JP5754674B2 - Vibration level detection method and vibration level detection apparatus - Google Patents

Description

  The present invention relates to a vibration level detection method and a vibration level detection device.

  When controlling the damping force of a damper or the thrust of an actuator interposed between a sprung member and an unsprung member of a vehicle, for example, there is a control method based on the skyhook control theory. Multiplying the upper speed by the skyhook gain (skyhook damping coefficient) to determine the damping force or thrust to be output to the damper or actuator, and generally controlling the damper or actuator to generate this calculated damping force or thrust (See Patent Document 1).

  In addition, when control is performed to suppress not only the vibration of the sprung member of the vehicle but also the vibration of the unsprung member, the unsprung acceleration is detected and the unsprung speed is calculated and the skyhook is calculated. Multiply the gain to obtain the thrust to suppress the vibration of the unsprung member, and add this thrust to the thrust to suppress the vibration of the sprung member obtained in the same manner as the skyhook control described above, and output it to the actuator. There is also one that obtains a thrust and causes the actuator to exert a thrust that suppresses sprung vibration and unsprung vibration (see Patent Document 2).

JP-A-6-247117 JP 2011-84164 A

  In the control as described above, both the suppression of the vibration of the sprung member and the suppression of the vibration of the unsprung member are performed depending on the speed of the sprung member or the speed of the unsprung member. Here, for example, as shown in FIG. 2, when considering a system in which the object M is supported by a spring S, when the object M vibrates in the vertical direction in the figure, the maximum speed is the vibration center of the object M. When the object M is at the maximum amplitude position, the speed is zero. Therefore, simply controlling the vibration by detecting only the speed will generate a force on the damper or actuator regardless of the magnitude of the vibration, so the vibration cannot be effectively suppressed. There is.

  Therefore, we would like to detect the magnitude of vibration, but in order to detect the magnitude of vibration, for example, there is a method of obtaining the detected acceleration and velocity height, that is, obtaining the amplitude of vibration, Since the magnitude of the vibration cannot be detected until the object to be detected vibrates for at least one cycle, the magnitude of the vibration cannot be detected in a timely manner. Unbearable for use in controlling control. Therefore, at the time of vibration suppression control of a vehicle or the like, at present, control based on acceleration and speed of vibration is performed without detecting the magnitude of vibration.

  Accordingly, the present invention has been developed to solve the above-described problems, and the object of the present invention is to provide a vibration level detection method capable of detecting the magnitude of vibration of an object in a timely and real time manner. And providing a vibration level detection device.

In order to achieve the above object, a vibration level detection method in the problem solving means of the present invention is a vibration level detection method for detecting a vibration level which is the magnitude of vibration of an arbitrary part of an object, and A vibration level detection method for detecting a vibration level that is a magnitude of vibration, and when detecting the vibration level of the arbitrary part due to the vibration of the object, displacement and speed of the arbitrary part in the vibration direction to be detected When one of the accelerations is a first reference value and the vibration level of the arbitrary part generated by the rotation of the object is detected, one of the displacement, speed, and acceleration obtained from the rotation angle, angular velocity, and angular acceleration of the arbitrary part. One as a first reference value, a value corresponding to one of the differentiation or integration of the first reference value as a second reference value, and a value corresponding to the other of the differentiation or integration of the first reference value as a third reference value. And Telč, the second reference value is multiplied by the second reference value an angular frequency value of the vibration to be detected in the case of corresponding to the integral value of the first reference value, the second reference value is the first reference The second reference value when the second reference value after dividing the second reference value by the angular frequency value and the first reference value are taken as Cartesian coordinates in the case of corresponding to the differential value of the value And a first vibration level obtained from a value capable of recognizing the combined vector length of the first reference value, and when the third reference value corresponds to an integral value of the first reference value, the angular frequency value is calculated. When the third reference value is multiplied and the third reference value corresponds to the differential value of the first reference value, the third reference value after dividing the third reference value by the angular frequency value and the third reference value It is possible to recognize the length of the combined vector of the third reference value and the first reference value when the first reference value is taken as orthogonal coordinates. It obtains a second vibration level from the value, and obtains the vibration level on the basis of the above-described first vibration level and the second vibration level.

