JP5273011B2 - Vibration suppression device, vibration suppression method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration suppressing device and method for reducing the vibration of an engine that originates in an engine roll by a low-cost structure, and to provide a program which can be executed by a computer. <P>SOLUTION: An engine control device 51 estimates or detects the engine roll, and controls the engine torque so that the estimate or detected engine roll becomes small in order to reduce the vibration of the engine that originates in the engine roll. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a vibration suppression device, a vibration suppression method, and a computer-executable program.

  In a vehicle such as an automobile, in order to suppress the vibration of the vehicle during idling and traveling and the accompanying vehicle interior noise by mitigating the propagation of the vibration generated when the engine is operated to the vehicle body, The mounting is performed by interposing a plurality of engine mount devices having an anti-vibration function by an elastic member such as rubber between the engine and the vehicle body.

  The types of engine vibration include internal vibration (10 to 100 Hz) due to combustion, vibration due to road surface disturbance (1 to 50 Hz), vibration due to vehicle turning (0 to 5 Hz), etc. Are superimposed and occur. A normal inactive engine mount device includes a spring and a damper element. However, since it is physically impossible to cut off vibrations in all frequency ranges, it mainly cuts off high frequency vibrations of 10 Hz or more. It is a characteristic.

  For example, in Patent Document 1, in order to reduce low frequency dynamic displacement such as engine roll displacement due to turning, an actuator member that mechanically expands and contracts by adding an elastic member having a predetermined elastic coefficient and an electric signal. The engine mount device is configured from the above, and the engine is attached to the vehicle body via the engine mount device, and the roll displacement (elongation) between the engine mount devices on both the left and right sides of the vehicle is detected to detect each other. Has proposed a method for reducing the amount of engine roll displacement by controlling the actuator member of this type and reducing the amount of shrinkage.

  However, in Patent Document 1, in order to cut off the amount of engine roll due to turning, the engine mount device needs to generate a large output so that a heavy engine can operate with high response. Since large electric power is required to actuate, there is a problem that the weight of the engine mount device increases and the cost increases.

JP-A-5-231467

  The present invention has been made in view of the above, and a vibration suppression device, a vibration suppression method, and a computer-executable program capable of reducing engine vibration caused by an engine roll with a low-cost configuration The purpose is to provide.

  In order to solve the above-described problems and achieve the object, the present invention is a vibration suppression device that reduces vibrations of an engine mounted on a vehicle, the engine roll calculating means for estimating or detecting the engine roll, Engine torque control means for controlling the engine torque so that the engine roll estimated or detected by the engine roll calculation means becomes smaller.

  According to a preferred aspect of the present invention, it is desirable that the engine roll calculation means estimates a lateral G based on a steering angle, and estimates an engine roll due to the turning lateral G based on the estimated lateral G. .

  According to a preferred aspect of the present invention, the engine roll calculating means estimates the lateral G based on the steering angle, and estimates the engine roll due to the turning lateral G based on the estimated lateral G. Based on the engine roll estimation means and the lateral roll G detected by the lateral G sensor, and based on the turning lateral G estimated by the first engine roll estimation means from the engine roll estimated based on the lateral G It is desirable to include a second engine roll estimating means for reducing the engine roll and estimating the engine roll due to road surface disturbance.

  According to a preferred aspect of the present invention, the engine torque control means calculates an engine roll suppression torque based on the engine roll angular velocity estimated or detected by the engine roll calculation means, and the calculated engine roll suppression torque It is desirable to correct the engine torque.

  According to a preferred aspect of the present invention, the engine torque control means calculates an engine roll suppression torque based on the engine roll angular velocity and the engine roll angle estimated or detected by the engine roll calculation means, and calculates the calculated engine. It is desirable to correct the engine torque with roll suppression torque.

  According to a preferred aspect of the present invention, the engine torque control means multiplies a value obtained by multiplying the engine roll by the turning lateral G by a first control gain, and a second control gain by the engine roll by road surface disturbance. It is desirable that the engine roll suppression torque is calculated based on the added value and the value of the first control gain is made larger than the value of the second control gain.

