32 and the guide portion 62 and directly contacts the outer peripheral surface of the rod 32 to reduce slide resistance. The contact member 61 is made of a material having wear resistance and low frictional resistance. The adjustment bolt 64 adjusts the force pressing the guide portion 62 toward the rod 32, and pushes the guide portion 62 toward the rod 32 via the compression coil spring 63 (adjustment spring 63). There is a slight gap between the guide portion 62 and the adjustment bolt 64 in the adjustment direction of the adjustment bolt 64. The lock nut 65 positions the adjustment bolt 64.

According to the lock guide 34, the adjustment bolt 64 screwed into the first cylinder 41 is used to push the guide portion 62 with an appropriate pressing force through the compression coil spring 63, so that the guide portion 62 preloads (preloads) the rack 51. ) And the rack 51 can be pressed against the pinion 52. That is, by pushing the rack 51 in the meshing direction with respect to the pinion 52, the play (backlash) of meshing between the pinion 52 and the rack 51 can be set to zero or the minimum. Thereby, even if it is a vertical motion like the fine vibration of the rod 32, it can be reliably converted into the rotation of the pinion 52, and a damping force can be generated in the electric motor 35L.
Further, the lock guide 34 can slidably support the rod 32 while restricting the movement of the rod 32 in the longitudinal direction of the pinion shaft 53.

  The electric motor 35L is composed of, for example, a DC motor with a brush, and is attached to the outer peripheral portion of the first cylinder 41. An output shaft 35 a (motor shaft 35 a) of the electric motor 35 </ b> L is disposed coaxially with the pinion shaft 53 and is connected to one end of the pinion shaft 53. As the configuration of the connection, for example, there is a connection by serration as shown in FIG. 3 or a connection by coupling (not shown). In this way, the motor shaft 35a is connected to the pinion 52. The configuration in which the motor shaft 35a is connected to the pinion 52 includes “a configuration in which the pinion 52 is formed on the motor shaft 35a”.

  As shown in FIG. 2, the coil spring 36 is a resilient member for absorbing the vibration and impact force in the vertical direction while supporting the weight of the vehicle body acting on the wheel 25L (see FIG. 1). The coil spring 36 is disposed coaxially with the rod 32 at a position away from the electric motor 35L in the longitudinal direction of the rod 32. Both end portions 36 a and 36 b of the coil spring 36 are individually attached to the cylinder 31 and the rod 32.

More specifically, the second cylinder 42 has a first spring receiving seat 71 fixed to a substantially middle portion in the longitudinal direction. The rod 32 has a second spring seat 72 fixed in the vicinity of the rod side mounting portion 47.
The coil spring 36 is disposed so as to surround the second cylinder 42 and the rod 32 protruding from the second cylinder 42. The coil spring 36 is interposed between the first spring receiving seat 71 and the second spring receiving seat 72 and thereby urges the cylinder 31 and the rod 32 in the axial direction and in a direction away from each other.

  The dust boot 37 is a member that covers and seals the open end of the second cylinder 42 and the rod 32 protruding from the open end, and is extendable in the axial direction of the rod 32. By sealing the inside of the cylinder 31 from the outside with the dust boots 37, it is possible to prevent the intrusion of foreign matter and to keep the inside of the cylinder 31 fluid-tight.

By the way, as shown in FIG. 1, the left and right electric damper devices 30L, 30R have displacement amount detection units 80L, 80R, respectively. The left displacement amount detection unit 80L detects a displacement amount StL (not shown) in which the wheel 25L is displaced in the vertical direction relative to the vehicle body 11. The displacement amount StL is also referred to as a stroke amount StL. The left displacement amount detection unit 80L indirectly detects the displacement amount StL of the left wheel 25L, for example, by detecting a swing angle at which the lower arm 22 swings up and down.
Since the right displacement amount detection unit 80R has the same configuration as the left displacement amount detection unit 80L, the same reference numerals are given and description thereof is omitted.

  Hereinafter, the left displacement amount detection unit 80L will be described in detail. FIG. 4 schematically shows the left displacement detector 80L shown in FIG. As shown in FIGS. 1 and 4, the displacement amount detection unit 80 </ b> L includes a housing 81, a swing rod 82, a joint portion 83, a transmission mechanism 84, and a potentiometer 85.

  The housing 81 is attached to the vehicle body 11. The swing rod 82 is attached to the housing 81 so as to be swingable up and down. The joint portion 83 is screwed into the tip of the swing rod 82 and is attached to the lower arm 22 so as to be able to swing up and down. The transmission mechanism 84 transmits the swing motion of the swing rod 82 to the potentiometer 85 and is built in the housing 81.

  The potentiometer 85 detects the swing angle of the swing rod 82 and is built in the housing 81. The potentiometer 85 includes a resistance element 85a and a sliding element 85b. One end of the resistance element 85 a is connected to a constant voltage power source 87 through a fixed resistor 86. The terminal voltage of the constant voltage power supply 87 is constant. The other end of the resistance element 85a is connected to the ground via a fixed resistor 88. The sliding element 85b can slide on the resistance element 85a in accordance with the swing motion of the swing rod 82. A voltage signal obtained by the sliding element 85b (a detection signal from the displacement detection unit 80L) is output from the output terminal 85c. In this way, the displacement amount detection unit 80L can detect the displacement amount StL of the wheel 25L illustrated in FIG. 1 via the wheel support member 23 and the lower arm 22.

  Next, control circuits for the left and right electric damper devices 30L and 30R will be described based on FIG. 5 with reference to FIG. FIG. 5 shows control circuits for the left and right electric damper devices 30L and 30R shown in FIG. As shown in FIG. 5, the control circuit includes a battery 101 (DC power supply 101), a main switch 102, a main relay 103, a vehicle speed detection unit 104, two left and right displacement amount detection units 80L and 80R, a control unit 105, and two left and right control units. It consists of motor drive units 106L and 106R.