The vibration level detection device in the problem solving means of the present invention is a vibration level detection device that detects a vibration level that is a magnitude of vibration of an arbitrary part of an object, and is a magnitude of vibration of an arbitrary part of the object. A vibration level detection device for detecting a vibration level, wherein when detecting the vibration level of the arbitrary part due to the vibration of the object, one of the displacement, speed, and acceleration in the direction of vibration to be detected of the arbitrary part is detected. When detecting the vibration level of the arbitrary part generated by the rotation of the object as the first reference value, one of the displacement, speed, and acceleration obtained from the rotation angle, angular velocity, and angular acceleration of the arbitrary part is the first reference value. A first reference value acquisition unit that is obtained as a second reference value acquisition unit that obtains a value corresponding to one of differentiation or integration of the first reference value as a second reference value; Third reference value obtaining unit for obtaining a value corresponding to the other of the integration as a third reference value, the angular frequency value of the vibration to be detected in the case where the second reference value corresponds to the integral value of the first reference value Multiply the second reference value, and if the second reference value corresponds to the differential value of the first reference value, correct the second reference value by dividing the second reference value by the angular frequency value. When the third reference value corresponds to an integral value of the first reference value, the angular frequency value is multiplied by the third reference value, and the third reference value corresponds to a differential value of the first reference value. When correcting, the correction unit for correcting the third reference value by dividing the third reference value by the angular frequency value, the second reference value and the first reference value corrected by the correction unit recognizing possible values the length of the resultant vector of the second reference value and said first reference value when taken in Cartesian coordinates It obtains an oscillation level, the length of the resultant vector of the corrected said third reference value and the said third reference value when taken in the orthogonal coordinates and a first reference value and the first reference value by the correction unit A vibration level acquisition unit that obtains a second vibration level from a value capable of recognizing the vibration level and further obtains the vibration level based on the first vibration level and the second vibration level.

  Therefore, for example, the vibration level can be obtained immediately from values such as speed and acceleration.

  According to the vibration level detection method and the vibration level detection device of the present invention, it is possible to detect the magnitude of vibration of an object in a timely and real time manner.

It is a block diagram of the vibration level detection apparatus in one embodiment. It is a figure explaining the system of the object of detection object. It is a figure explaining the synthetic | combination vector of a 1st reference value and a 2nd reference value. It is a block diagram of the vibration level detection apparatus in one modification of one embodiment. It is a figure explaining the locus | trajectory of a 1st reference value and a 2nd reference value, and the locus | trajectory of a 1st reference value and a 3rd reference value. It is the schematic of the vehicle to which a vibration level detection apparatus is applied. It is a block diagram of the vibration level detection apparatus applied to a vehicle.

  The present invention will be described below based on the embodiments shown in the drawings. As shown in FIG. 1, the vibration level detection device 1 is a device that detects a vibration level that is the magnitude of vibration of an arbitrary portion of the object M. In this embodiment, the vibration level detection device 1 The first reference value acquisition unit 2 for obtaining the velocity in the vibration direction to be detected, and the value obtained by the first reference value acquisition unit 2 as the first reference value a corresponds to the differential value or the integral value of the first reference value a. A second reference value acquisition unit 3 for obtaining a second reference value b, and a vibration level acquisition unit 4 for obtaining a vibration level r based on the first reference value a and the second reference value b.

  As shown in FIG. 2, the object M forms a spring mass system that is elastically supported from below in the figure by a spring S that is vertically attached to the base T. In this case, the vibration level detection device 1 is the object M. The vibration level in the vertical direction in FIG. That is, the arbitrary portion may be the whole or a part of the object M, and can be arbitrarily determined. When the object M is large and supported by a plurality of springs S, the object When the vibration state of M is partially different, the vibration level of the part to be detected can be detected accordingly.

  The first reference value acquisition unit 2 is attached to the object M to detect the vertical acceleration of the object M, and integrates the vertical acceleration detected by the acceleration detector 5 to integrate the vertical velocity of the object M. And an integrator 6 for obtaining Thus, the first reference value acquisition unit 2 obtains the vertical speed of the object M as the first reference value a.

  Next, the second reference value acquisition unit 3 obtains a vertical displacement of the object M corresponding to the integral value of the first reference value a, and an integrator 7 for integrating the first reference value a is provided. And the vertical displacement of the object M is obtained as the second reference value b. When the second reference value acquisition unit 3 is set to obtain a value corresponding to the differential value of the first reference value a, that is, when set to obtain the acceleration in the vertical direction of the object M, the first reference value a The acceleration in the vertical direction is obtained from the acceleration detector 5 in the reference value acquisition unit 2, and this may be used as the second reference value b, or a second reference value is provided by differentiating the first reference value a by providing a differentiator. b may be obtained.