  According to a preferred aspect of the present invention, it is desirable that the engine torque control means reduce the engine roll suppression torque when the vehicle stabilization control is being executed.

  Further, according to a preferred aspect of the present invention, it is desirable that the engine torque suppression means make the engine suppression torque smaller when the vehicle speed is low than when the vehicle speed is high.

  In order to solve the above-described problems and achieve the object, the present invention is a vibration suppression method for reducing vibrations of an engine mounted on a vehicle, the engine roll calculating step for estimating or detecting the engine roll, An engine torque control step of controlling the engine torque so that the engine roll estimated or detected in the engine roll calculation step is reduced.

  In order to solve the above-described problems and achieve the object, the present invention is a program mounted on a vibration suppression device that reduces vibration of an engine mounted on a vehicle, and estimates or detects an engine roll in a computer And an engine torque control step for controlling the engine torque so that the engine roll estimated or detected in the engine roll calculation step is reduced.

  In addition, the present invention is a vibration suppression device that reduces vibration of a vehicle or a drive source mounted on the vehicle, and based on the G sensor that detects the lateral G and the lateral G detected by the G sensor, A roll calculating means for calculating a roll of the drive source, removing a roll component based on a steering angle from the calculated vehicle or the roll of the drive source, and calculating a roll of the vehicle or the drive source due to a road surface disturbance; and the calculated road surface Torque control means for applying to the drive source a suppression torque that suppresses rolling of the vehicle or the drive source due to disturbance.

  A vibration suppressing device according to the present invention is a vibration suppressing device that reduces vibration of an engine mounted on a vehicle, and is estimated or detected by an engine roll calculating unit that estimates or detects an engine roll, and the engine roll calculating unit. An engine torque control means for controlling the engine torque so that the engine roll becomes smaller. Therefore, a vibration suppressing device capable of reducing the engine vibration caused by the engine roll with a low-cost configuration. There is an effect that it becomes possible to provide.

FIG. 1 is a diagram schematically showing an FR-type vehicle equipped with a vibration suppression control device according to an embodiment of the present invention. FIG. 2 is a diagram showing a schematic functional configuration of an engine control device to which the vibration suppressing device according to the present invention is applied, in a control block format. FIG. 3 is a schematic diagram showing an engine mount structure for explaining the engine roll. FIGS. 4-1 is a figure which shows an example of the experimental result of the load change of the engine roll angle | corner and engine mount apparatus at the time of not performing the engine roll suppression control by this Embodiment (prior art). FIG. 4-2 is a diagram illustrating an experimental result of a change in the weight of the engine roll angle and the engine mount device when engine roll suppression control according to the present embodiment is performed. FIG. 5 is a diagram for explaining the principle of the present invention.

Hereinafter, preferred embodiments of a vibration suppressing device, a vibration suppressing method, and a computer-executable program according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or that are substantially the same.
(Embodiment 1)

  FIG. 1 is a diagram schematically showing an FR-type vehicle equipped with a vibration suppression control device according to an embodiment of the present invention. In the figure, the vehicle 10 which has left and right front wheels 12FL and 12FR and left and right rear wheels 12RL and 12RR and which is a rear wheel drive vehicle has a rear wheel according to the depression of the accelerator pedal by the driver in a normal manner. A driving device 20 that generates a driving force or a driving torque is mounted. In the example shown in the figure, the driving device 20 transmits driving torque or rotational driving force from the engine 21 to the left and right rear wheels 12RL and 12RR via the torque converter 22, the automatic transmission 23, the differential gear device 24, and the like. It is comprised so that. The engine 21 is vertically mounted on the vehicle 10 by the engine mount device 30. The drive device 20 may be an electric drive device that uses an electric motor instead of the engine 21 or a hybrid drive device that has both an engine and an electric motor. The vehicle may be a four-wheel drive vehicle.