  The main switch 102 is composed of, for example, an ignition switch. The main relay 103 includes, for example, a normally open contact 103a connected to the battery 101 and an exciting coil 103b that closes the normally open contact 103a. The vehicle speed detection unit 104 is a sensor that detects the traveling speed Vs (vehicle speed Vs) of the vehicle 10. The two left and right displacement amount detection units 80L and 80R are displacement amount detection units individually provided in the electric damper devices 30L and 30R. The two left and right motor drive units 106L and 106R drive the electric motors 35L and 35R individually provided in the electric damper devices 30L and 30R based on the control signal of the control unit 105, respectively.

  The control unit 105 will be described in more detail. The control unit 105 receives the respective detection signals from the vehicle speed detection unit 104, the left and right displacement detection units 80L and 80R, and the left and right current detection units 124L and 124R (details will be described later), and receives two left and right motor drive units. The left and right electric motors 35L and 35R are driven and controlled by controlling 106L and 106R. The control unit 105 includes a one-pulse generation circuit 111, an input interface circuit 112, a control circuit 113, an output interface circuit 114, a watchdog timer circuit 115, and a relay drive circuit 116.

  The one-pulse generation circuit 111 generates a one-pulse signal to the control circuit 113 when the main switch 102 is turned on, and includes, for example, a differentiation circuit. The control circuit 113 is composed of, for example, a microcomputer, receives an input signal via the input interface circuit 112, and issues a control signal via the output interface circuit 114. The watchdog timer circuit 115 monitors a signal with a fixed period received from the control circuit 113, and generates an abnormal signal when the signal is interrupted or when the signal period is disturbed to stop the control circuit 113. The relay drive circuit 116 receives the control signal from the control circuit 113, turns on the main relay 103, and turns off the main relay 103 when an abnormality is detected.

The left motor drive unit 106L includes a gate drive circuit 121, a bridge circuit 122, a booster circuit 123, and a left current detection unit 124L.
The gate drive circuit 121 drives and controls the bridge circuit 122 based on a control signal received from the control circuit 113 via the output interface circuit 114. The bridge circuit 122 is driven by supplying a drive current to the left electric motor 35L.

The booster circuit 123 boosts the voltage of the power supplied from the battery 101 to generate a voltage that is approximately twice as high as the voltage of the battery 101 and supplies it to the gate drive circuit 121. As a result, the gate drive circuit 121 can drive the bridge circuit 122 more quickly and reliably by issuing a high-voltage drive signal to the bridge circuit 122. Accordingly, the response of the damper control by the left electric motor 35L is enhanced. The booster circuit 123 is composed of, for example, a combination of a transistor, a resistor, and a capacitor.
The left current detection unit 124L detects an actual drive current iaL (actual current iaL) supplied from the bridge circuit 122 to the left electric motor 35L and emits it to the control unit 105. For example, a Hall element or a resistor Consists of.

  The right motor drive unit 106R has substantially the same configuration as the left motor drive unit 106L, and includes a gate drive circuit 121, a bridge circuit 122, a booster circuit 123, and a right current detection unit 124R. The right current detection unit 124R detects the actual drive current iaR (actual current iaR) supplied from the bridge circuit 122 to the right electric motor 35R and issues it to the control unit 105.

  FIG. 6 shows a specific circuit of the bridge circuit 122 in the left motor drive unit 106L shown in FIG. The bridge circuit 122 is a so-called H bridge circuit in which four switching elements 131 to 134 formed of N-channel enhancement type field effect transistors (FETs) are connected in an H shape. Since a brushed DC motor is employed as the left electric motor 35L, the bridge circuit 122 having such a configuration is used. That is, two field effect transistors 131 and 132 are combined to form one set of arms, and the other two field effect transistors 133 and 134 are combined to form another set of arms. The bridge circuit 122 is configured by a pair of arms.

  Note that the motor driving unit 106L may be configured with at least two field effect transistors to form one set of arms and at least two sets of arms to form the bridge circuit 122. For example, when a three-phase brushless motor is adopted as the left electric motor 35L, the bridge circuit 122 needs to use three sets of arms.

  Each of the four switching elements 131 to 134 receives a drive signal from the gate drive circuit 121 at its gate and performs a switch operation (on / off operation). Hereinafter, the four switching elements (FETs) 131 to 134 are referred to as a first FET 131, a second FET 132, a third FET 133, and a fourth FET 134.

More specifically, the bridge circuit 122 of the left motor driving unit 106L (see FIG. 5) includes a first FET 131 in the upper left stage, a second FET 132 in the lower left stage, a third FET 133 in the upper right stage, and a fourth FET 134 in the lower right stage.
The drain of the upper left first FET 131 and the drain of the upper right third FET 133 are connected to each other and to the positive electrode of the battery 101 (see FIG. 5).
The source of the second FET 132 at the lower left stage and the source of the fourth FET 134 at the lower right stage are connected to each other, connected to the negative electrode of the battery 101, and grounded.
The source of the first FET 131 in the upper left stage and the drain of the second FET 132 in the lower left stage are connected to each other and to one terminal of the left electric motor 35L.
The source of the third FET 133 at the upper right stage and the drain of the fourth FET 134 at the lower right stage are connected to each other and to the other terminal of the left electric motor 35L through the left current detection unit 124L.

By the way, generally, in the field effect transistor, when this transistor is produced, a diode equivalent to that for regeneration is generated. The same applies to the four field effect transistors 131 to 134 described above. For this reason, it is not necessary to incorporate an external regenerative diode in the above-described bridge circuit 122 as in the “conventional bridge circuit employing a bipolar transistor”.
In order to facilitate understanding of the bridge circuit 122, FIG. 6 shows regenerative diodes 135 to 138 provided in the four field effect transistors 131 to 134, respectively. That is, the first regeneration diode 135 is connected to the first FET 131, the second regeneration diode 136 is connected to the second FET 132, the third regeneration diode 137 is connected to the third FET 133, and the fourth regeneration diode 138 is connected to the fourth FET 134.

  The bridge circuit 122 of the right motor drive unit 106R shown in FIG. 5 has the same configuration as the bridge circuit 122 of the left motor drive unit 106L, and the right electric motor 35R is connected instead of the left electric motor 35L. .