  The vehicle 10 is not shown for the sake of simplicity, but includes a steering device for controlling the steering angle of the front wheels or the front and rear wheels, and a braking system that generates a driving force for each wheel in accordance with the depression force of the brake pedal. A device or the like is provided.

  The operation control of each part of the vehicle such as the operation control of the drive device 20 is controlled by the electronic control device 50. The electronic control device 50 includes a microcomputer having a CPU, a ROM, a RAM, and an input / output port device, which are connected to each other by a bidirectional common bus, and a driving circuit. The electronic control unit 50 includes an engine control unit 51 that controls the operation of the engine 21, an ECT (Electoronic Controlled Transmission) control unit 52 that controls the operation of the automatic transmission 23 and the torque converter 22, ABS, AVS, ESC, and steering operation. Obtained from a VDIM (Vehicle Dynamics Integrated Management) device 53 that controls vehicle behavior stably and efficiently through integrated optimal control, an anti-jerk device 54 for preventing shaking of the vehicle, and a radar device Based on each target information, various control devices equipped in a known vehicle electronic control device such as an ACC (Adaptive Cruise Control System) device 55 that performs automatic traveling control are provided. The configuration and operation of various control devices are realized by processing operations of the CPU and the like in the electronic control device 50 during operation of the vehicle.

  The electronic control device 50 is input with the lateral G, front and rear G from the G sensor 41 attached to the vehicle 10, and the steering angle St from the steering angle sensor 42 attached to the steering device. Further, the electronic control unit 50 is required for vehicle control such as engine speed Ne, vehicle speed V, accelerator opening, gear ratio n, oil temperature, intake air amount, and intake air temperature from various sensors (not shown). Various vehicle information is input.

  FIG. 2 is a diagram showing a schematic functional configuration of the engine control device 51 to which the vibration suppressing device according to the present invention is applied, in a control block format. FIG. 3 is a schematic diagram showing a mount structure of the engine 21 for explaining the engine roll. The configuration and operation of the engine control device 51 will be described in detail with reference to FIG. 2 and FIG.

  The engine control device 51 shown in FIG. 2 realizes the functions of the respective parts shown in FIG. 2 when the CPU executes a program, and functions as an engine roll calculation unit and an engine torque control unit. The engine control device 51 reduces the engine vibration by adjusting the engine torque and suppressing the engine roll according to the engine roll generated by the turning lateral G, the road surface disturbance, and the engine output fluctuation.

In FIG. 2, the engine control device 51 mainly estimates the lateral G based on the steering angle St, and based on the estimated lateral G, the first engine roll estimation unit 101 that estimates the engine roll due to the turning lateral G; The second engine roll estimation unit 102 that estimates the engine roll based on the lateral G detected by the G sensor 41 and the first engine roll estimation unit 101 from the engine roll estimated by the second engine roll estimation unit 102. An adder 104 that calculates an engine roll due to road disturbance by reducing the estimated engine roll due to the turning lateral G, a first control gain calculator 105 that multiplies the engine roll due to the turning lateral G by a first control gain, and a road disturbance A second control gain calculator 106 that multiplies the engine roll by the second control gain, and the first control gain. Based on the engine roll added by the adder 107, and the adder 107 for adding the engine roll due to the road surface disturbance multiplied by the second control gain, and the engine roll added by the adder 107, for reducing the engine roll The engine roll suppression torque calculation unit 109 that calculates the engine roll suppression torque Ter, the adder 115 that corrects the target engine torque by adding the engine roll suppression torque Ter to the target engine torque, and the corrected target engine torque. Thus, the control command determination unit 118 that controls the engine 21 is configured.

  In FIG. 3 and the following equations (1) to (7), ω is the engine rotation angle, Iν is the vehicle inertia, θ is the vehicle roll angle, θ ′ is the vehicle roll angular velocity, θ ″ is the vehicle roll angular acceleration, and Kv. Is the roll rigidity of the vehicle, Cv is the roll damping of the vehicle, Ieg is the engine inertia (around the roll center of the engine), φ is the engine roll angle, φ ′ is the engine roll angular velocity, φ ″ is the engine roll angular acceleration, and Keg is the engine Roll stiffness (constant switching in suspension control state), Ceg is engine roll damping (constant switching in suspension control state), Ieg2 is engine inertia (around the engine rotation center), Ter is engine roll suppression torque, and M1 is engine mount The spring model of the device, S1 is the spring model of the suspension, l is the center of gravity of the engine and the fulcrum of M1 Away, L is the distance between the fulcrum of the center of gravity of the vehicle and S1, h is the distance between the engine center of gravity and the engine roll center, H is represents the distance between the center of gravity of the vehicle and the vehicle roll center, respectively. In the present embodiment, the engine roll is reduced by applying to the engine 21 an engine torque suppression torque Ter having a phase opposite to that of the engine roll.

  The engine roll suppression control of the engine control device 51 will be described with reference to FIG. The engine control device 51 can calculate the engine roll suppression torque Ter based on the engine roll angle φ and / or the engine roll angular velocity φ ′. However, in the following description, for the sake of simplicity, the engine roll angle φ is mainly used. The case where the engine roll suppression torque Ter is calculated based on the above will be described.

  The second engine roll estimation unit 102 estimates the engine roll angle φ1 based on the lateral G input from the G sensor 41 using the following expressions (1) and (2), and the engine roll angle φ1. Is output to the adder 104.

  Assuming that the value of the G sensor 41 is Gy1 and the engine roll angle is φ1 and the vehicle roll angle is θ1 generated corresponding to the lateral G generated in the vehicle, the equation of motion of the vehicle in the roll direction by the lateral G is as follows: 1) The equation of motion in the engine roll direction by lateral G can be expressed as the following equation (2).

  The first engine roll estimator 101 uses the following equations (3), (4), and (5) to determine the turning lateral G based on the steering angle St and the vehicle speed V input from the steering angle sensor 42. The engine roll angle φ 2 is estimated and output to the second correction gain calculator 105 and the phase compensation filter 103.

  When the vehicle speed is V, the steering angle is St, the steering gear ratio is n, the wheel base is L, the stability factor is Kh, and the lateral G with respect to the steering input is Gy2, the lateral G from the steering input is It can be estimated using (3).

  Further, the equation of motion in the roll direction of the vehicle by the lateral G by the steering input can be expressed by the following equation (4), and the equation of motion in the roll direction of the engine by the lateral G by the steering input can be expressed by the following equation (5).

  Thus, by calculating the engine roll angle φ2 from the lateral G estimated from the steering angle St and the vehicle speed V, only the engine roll based on the turning lateral G can be extracted.

  In the above formulas (1) and (4), in order to adapt to changes in vehicle characteristics, the characteristics of the roll angle of the vehicle change according to the characteristics of the suspension system such as an AVS / actor. Since the characteristics of the roll and the engine roll due to road surface disturbance also change, there is a term that multiplies the roll rigidity Kv of the vehicle and the roll damping Cv of the vehicle, and the engine roll angle estimation calculation is changed. In the above equations (1) and (4), when the active suspension is not used, the roll rigidity Kv of the vehicle and the roll damping Cv of the vehicle are constants.

  The phase compensation filter 103 has the same phase as the engine roll angle φ1 output from the first engine roll estimation unit 101 due to road surface disturbance and the engine roll angle φ2 output from the second engine roll estimation unit 102. Therefore, based on the vehicle speed V, the phase of the engine roll angle φ2 by the turning lateral G is adjusted and output to the adder 104.

  The adder 104 uses a value (corrected value) obtained by subtracting the engine roll angle φ2 due to the turning lateral G that has been phase-compensated by the phase compensation filter 103 from the engine roll angle φ1 as the engine roll angle φ3 due to road surface disturbance, as a second value. The result is output to the correction gain calculation unit 106. The roll angle of the engine and the vehicle due to the corrected road surface disturbance can be expressed as the following formula (6).