  Next, the control flow when the control circuit 113 (see FIG. 5) is a microcomputer will be described based on FIGS. 7 to 9 with reference to FIGS. 7 to 9 are control flowcharts showing an example of the electric motor drive control routine executed by the control circuit 113 shown in FIG.

  As shown in FIG. 5, when the main switch 102 is turned on, power is supplied from the battery 101 to the control unit 105. The control unit 105 turns on the normally open contact 103 a of the main relay 103. Electric power is supplied from the battery 101 to the left and right motor drive units 106L and 106R. The control circuit 113 starts control when the main switch 102 is on, and ends control when the main switch 102 is turned off. The one-pulse generation circuit 111 issues a one-pulse reset signal to the control circuit 113 when the main switch 102 is turned on.

First, the control circuit 113 receives a reset signal from the one-pulse generation circuit 111 and resets the system, and then starts control (step ST01).
Next, the displacement amounts StL and StR detected by the left and right displacement amount detection units 80L and 80R, the vehicle speed Vs detected by the vehicle speed detection unit 104, and the actual currents iaL and iaR detected by the left and right current detection units 124L and 124R are obtained. Read (step ST02).

  Next, it is determined whether or not the read displacement amounts StL and StR, the vehicle speed Vs, and the actual currents iaL and iaR are all normal values (step ST03). That is, failure diagnosis of each detection unit is performed. For example, when all the following three conditions are satisfied, it is determined to be normal, and otherwise, it is determined to be abnormal. The first condition is that the displacement amounts StL and StR are within a predetermined normal range. The second condition is that the value of the vehicle speed Vs is within a predetermined normal range. The third condition is that the values of the actual currents iaL and iaR are within a predetermined normal range based on the control signal from the control circuit 113.

  If it is determined in step ST03 that it is not normal, the main relay 103 is turned off via the relay drive circuit 116 (step ST04). That is, the main relay 103 stops driving the exciting coil 103b and returns the normally open contact 103a to open. As a result, the power supply from the battery 101 to the control unit 105 and the left and right motor drive units 106L and 106R is cut off, and the motor drive control ends.

If it is determined in step ST03 that it is normal, the difference ΔSt between the two is calculated by subtracting the right displacement StR from the left displacement StL (step ST05). That is, ΔSt = StL−StR.
Note that when the left wheel 25L is displaced downward relative to the vehicle body 11, the left displacement amount StL increases. On the other hand, when the right wheel 25R is displaced downward relative to the vehicle body 11, the right displacement amount StR increases.

Next, it is determined what the sign of the difference ΔSt is (step ST06). That is, when the value of ΔSt is larger than 0 (ΔSt> 0), the left displacement amount StL is larger than the right displacement amount StR (rolling to the right), so that it is determined to be a positive value. To do.
If the value of ΔSt is smaller than 0 (ΔSt <0), the left displacement amount StL is smaller than the right displacement amount StR (rolling to the left), so it is determined to be a negative value.
If the value of ΔSt is 0 (ΔSt = 0), the right displacement amount StR is the same as the left displacement amount StL, that is, there is no change (not rolling), so it is determined that there is no sign. Proceed to ST11.
Hereinafter, the difference ΔSt is appropriately referred to as “the difference ΔSt between the left and right displacements”.

If it is determined in step ST06 that Sv> 0 (positive value), the first roll corresponding to the difference ΔSt between the left and right displacement amounts based on the first roll control current map (see FIG. 10). A control current Fr1 is obtained (step ST07).
FIG. 10 is an explanatory diagram of a first roll control current map for obtaining the first roll control current Fr1 corresponding to the difference ΔSt, where the horizontal axis is the difference ΔSt between the left and right displacement amounts, and the vertical axis is the first roll control current Fr1. is there. This first roll control current map is indicated by a straight line having a characteristic in which Fr1 = 0 when ΔSt = 0 and Fr1 increases as ΔSt increases.

Next, the left and right first reference roll control currents irL1 and irR1 are obtained based on the first roll control current Fr1 obtained in step ST07 (step ST08). Specifically, the left first reference roll control current irL1 is obtained by multiplying Fr1 by +1. The right first reference roll control current irR1 is obtained by multiplying Fr1 by -1.
The left first reference roll control current irL1 obtained in step ST08 is a motor forward rotation current, and the right first reference roll control current irR1 is a motor reverse rotation current.

  On the other hand, if it is determined in step ST06 that Sv <0 (negative value), the absolute value of the difference ΔSt between the left and right displacement amounts is calculated based on the first roll control current map (see FIG. 10). A corresponding first roll control current Fr1 is obtained (step ST09).

Next, the left and right first reference roll control currents irL1 and irR1 are obtained based on the first roll control current Fr1 obtained in step ST09 (step ST10). Specifically, the left first reference roll control current irL1 is obtained by multiplying Fr1 by -1. The right first reference roll control current irR1 is obtained by multiplying Fr1 by +1.
The left first reference roll control current irL1 obtained in step ST10 is a motor reverse rotation current, and the right first reference roll control current irR1 is a motor forward rotation current.

  If it is determined in step ST06 that ΔSt = 0, the left and right first reference roll control currents irL1 = 0 and irR1 = 0. This is because, as is apparent from FIG. 10, Fr1 = 0 when ΔSt = 0. As a result, the left and right first reference roll control currents irL1 = 0 and irR1 = 0.

Next, a first vehicle speed correction coefficient Kv1 corresponding to the vehicle speed Vs is obtained based on the first vehicle speed correction map (see FIG. 11) (step ST11).
FIG. 11 is an explanatory diagram of a first vehicle speed correction map for obtaining the first vehicle speed correction coefficient Kv1 corresponding to the vehicle speed Vs, where the horizontal axis is the vehicle speed Vs and the vertical axis is the first vehicle speed correction coefficient Kv1. This first vehicle speed correction map is indicated by, for example, a characteristic curve having the following characteristics. When the vehicle speed Vs is 0, the first vehicle speed correction coefficient Kv1 is 0.5. In a range where the vehicle speed Vs increases from 0 to a predetermined Vn, the first vehicle speed correction coefficient Kv1 increases in proportion from 0.5 to 1.0. In a range where the vehicle speed Vs increases beyond Vn, the first vehicle speed correction coefficient Kv1 is a constant value of 1.0.