  Thus, since the engine roll estimated from the lateral G detected by the G sensor 41 is the sum of the engine roll due to the road disturbance and the engine roll due to the turning lateral G, the engine roll due to the road disturbance is estimated from the lateral G. It can be estimated by subtracting the engine roll due to the turning lateral G from the engine roll.

  The first correction gain calculation unit 105 multiplies the engine roll angle φ2 by the turning lateral G by a first control gain based on the vehicle speed and outputs the result to the adder 105. For example, the first correction gain calculation unit 105 includes a first control gain map using the vehicle speed as a variable, and can set the first control gain based on the current value of the vehicle speed. The first control gain of the engine roll due to the turning lateral G is set to be larger than the second control gain of the engine roll due to road surface disturbance, so that both operability and drivability are achieved.

  The second correction gain calculator 106 multiplies the engine roll angle φ3 due to road disturbance by a second control gain based on the vehicle speed and outputs the result to the adder 107. For example, the second correction gain calculation unit 106 includes a second control gain map using the vehicle speed V as a variable, and can set the second control gain based on the current value of the vehicle speed V. The second control gain of the engine roll due to the road surface disturbance is set smaller than the first control gain of the engine roll due to the turning lateral G.

  In addition, on the cant road surface / bank road surface, the lateral G estimated from the steering angle St and the actual lateral G are deviated, so that the accuracy of the engine roll by the turning lateral G deteriorates. Therefore, in such a situation, the first control gain may be reduced.

  Further, when the vehicle stability control is performed at the time of ESC operation or the like, the calculation accuracy of the engine roll by the turning lateral G is deteriorated, so the first control gain is reduced. Specifically, the first control gain may be reduced according to the drift amount.

  In addition, at low speed, the contribution of the roll motion of the engine 21 to the maneuverability is small, and the occupant can easily feel a sense of discomfort during acceleration / deceleration by the engine roll suppression control. The second control gain may be switched, and the first and second control gains may be made smaller when the speed is low than when the speed is high.

  The adder 107 adds the engine roll angle φ1 due to the turning lateral G multiplied by the first control gain and the engine roll angle φ3 due to the road surface disturbance multiplied by the second control gain, and adds the engine roll angle φ3. Is output to the air system delay compensation unit 108.

  The air system delay compensation unit 108 compensates for the engine torque delay due to the air system of the engine 21 with respect to the engine roll angle φ input from the adder 107 based on the engine rotational speed Ne. And output to the engine roll suppression torque calculation unit 109. This is because the realization response characteristic of the engine torque differs depending on the engine rotational speed Ne, so that the time constant is adjusted.

  The engine roll suppression torque calculation unit 109 calculates the engine roll suppression torque Ter based on the engine roll angle φ using the following equation (7), and outputs the engine roll suppression torque Ter to the adder 115.

  The equation of motion of the engine torque suppression torque Ter and the engine 21 in the roll direction can be expressed by the following equation (7).

  In the above equation (7), the engine roll suppression torque Ter corresponding to the engine roll angle φ is calculated, and the engine roll suppression torque Ter follows the displacement of the engine roll angle φ in the direction of decreasing the engine roll angle φ. Change.

  It should be noted that since the transmission gain of the engine torque and the engine roll angular velocity is different depending on the presence or absence of the lockup and the gear stage, the model may be switched.

  When engine roll suppression control is performed, the engine torque is adjusted regardless of the purpose of over-decelerating the vehicle. Therefore, in order to reduce the driver's feeling of strangeness due to changes in acceleration / deceleration, the engine torque is adjusted. The engine roll suppression torque Ter may be calculated not from the roll angle φ but from the engine roll angular velocity φ ′. As a result, the total amount of engine roll suppression torque Ter can be reduced, and the driver's feeling of discomfort can be reduced. Further, the engine roll suppression torque Ter may be calculated based on both the engine roll angular velocity φ ′ and the engine roll angle φ.

  Further, since the transmission gain of the engine roll angular velocity φ ′ differs depending on whether the automatic transmission 23 is locked up or not and the gear stage, the model may be switched.