  Next, the values of the left and right first reference roll control currents irL1, irR1 are corrected by the first vehicle speed correction coefficient Kv1 (step ST12). Specifically, the left and right first reference roll control currents irL1 and irR1 obtained in steps ST08 and ST10 are multiplied by a first vehicle speed correction coefficient Kv1 to obtain corrected first reference roll control currents irL1 and irR1. (IrL1 = irL1 · Kv1, irR1 = irR1 · Kv1).

  Next, the vertical displacement speeds SvL and SvR of the wheels 25L and 25R are calculated from the values of the left and right displacement amounts StL and StR (step ST13). For example, the left displacement speed SvL is obtained by differentiating the value of the left displacement amount StL with respect to time. The right displacement speed SvR is obtained by differentiating the value of the right displacement StR with respect to time. The left and right displacement speeds SvL and SvR are also referred to as stroke speeds.

  Next, based on the value of the left displacement speed SvL, it is determined whether the displacement direction of the left wheel 25L relative to the vehicle body 11 is up or down (step ST14). When the left wheel 25L is displaced upward relative to the vehicle body 11, the left electric damper device 30L contracts (the total length Ld of the electric damper device 30L decreases). When the left wheel 25L is displaced downward relative to the vehicle body 11, the left electric damper device 30L extends (the total length Ld of the electric damper device 30L increases).

If the value of the left displacement speed SvL is positive (SvL> 0), it is determined that the left wheel 25L has been displaced downward, and the process proceeds to step ST15.
If the value of the left displacement speed SvL is negative (SvL <0), it is determined that the left wheel 25L has been displaced upward, and the process proceeds to step ST16.
When the value of the left displacement speed SvL is 0 (SvL = 0), it is determined that the left wheel 25L is not displaced up and down, and the process proceeds to step ST18. When SvL = 0, the left reference damper control current idL = 0.

  If it is determined in step ST14 that SvL> 0 (positive value), the left side corresponding to the left displacement speed SvL is determined on the basis of the damper extension side reference damper control current map (see FIG. 12). A reference damper control current idL is obtained (step ST15). The left reference damper control current idL obtained in step ST15 is a motor forward rotation current.

  In FIG. 12, the horizontal axis represents the left and right displacement speeds SvL and SvR, and the vertical axis represents the left and right reference damper control currents idL and idR. The reference damper control currents idL and idR corresponding to the displacement speeds SvL and SvR are obtained. It is explanatory drawing of the side reference | standard damper control current map.

  The reference damper control current map on the damper extension side is a map when the electric damper devices 30L and 30R extend (when the displacement direction is the downward direction). For example, the reference damper control current when SvL and SvR = 0. It is indicated by a characteristic curve having a characteristic that idL, idR = 0 and idL, idR increases as SvL, SvR increases. According to this characteristic curve, it can be seen that idL and idR have characteristics that change in three stages according to the values of SvL and SvR. That is, the increase characteristics of idL and idR in the range where SvL and SvR increase from 0 to a predetermined Sv1, the increase characteristics of idL and idR in the range where SvL and SvR increase beyond Sv1 to the predetermined Sv2, and SvL, The increase characteristics of idL and idR in the range where SvR increases beyond Sv2 are different.

If it is determined in step ST14 that SvL <0 (negative value), the left side corresponding to the left displacement speed SvL is determined based on the damper contraction-side reference damper control current map (see FIG. 13). A reference damper control current idL is obtained (step ST16).
Next, the sign of idL is inverted by multiplying the left reference damper control current idL obtained in step ST16 by −1 (step ST17). That is, “idL = −1 · idL”. The left reference damper control current idL obtained in step ST17 is a motor reverse rotation current.

  In FIG. 13, the horizontal axis is the left and right displacement speeds SvL and SvR, and the vertical axis is the left and right reference damper control currents idL and idR. The reference damper control currents idL and idR corresponding to the displacement speeds SvL and SvR are obtained. It is explanatory drawing of the side reference | standard damper control current map.

The reference damper control current map on the damper contraction side is a map when the electric damper devices 30L and 30R contract (when the displacement direction is the upward direction). For example, when SvL and SvR = 0, the reference damper control current It is indicated by a characteristic curve having a characteristic that idL, idR = 0 and idL, idR increases as SvL, SvR increases. According to this characteristic curve, it can be seen that idL and idR have characteristics that change in two stages according to the values of SvL and SvR. That is, the increase characteristics of idL and idR in the range where SvL and SvR increase from 0 to a predetermined Sv3 are different from the increase characteristics of idL and idR in the range where SvL and SvR increase beyond Sv3.
As is clear from the above description, the reference damper control current map when the damper is contracted as shown in FIG. 13 is different from the reference damper control current map when the damper is extended as shown in FIG.

Next, a second vehicle speed correction coefficient Kv2 corresponding to the vehicle speed Vs is obtained based on the second vehicle speed correction map (see FIG. 14) (step ST18).
FIG. 14 is an explanatory diagram of a second vehicle speed correction map for obtaining the second vehicle speed correction coefficient Kv2 corresponding to the vehicle speed Vs, where the horizontal axis is the vehicle speed Vs and the vertical axis is the second vehicle speed correction coefficient Kv2. The second vehicle speed correction map is indicated by a characteristic curve having the following characteristics, for example. When the vehicle speed Vs is 0, the second vehicle speed correction coefficient Kv2 is 0.3. In a range where the vehicle speed Vs increases from 0 to a predetermined Vn, the second vehicle speed correction coefficient Kv2 increases in proportion from 0.3 to 1.0. In a range where the vehicle speed Vs increases beyond Vn, the second vehicle speed correction coefficient Kv2 is a constant value of 1.0.

  Next, the value of the left reference damper control current idL is corrected by the second vehicle speed correction coefficient Kv2 (step ST19). Specifically, the left reference damper control current idL obtained in steps ST15 and ST17 is multiplied by the second vehicle speed correction coefficient Kv2 to obtain the corrected left reference damper control current idL (idL = idL · Kv2). ).

  Next, based on the value of the right displacement speed SvR, it is determined whether the displacement direction of the right wheel 25R relative to the vehicle body 11 is up or down (step ST20). When the right wheel 25R is displaced relatively upward with respect to the vehicle body 11, the right electric damper device 30R is contracted. When the right wheel 25R is displaced downward relative to the vehicle body 11, the right electric damper device 30R extends.

When the value of the right displacement speed SvR is positive (SvR> 0), it is determined that the right wheel 25R is displaced downward, and the process proceeds to step ST21.
When the value of the right displacement speed SvR is negative (SvR <0), it is determined that the right wheel 25R is displaced upward, and the process proceeds to step ST22.
When the value of the right displacement speed SvR is 0 (SvR = 0), it is determined that the right wheel 25R is not displaced up and down, and the process proceeds to step ST24. When SvR = 0, the right reference damper control current idR = 0.

  If it is determined in step ST20 that SvR> 0 (positive value), the right reference corresponding to the right displacement speed SvR is based on the damper extension-side reference damper control current map (see FIG. 12). A damper control current idR is obtained (step ST21). The right reference damper control current idR obtained in step ST21 is a motor forward rotation current.

If it is determined in step ST20 that SvR <0 (negative value), the right reference corresponding to the right displacement speed SvR is based on the damper contraction-side reference damper control current map (see FIG. 13). A damper control current idR is obtained (step ST22).
Next, the sign of idR is inverted by multiplying the right reference damper control current idR obtained in step ST22 by −1 (step ST23). That is, “idR = −1 · idR”. The right reference damper control current idR obtained in step ST23 is a motor reverse rotation current.

  Next, the value of the right reference damper control current idR is corrected by the second vehicle speed correction coefficient Kv2 obtained in step ST18 (step ST24). Specifically, the right reference damper control current idR obtained in steps ST21 and ST23 is multiplied by the second vehicle speed correction coefficient Kv2 to obtain a corrected right reference damper control current idR (idR = idR · Kv2). ).

  When it is determined in step ST14 that SvL = 0, the reference damper control current idL = 0. If it is determined in step ST20 that SvR = 0, the reference damper control current idR = 0. This is because, as is clear from FIGS. 12 and 13, idL = 0 when SvL = 0, and idR = 0 when SvR = 0.

  Next, the left target drive current imL supplied to the left electric motor 35L and the right target drive current imR supplied to the right electric motor 35R are set (step ST25). Specifically, the left target drive current imL is set by adding the left reference damper control current idL to the left first reference roll control current irL1 (imL = irL1 + idL). Moreover, the right target drive current imR is set by adding the right reference damper control current idR to the right first reference roll control current irR1 (imR = irR1 + idR).

  Next, it is determined what the sign of the value of the left target drive current imL is (step ST26). In step ST26, when the value of imL is larger than 0 (imL> 0), it is determined that the value is a positive value, and the left electric motor 35L is controlled to rotate forward (step ST27). That is, for example, feedback control is performed by PI operation (control by proportional operation and integration operation) so that the actual current iaL of the left electric motor 35L becomes the left target drive current imL, and the current flows in the direction of normal rotation. . However, the rotation is not necessarily normal and may be reversed.

  In step ST26, when the value of imL is smaller than 0 (imL <0), it is determined to be a negative value, and the left electric motor 35L is reversely controlled (step ST28). In other words, for example, feedback control by PI operation is performed to reverse the current so that the actual current iaL of the left electric motor 35L becomes the left target drive current imL. However, it is not always reverse and may be forward rotated.

  In step ST26, if the value of imL is 0 (imL = 0), it is determined that the value is neither a positive value nor a negative value, and the process proceeds to step ST29 without controlling the left electric motor 35L.

  Next, it is determined what the sign of the value of the right target drive current imR is (step ST29). In step ST29, when the value of imR is larger than 0 (imR> 0), it is determined to be a positive value, and the right electric motor 35R is controlled to rotate forward (step ST30), and then the process proceeds to step ST02. Return and repeat a series of controls. In other words, for example, feedback control is performed by PI operation so that the actual current iaR of the right electric motor 35R becomes the right target drive current imR, and the current is caused to flow forward. However, the rotation is not necessarily normal and may be reversed.

  In step ST29, when the value of imL is smaller than 0 (imL <0), it is determined to be a negative value, and the right electric motor 35R is reversely controlled (step ST31), and then the process returns to step ST02. Repeat the series of controls. In other words, for example, feedback control by PI operation is performed to reverse the current so that the actual current iaR of the right electric motor 35R becomes the right target drive current imR. However, it is not always reverse and may be forward rotated.

  In step ST29, when the value of imR is 0 (imR = 0), it is determined that the value is neither a positive value nor a negative value, and the process returns to step ST02 without controlling the right electric motor 35R. Repeat the control.

As is clear from the above description, step ST05 shown in FIG. 7 constitutes a “displacement amount difference calculation unit” for obtaining the difference ΔSt between the left and right displacement amounts StL and StR.
Steps ST06 to ST10 shown in FIG. 7 suppress rolling of the vehicle body 11 by the control characteristics (characteristics of the first roll control current map shown in FIG. 10) based on the difference ΔSt between the left and right displacement amounts StL and StR. The “first rolling suppression current setting unit” is configured to set motor control currents irL1 and irR1 (first reference roll control currents irL1 and irR1).

  Steps ST11 and ST12 shown in FIG. 7 correct the first reference roll control currents irL1 and irR1 based on the control characteristics based on the vehicle speed Vs (characteristics of the first vehicle speed correction map shown in FIG. 11). It constitutes a "correction unit".

  Step ST13 shown in FIG. 8 constitutes a “left and right displacement speed detector” that detects the vertical displacement speeds SvL and SvR of the wheels 25L and 25R from the values of the left and right displacement amounts StL and StR. is doing. That is, the left and right displacement speed detector ST13 calculates the displacement speed at which the wheels 25L and 25R are displaced in the vertical direction. Such a left and right displacement speed detector ST13 can also be referred to as a "left and right displacement speed calculator".