  On the other hand, the target driving force calculation unit 110 calculates the target driving force based on the accelerator opening, the vehicle speed, and the like, and outputs the target driving force to the first driving force arbitration unit 111. The first driving force arbitration unit 111 adjusts the target driving force based on the ACC request from the ACC device 55 and outputs the adjusted target driving force to the second driving force arbitration unit 112.

  The second driving force arbitration unit 112 adjusts the target driving force based on the VDIM request from the VDIM device 53 and outputs the adjusted target driving force to the notch filter unit 113.

  The notch filter unit 113 notches (attenuates) a band component in the vicinity of the resonance frequency of the engine roll with respect to the input target driving force, and outputs it to the engine torque conversion unit 114. Since the engine roll at the time of acceleration / deceleration cannot be estimated from the lateral G or the like, the component of the band near the engine roll resonance frequency of the target driving force is attenuated to suppress the engine roll at the time of acceleration / deceleration.

  The engine torque converter 114 converts the input target driving force into a target engine torque Te corresponding to the gear ratio n and outputs the target engine torque Te to the adder 115.

  The adder 115 corrects the target engine torque Te by adding the engine roll suppression torque Ter, and outputs the corrected target engine torque to the first engine torque adjuster 116. As described above, the target engine torque Te is corrected so as to suppress the engine roll generated by the turning lateral G, the road surface disturbance, and the engine output fluctuation by adding and correcting the engine roll suppression torque Ter to the target engine torque Te. The correction is made and the drive output of the engine 21 is adjusted.

  The first engine torque adjustment unit 116 adjusts the target engine torque Te based on the anti-jerk request from the anti-jerk device 54. The second engine torque arbitration unit 117 arbitrates the target engine torque Te based on the ECT request from the ECT device 52, and then outputs the target engine torque Te to the control command determination unit 118.

  The control command determining unit 118 refers to the engine speed Ne and / or the engine temperature at that time so that the target engine torque Te is obtained, and uses a map that is determined experimentally or theoretically in advance. 21 throttle opening and the like are controlled.

  In the above embodiment, the engine roll is estimated, but a configuration may be adopted in which a roll sensor is mounted for detection.

  During FC, the engine torque cannot be finely adjusted. Specifically, a negative adjustment torque cannot be realized, and a positive adjustment torque equal to or less than the ISC opening cannot be realized. For this reason, at the time of FC, an alternator is used to adjust the engine torque. However, if the alternator is controlled depending on the battery state, there is a possibility that the battery overflows or the battery is exhausted. For this reason, the control gains of the first and second correction gain calculators 105 and 106 are reduced (for example, the positive torque If only adjustment is possible and negative side control cannot be executed, disabling only negative side control will cause a sense of incongruity.

  FIGS. 4-1 is a figure which shows an example of the experimental result of the load change of the engine roll angle | corner and engine mount apparatus at the time of not performing the engine roll suppression control by this Embodiment (prior art). In the figure, (a) shows the transition of the engine roll angle and the vehicle body roll angle, and (b) shows the transition of the load G of the engine mount device. FIG. 4-2 is a diagram illustrating an experimental result of a change in the weight of the engine roll angle and the engine mount device when engine roll suppression control according to the present embodiment is performed. In the same figure, (a) is the transition of the engine roll angle and the vehicle body roll angle, (b) is the transition of the load G of the engine mount device, and (c) is the control amount (engine roll suppression torque) of the engine roll suppression control. Show.

  As shown in FIGS. 4-1 (a) and 4-2 (a), when the engine roll suppression control is performed, the turning lateral G and the road surface disturbance are compared with the case where the engine roll suppression control is not performed. Further, the engine roll angle generated due to the engine output fluctuation is decreased, and the engine roll angle is controlled to be the same change as the vehicle roll angle. Therefore, as shown in FIGS. 4-1 (b) and 4-2 (b), when the engine roll suppression control is performed, the engine mount load is larger than when the engine roll suppression control is not performed. It has been confirmed that the engine roll suppression control according to the present embodiment is useful in reducing engine vibration.