  Step ST14 shown in FIG. 8 constitutes a “left displacement direction determination unit” that determines whether the displacement direction of the left wheel 25L is up or down based on the value of the left displacement speed SvL.

Steps ST15 to ST17 shown in FIG. 8 are based on control characteristics (characteristics of the reference damper control current map shown in FIGS. 12 and 13) based on the left displacement speed SvL obtained by the left and right displacement speed detector ST13. The “left damping suppression current setting unit” is configured to set a motor control current idL (left damper control current idL) for suppressing damping of the vehicle body 11.
The left damping suppression current setting units ST15 to ST17 have a control characteristic when the displacement direction of the left wheel 25L is upward (characteristic of the reference damper control current map shown in FIG. 12) and a downward direction. The left damper control current idL is set based on the control characteristics different from the control characteristics (characteristics of the reference damper control current map shown in FIG. 13).

  Step ST20 shown in FIG. 8 constitutes a “right displacement direction determination unit” that determines whether the displacement direction of the right wheel 25R is up or down based on the value of the right displacement speed SvR.

Steps ST21 to ST23 shown in FIG. 8 are based on control characteristics (characteristics of the reference damper control current maps shown in FIGS. 12 and 13) based on the right displacement speed SvR obtained by the left and right displacement speed detector ST13. In addition, a “right damping suppression current setting unit” that sets a motor control current idR (right damper control current idR) for suppressing damping of the vehicle body 11 is configured.
The right damping suppression current setting units ST21 to ST23 have a control characteristic when the displacement direction of the right wheel 25R is upward (characteristic of the reference damper control current map shown in FIG. 12) and a downward direction. The right damper control current idR is set based on the control characteristics (characteristics of the reference damper control current map shown in FIG. 13) different from each other.

  Steps ST18, ST19 and ST24 shown in FIG. 8 correct the left and right damper control currents idL and idR based on the control characteristics based on the vehicle speed Vs (characteristics of the second vehicle speed correction map shown in FIG. 14). It constitutes a “vehicle speed correction unit”.

  Steps ST05 to ST10 shown in FIG. 7 and steps ST25 to ST31 shown in FIG. 9 are based on the difference ΔSt between the left and right displacement amounts StL and StR in the direction in which the left and right electric motors 35L and 35R rotate in the reverse direction. It constitutes a “rolling suppression control unit” for driving control.

  Next, a modified example of the electric motor drive control routine shown in FIGS. 7 to 9 will be described based on FIGS. 15 and 16. 15 and 16 are control flowcharts showing modifications of the electric motor drive control routine executed by the control circuit 113 shown in FIG.

  As shown in FIG. 15, the control flowchart of the modification is characterized in that new steps ST12A to ST12H are added between step ST12 shown in FIG. 7 and step ST13 shown in FIG.

  After step ST12 is executed, the displacement difference speed ΔSv is calculated from the value of the difference ΔSt between the left and right displacement amounts (step ST12A). For example, the displacement difference speed ΔSv is obtained by differentiating the value of the difference ΔSt between the left and right displacements with respect to time.

Next, it is determined what the sign of the displacement difference speed ΔSv is (step ST12B).
That is, when the value of ΔSv is larger than 0 (ΔSv> 0), it is determined to be a positive value.
When the value of ΔSv is smaller than 0 (ΔSv <0), it is determined to be a negative value.
When the value of ΔSv is 0 (ΔSv = 0), it is determined that there is no sign and the process proceeds to step ST12G.

If it is determined in step ST12B that ΔSv> 0 (positive value), the second roll control current Fr2 corresponding to the displacement difference speed ΔSv based on the second roll control current map (see FIG. 17). Is obtained (step ST12C).
FIG. 17 is an explanatory diagram of a second roll control current map for obtaining the second roll control current Fr2 corresponding to the difference ΔSv, where the horizontal axis is the displacement difference speed ΔSv and the vertical axis is the second roll control current Fr2. The second roll control current map is indicated by a characteristic line having a characteristic that Fr2 = 0 when ΔSv = 0 and Fr2 increases as ΔSv increases.

Next, the left and right second reference roll control currents irL2 and irR2 are obtained based on the second roll control current Fr2 obtained in step ST12C (step ST12D). Specifically, the left second reference roll control current irL2 is obtained by multiplying Fr2 by +1. The right second reference roll control current irR2 is obtained by multiplying Fr2 by -1.
The left second reference roll control current irL2 obtained in step ST12D is a motor forward rotation current, and the right second reference roll control current irR2 is a motor reverse rotation current.

  On the other hand, if it is determined in step ST12B that ΔSv <0 (negative value), the second value corresponding to the absolute value of the displacement difference speed ΔSv is based on the second roll control current map (see FIG. 17). A 2-roll control current Fr2 is obtained (step ST12E).

Next, the left and right second reference roll control currents irL2 and irR2 are obtained based on the second roll control current Fr2 obtained in step ST12E (step ST12F). Specifically, the left second reference roll control current irL2 is obtained by multiplying Fr2 by -1. The right second reference roll control current irR2 is obtained by multiplying Fr2 by +1.
The left second reference roll control current irL2 obtained in step ST12F is a motor reverse rotation current, and the right second reference roll control current irR2 is a motor forward rotation current.

  If it is determined in step ST12B that ΔSv = 0, the left and right second reference roll control currents irL2 = 0 and irR2 = 0. This is because, as is apparent from FIG. 17, Fr2 = 0 when ΔSv = 0. As a result, the left and right second reference roll control currents irL2 = 0 and irR2 = 0.

Next, a third vehicle speed correction coefficient Kv3 corresponding to the vehicle speed Vs is obtained based on the third vehicle speed correction map (see FIG. 18) (step ST12G).
FIG. 18 is an explanatory diagram of a third vehicle speed correction map for obtaining the third vehicle speed correction coefficient Kv3 corresponding to the vehicle speed Vs, where the horizontal axis is the vehicle speed Vs and the vertical axis is the third vehicle speed correction coefficient Kv3. This third vehicle speed correction map is indicated by, for example, a characteristic curve having the following characteristics. When the vehicle speed Vs is 0, the third vehicle speed correction coefficient Kv3 is 0.5. In a range where the vehicle speed Vs increases from 0 to a predetermined Vn, the third vehicle speed correction coefficient Kv3 increases in proportion from 0.5 to 1.0. In a range where the vehicle speed Vs increases beyond Vn, the third vehicle speed correction coefficient Kv3 is a constant value of 1.0.

  Next, after correcting the values of the left and right second reference roll control currents irL2, irR2 by the third vehicle speed correction coefficient Kv3 (step ST12H), the process proceeds to step ST13. Specifically, the left and right second reference roll control currents irL2 and irR2 obtained in steps ST12D and ST12F are multiplied by a third vehicle speed correction coefficient Kv3 to obtain corrected second reference roll control currents irL2 and irR2. (IrL2 = irL2 · Kv3, irR2 = irR2 · Kv3).

As shown in FIG. 16, the control flowchart of the modification is characterized in that step ST25 shown in FIG. 9 is changed to step ST25A.
Step ST25A sets the left target drive current imL supplied to the left electric motor 35L and the right target drive current imR supplied to the right electric motor 35R.

Specifically, the left target drive current imL is set by adding the left second reference roll control current irL2 and the left reference damper control current idL to the left first reference roll control current irL1 (imL = IrL1 + irL2 + idL).
Further, the right target drive current imR is set by adding the right second reference roll control current irR2 and the right reference damper control current idR to the right first reference roll control current irR1 (imR = irR1 + irR2 + idR).

  As is apparent from the above description, step ST12A shown in FIG. 15 constitutes a “displacement difference speed calculation unit” that obtains the displacement difference speed ΔSv from the difference ΔSt between the left and right displacement amounts.

  Steps ST12B to ST12F shown in FIG. 15 are motor control currents for suppressing rolling of the vehicle body 11 based on the control characteristics (characteristics of the second roll control current map shown in FIG. 17) based on the displacement difference speed ΔSv. A “second rolling suppression current setting unit” that sets irL2, irR2 (second reference roll control current irL2, irR2) is configured.

  Steps ST12G and ST12H shown in FIG. 15 correct the second reference roll control currents irL2 and irR2 based on the control characteristics (characteristics of the third vehicle speed correction map shown in FIG. 18) based on the vehicle speed Vs. It constitutes a "correction unit".

  In the present invention, when the vehicle 10 is composed of an automobile having four wheels on the front, rear, left and right, the left and right electric damper devices 30L and 30R are adopted only for the two left and right front suspensions, and only the two left and right rear suspensions. Or all four suspensions.

  The vehicle suspension devices 20L and 20R are not limited to the double wishbone suspension, and may be applied to, for example, a strut suspension.

  Further, the electric motors 35L and 35R are not limited to brushed DC motors, and may be, for example, brushless motors. The brushless motor has a small mechanical internal loss of the motor itself and a loss due to the inertia of the rotor of the motor itself.

Further, the displacement amount detection units 80L and 80R may be any devices that detect the displacement amounts StL and StR in which the wheels 25L and 25R are displaced in the vertical direction relative to the vehicle body 11.
For this reason, the swing rod 82 is not limited to the configuration connected to the lower arm 22, but may be configured to be connected to the upper arm 21, the wheel support member 23, or the electric damper devices 30L and 30R, for example.

  Further, the displacement amount detection units 80L and 80R are not limited to the variable resistance type configuration shown in FIG. 4, but may be, for example, a rotary encoder type configuration or a counter electromotive voltage generated in the electric motors 35L and 35R. The required configuration may be used. This counter electromotive voltage is proportional to the rotational speed of the electric motors 35L and 35R. This rotational speed is proportional to the displacement speeds SvL and SvR of the wheels 25L and 25R. For this reason, the displacement speeds SvL and SvR can be obtained from the rotation speed.

  Further, the displacement amount detection units 80L and 80R may be configured to obtain the rotation angle by a resolver (rotation angle detection means) provided in the electric motors 35L and 35R. The displacement amounts StL and StR can be obtained from the rotation angle. In this case, since it is not necessary to provide a new displacement amount detection unit, the configuration can be simplified to achieve low cost, high reliability, light weight, and high detection accuracy.

  Further, the displacement speed detection unit calculates the displacement speeds SvL and SvR from the output values (displacement amounts StL and StR) of the potentiometers 85 and 85 of the displacement amount detection units 80L and 80R (executed in step ST13). It is not limited. For example, a DC generator (tacho generator) or the like is used instead of the potentiometer 85, and the displacement speeds SvL and SvR are directly detected by detecting the voltage output from the DC generator according to the displacement speeds SvL and SvR. It may be a configuration.

  In step ST12A, the displacement difference speed ΔSv is not limited to the configuration calculated from the value of the difference ΔSt between the left and right displacement amounts. For example, the displacement difference speed ΔSv may be obtained from the difference between the left and right displacement speeds SvL and SvR detected by the displacement speed detector (ΔSv = SvL−SvR).

Further, the left and right displacement direction determination units (corresponding to steps ST14 and ST20 in FIG. 8) determine at least one of the displacement amounts StL and StR and the displacement speeds SvL and SvR as to whether the displacement direction of the wheels 25L and 25R is up or down. The determination may be made based on the value of.
For example, when the displacement direction is determined by the displacement amounts StL and StR, steps ST14 and ST20 shown in FIG. 8 determine that the wheels 25L and 25R are displaced downward when the displacement amounts StL and StR increase. When the displacement amounts StL and StR are reduced, it is determined that the wheels 25L and 25R are displaced upward.
Further, the displacement direction of the wheels 25L, 25R can be determined from the rotation direction of the electric motors 35L, 35R.

  The vehicle electric damper devices 30L and 30R of the present invention are suitable for use in each suspension device of an automobile.