  As described above, according to the engine control device 51 of the above embodiment, the engine roll is estimated or detected, and the engine torque is controlled so that the estimated or detected engine roll becomes small. Compared to the method of reducing the engine roll with the engine mount device, it is possible to reduce engine vibration caused by the engine roll with a low-cost configuration.

  Further, since the lateral G is estimated based on the steering angle, and the engine roll due to the turning lateral G is estimated based on the estimated lateral G, a roll sensor is not installed, and a high-cost configuration is achieved. It becomes possible to estimate the engine roll by the turning lateral G with high accuracy.

  Further, estimating the engine roll based on the lateral G detected by the lateral G sensor, subtracting the engine roll due to the turning lateral G from the engine roll estimated based on the lateral G, and estimating the engine roll due to road disturbance. Therefore, it is possible to estimate the engine roll due to road disturbance with high accuracy with a low-cost configuration without mounting a roll sensor.

  Further, since the engine roll suppression torque Ter is calculated based on the estimated or detected engine roll angular velocity, and the engine torque is corrected by the calculated engine roll suppression torque Ter, the total amount of the engine roll suppression torque Ter is reduced. It is possible to reduce the driver's uncomfortable feeling.

  In addition, the value obtained by multiplying the engine roll by the turning lateral G by the first control gain and the value by multiplying the engine roll by the road surface disturbance by the second control gain are added, and the engine roll is suppressed based on the added value. Since the torque is calculated and the value of the first control gain is made larger than the value of the second control gain, it is possible to achieve both the maneuverability and the adverse effect of drivability.

  In addition, when the vehicle stabilization control such as ECV is executed, the engine roll restraining torque is reduced, so that it is possible to prevent the passenger from feeling uncomfortable during the vehicle stabilization control.

  In addition, when the vehicle speed is low, the engine suppression torque is made smaller than when the vehicle speed is high, so that it is possible to prevent the passenger from feeling uncomfortable at low speeds.

  FIG. 5 shows a principle diagram of the present invention. In the above-described embodiment, the case where the engine roll is suppressed has been described as an example. However, the present invention is not limited to this, and another drive including a rotating body that rotates in the same direction as the roll generation direction or in the opposite direction. The present invention is also applicable to a source (for example, a motor).

  In FIG. 5, the drive source 200 mounted on the vehicle 10 includes a rotating body 201 that rotates in the same direction as the roll generation direction or in the opposite direction. By applying suppression torque (torque having a phase opposite to that of the roll) that suppresses the roll to the rotator 201, the roll can be reduced and vibration associated with the roll can be reduced. For example, the G sensor 41 detects the lateral G, calculates the roll of the vehicle 10 or the drive source 200 based on the detected lateral G, and roll component based on the steering angle St from the calculated roll of the vehicle 10 or the drive source 200 , The roll of the vehicle or the drive source due to the road surface disturbance may be calculated, and a suppression torque that suppresses the roll of the vehicle or the drive source due to the road surface disturbance may be applied to the drive source 200.

  As described above, the vibration suppression device, the vibration suppression method, and the computer-executable program according to the present invention are useful for reducing the vibration of a drive source such as an engine mounted on a vehicle.

DESCRIPTION OF SYMBOLS 10 Vehicle 20 Drive device 21 Engine 22 Torque converter 23 Automatic transmission 24 Differential gear device 30 Engine mount device 41 G sensor 42 Steering angle sensor 50 Electronic control device 51 Engine control device 52 ECT (Electronic Controlled Transmission) control device 53 VDIM ( Vehicle Dynamics Integrated Management) Device 54 Anti-Jerk Device 55 ACC (Adaptive Cruise Control System) Device 101 First Engine Roll Estimation Unit 102 Second Engine Roll Estimation Unit 103 Phase Compensation Filter 104, 107, 115 Adder 105 First Correction gain calculation unit 106 Second correction gain calculation unit 108 Air system delay compensation unit 109 Engine roll suppression torque calculation unit 110 Target driving force calculation unit 111 First driving force adjustment unit 112 Second driving force adjustment unit 113 Notch Filter unit 114 the engine torque converter 116 first engine torque arbitration unit 117 the second engine torque mediation section 118 the control command determining unit