1 is a schematic view of a vehicle including a vehicle suspension device according to the present invention. FIG. 2 is a cross-sectional view of the left vehicle electric damper device shown in FIG. 1. FIG. 3 is a sectional view taken along line 3-3 in FIG. 2. FIG. 2 is a schematic diagram of a left displacement amount detection unit illustrated in FIG. 1. FIG. 2 is a control circuit diagram of the left and right electric damper devices shown in FIG. 1. FIG. 6 is a circuit diagram of a bridge circuit in the motor driving unit shown in FIG. 5. 6 is a control flowchart (part 1) illustrating an example of an electric motor drive control routine executed by the control circuit shown in FIG. 5; FIG. 6 is a control flowchart (No. 2) showing an example of an electric motor drive control routine executed by the control circuit shown in FIG. 5. FIG. 6 is a control flowchart (No. 3) showing an example of an electric motor drive control routine executed by the control circuit shown in FIG. 5. It is explanatory drawing of the 1st roll control electric current map shown by FIG. It is explanatory drawing of the 1st vehicle speed correction map shown by FIG. FIG. 9 is an explanatory diagram of a reference damper control current map on the damper extension side shown in FIG. 8. FIG. 9 is an explanatory diagram of a reference damper control current map on the damper contraction side shown in FIG. 8. It is explanatory drawing of the 2nd vehicle speed correction map shown by FIG. 6 is a control flowchart showing a modification of the electric motor drive control routine executed by the control circuit shown in FIG. 5. FIG. 10 is a modified example of the control flowchart shown in FIG. 9. It is explanatory drawing of the 2nd roll control electric current map shown by FIG. FIG. 16 is an explanatory diagram of a third vehicle speed correction map shown in FIG. 15.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Vehicle, 11 ... Vehicle body, 20L, 20R ... Left and right vehicle suspension devices, 25L, 25R ... Left and right wheels, 30L, 30R ... Left and right vehicle electric damper devices, 35L, 35R ... Left and right electric motors, 80L, 80R: Left and right displacement detection unit 104: Vehicle speed detection unit 105 ... Control unit ST13: Left and right displacement speed detection unit StL, StR: Left and right displacement amount, SvL, SvR: Left and right displacement speed, Vs: Vehicle speed , ΔSt: difference between left and right displacement amounts, ΔSv: speed of displacement difference.

Claims (7)

A left electric motor which is turned by a relative vertical movement of the left wheel with respect to the vehicle body, and which can displace the left wheel up and down relatively with respect to the vehicle body by drive control;
A right electric motor that is turned by a relative vertical movement of the right wheel with respect to the vehicle body, and that can move the right wheel up and down relatively with respect to the vehicle body by drive control;
A left displacement amount detection unit that detects a left displacement amount when the left wheel is displaced in the vertical direction with respect to the vehicle body;
A right displacement amount detection unit for detecting a right displacement amount when the right wheel is displaced in the vertical direction with respect to the vehicle body;
When a difference between the left displacement amount and the right displacement amount occurs, the electric motor is driven and controlled so that the left and right wheels are displaced in the opposite direction with respect to the vehicle body so as to reduce the difference. And a controller that drives and controls the left and right electric motors so as to obtain a displacement difference speed from the difference between the left and right displacement amounts, and to reduce the absolute value of the displacement difference speed ;
An electric damper device for a vehicle comprising: A vehicle speed detection unit for detecting the vehicle speed;
The control unit, until the detected vehicle speed reaches a predetermined speed, as the detected vehicle speed is high, claims and characterized in that is configured to increase the drive control amount of the left and right electric motors 1 serial mounting of the vehicle for the electric damper. The controller is
When a difference between the left displacement amount and the right displacement amount occurs, the left and right electric motors are arranged so that the left and right wheels are displaced in the reverse direction with respect to the vehicle body so as to reduce the difference. Calculating a first reference roll control current for driving control;
Further, the speed of the displacement difference is obtained from the difference between the left and right displacement amounts, and a second reference roll control current for driving and controlling the left and right electric motors to reduce the absolute value of the displacement difference speed is calculated. the first reference roll control current and the second reference roll control current vehicle electric damper according to claim 1 or claim 2, wherein the left and right electric motors based on the sum was characterized by that you control the driving of the. A left displacement speed detector that detects a left displacement speed when the left wheel is displaced in the vertical direction with respect to the vehicle body;
A right displacement speed detector that detects a right displacement speed when the right wheel is displaced in the vertical direction with respect to the vehicle body; and
Wherein the control unit, the above left drive controls the electric motor of the absolute value smaller Kusuru so the displacement speed of the left, drives the right electric motor to the absolute value of the displacement speed of the right small Kusuru so The electric damper device for a vehicle according to any one of claims 1 to 3, wherein the electric damper device is configured to be controlled. When the difference between the left displacement amount and the right displacement amount occurs, the control unit causes the left and right wheels to be displaced in the upside down direction with respect to the vehicle body so as to reduce the difference. Calculating a first reference roll control current for driving and controlling the left and right electric motors;
  Further, a reference damper control current that drives and controls the left electric motor so as to reduce the absolute value of the left displacement speed, and drives and controls the right electric motor so as to reduce the absolute value of the right displacement speed. 5. The vehicle electric damper device according to claim 4, wherein the left and right electric motors are driven and controlled based on a sum of the first reference roll control current and the reference damper control current. The controller is
Based on at least one value of the left displacement amount and the left displacement speed, it is determined whether the displacement direction of the left wheel is up or down, and when the left displacement direction is upward, the displacement direction The left electric motor is driven and controlled by a first control characteristic that is suitable when the left displacement direction is downward, and by a second control characteristic that is suitable when the displacement direction is downward when the left displacement direction is downward. ,
Based on at least one value of the right displacement amount and the right displacement speed, it is determined whether the displacement direction of the right wheel is up or down, and when the right displacement direction is upward, the displacement direction The right electric motor is driven and controlled by a first control characteristic suitable for the case where the right direction is upward, and by a second control characteristic suitable for the case where the displacement direction is downward when the right displacement direction is downward. The first control characteristic and the second control characteristic are different characteristics.
6. The electric damper device for a vehicle according to claim 4 , wherein the electric damper device is for vehicles. In the first control characteristic, as the left and right displacement speeds are larger, the drive control amount of the left and right electric motors is increased in two stages.
In the second control characteristic, as the left and right displacement speed is larger, the drive control amount of the left and right electric motors is increased in three stages.
The electric damper device for vehicles according to claim 6 characterized by things.

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