Claims (7)

A vibration suppressing device that reduces vibration of an engine mounted on a vehicle,
Engine roll calculating means for estimating the engine roll;
Engine torque control means for controlling the engine torque so that the engine roll estimated by the engine roll calculation means becomes smaller;
With
The engine roll calculation means
First engine roll estimating means for estimating a lateral G based on the steering angle, and estimating an engine roll due to the turning lateral G based on the estimated lateral G;
The engine roll is estimated based on the lateral G detected by the lateral G sensor, and the engine roll due to the turning lateral G estimated by the first engine roll estimating means is subtracted from the engine roll estimated based on the lateral G, A second engine roll estimating means for estimating an engine roll due to road disturbance;
Including
The engine torque control means calculates an engine roll suppression torque based on the turning roll G estimated by the engine roll calculation means and the engine roll due to road disturbance, and a vibration for correcting the engine torque with the calculated engine roll suppression torque. Suppression device. The engine torque control means calculates an engine roll suppression torque based on the engine roll angular velocity and the engine roll angle estimated by the engine roll calculation means, and corrects the engine torque with the calculated engine roll suppression torque. The vibration suppressing device according to claim 1. The engine torque control means adds a value obtained by multiplying the engine roll by the lateral turning G by the first control gain and a value obtained by multiplying the engine roll by the road surface disturbance by the second control gain, and adds the value to the added value. The engine roll suppression torque is calculated based on the first control gain, and the value of the first control gain is made larger than the value of the second control gain.
The vibration suppression device described in 1. The vibration suppression device according to any one of claims 1 to 3, wherein the engine torque control means reduces the engine roll suppression torque when the vehicle stabilization control is being executed. The vibration suppression device according to any one of claims 1 to 4, wherein the engine torque control means reduces the engine suppression torque when the vehicle speed is low compared to when the vehicle speed is high. A vibration suppression method for reducing vibration of an engine mounted on a vehicle,
An engine roll calculation step for estimating the engine roll;
An engine torque control step for controlling the engine torque so that the engine roll estimated in the engine roll calculation step becomes smaller;
With
The engine roll calculation step includes
A first engine roll estimating step of estimating a lateral G based on the steering angle, and estimating an engine roll due to the turning lateral G based on the estimated lateral G;
The engine roll is estimated based on the lateral G detected by the lateral G sensor, the engine roll due to the turning lateral G estimated in the first engine roll estimation step is subtracted from the engine roll estimated based on the lateral G, A second engine roll estimation step for estimating an engine roll due to road disturbance;
Including
In the engine torque control step, an engine roll suppression torque is calculated based on the turning lateral G estimated in the engine roll calculation step and the engine roll due to road disturbance, and the engine torque is corrected with the calculated engine roll suppression torque. A method for suppressing vibration. A program mounted on a vibration suppression device that reduces vibration of an engine mounted on a vehicle,
On the computer,
An engine roll calculation step for estimating the engine roll;
An engine torque control step for controlling the engine torque so that the engine roll estimated in the engine roll calculation step becomes smaller;
And execute
The engine roll calculation step includes
A first engine roll estimating step of estimating a lateral G based on the steering angle, and estimating an engine roll due to the turning lateral G based on the estimated lateral G;
The engine roll is estimated based on the lateral G detected by the lateral G sensor, the engine roll due to the turning lateral G estimated in the first engine roll estimation step is subtracted from the engine roll estimated based on the lateral G, A second engine roll estimation step for estimating an engine roll due to road disturbance;
Including
In the engine torque control step, an engine roll suppression torque is calculated based on the turning lateral G estimated in the engine roll calculation step and the engine roll due to road disturbance, and the engine torque is corrected with the calculated engine roll suppression torque. A program executable by a computer.

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