  Moreover, in this embodiment, the frequency component to be detected can be extracted from the first reference value a and the second reference value b so that the vibration level in an arbitrary frequency band can be detected among the vibration levels of the object M to be detected. It is like that. Specifically, a filter 8 is provided, and the first reference value a and the second reference value b are filtered by the filter 8 to obtain frequency components to be detected of the first reference value a and the second reference value b. . Basically, if the natural frequency of the spring mass system of the object M and the spring S is a frequency to be extracted by the filter 8, vibration with a high spectral density of the object M can be extracted. The filter 8 is particularly useful because it can extract vibrations in the frequency band to be evaluated and can remove noise superimposed on the vibrations of the object M. For example, when the object M vibrates in a single cycle, May be omitted.

  By the way, vibration of an arbitrary frequency of the object M can be represented by a sine wave. Further, an arbitrary frequency component of the first reference value a that is the speed of the object M can be represented by a sine wave. For example, when an arbitrary frequency component of the first reference value a is expressed by sin ωt (ω is an angular frequency, t is time), if this is integrated, − (1 / ω) cos ωt is obtained, and the amplitude of the first reference value a and this When the amplitude of the integrated value is compared, the amplitude of the integrated value is 1 / ω of the first reference value a.

  Therefore, when the second reference value b is equivalent to the integral value of the first reference value a, the angular frequency ω that matches the frequency extracted by the filter 8 is used to correspond to the integral value of the first reference value a. By multiplying, the amplitudes of the first reference value a and the second reference value b can be made equal.

  When the second reference value b is equivalent to the differential value of the first reference value a, the amplitude of the first reference value a and the second reference value b can be made equal by multiplying by 1 / ω. . Thus, in order to make the amplitudes of the first reference value a and the second reference value b the same, the vibration level detection device 1 includes the correction unit 9, and the correction unit 9 is the second reference value a. When the reference value b is equivalent to the integral value of the first reference value a, the second reference value b is corrected by multiplying by ω using the angular frequency ω of the vibration to be detected, and the second reference value When b is equivalent to the differential value of the first reference value a, the second reference value b is corrected by multiplying by 1 / ω.

Subsequently, the vibration level acquisition unit 4 uses the first reference value a and the second reference when the first reference value a and the second reference value b processed as described above are taken as orthogonal coordinates as shown in FIG. The length of the composite vector U of the value b is calculated and obtained as the vibration level r. Note that the length of the composite vector U can be calculated by (a ² + b ² ) ^1/2 , but omitting the root calculation (a ² + b ² ), that is, the square of the length of the composite vector U A value by which the length of the combined vector U can be determined by calculating the value may be obtained and used as the vibration level r. By doing so, a route calculation with a high load can be avoided, and the calculation time can be shortened. Although the length does not directly match the length of the composite vector U, a value obtained by multiplying the length of the composite vector U to the z power (z is an arbitrary value) or a value obtained by multiplying the length by an arbitrary coefficient is Of course, it is possible to recognize this length, and such a value may be used as the vibration level. That is, a value that can recognize the length of the combined vector U may be set as the vibration level r.

  Here, when the base T is moved up and down to give vibration to the object M, or the object M is displaced and released to give vibration to the object M, the spring S expands and contracts, and the elastic energy of the spring S increases. Since the kinetic energy of the object M is alternately converted, when there is no disturbance, the speed of the object M at which the displacement from the neutral position of the object M is maximum is 0, and the object M is in the neutral position. In addition, the speed of the object M is maximized. The neutral position is a position when the object M is elastically supported by the spring S and is stationary.

  Then, the first reference value a and the second reference value b have the same amplitude due to the correction by the correction unit 9, and the phases of the first reference value a and the second reference value b are shifted by 90 degrees. When the vibration of the object M is not attenuated and repeats the same vibration, the ideal locus of the first reference value a and the second reference value b draws a circle as shown in FIG. You can see that is equal to the radius of this circle. In practice, the amplitudes of the two may not be completely matched due to the extraction accuracy of the filter 8, the disturbance acting on the object M, and the noise included in the first reference value a and the second reference value b. The value of the vibration level r is substantially equal to the radius of the circle described above.

  Thus, even if the first reference value a that is the velocity is 0, the absolute value of the second reference value b that is the displacement takes the maximum value, and on the contrary, the second reference value b is the vibration level r. Even when 0, the absolute value of the first reference value a takes the maximum value, and ideally takes a constant value when the vibration state of the object M does not change. That is, the vibration level r is a value that serves as an index indicating how much amplitude the object M vibrates, and represents the magnitude of vibration. In calculating the vibration level r, the displacement and speed of the object M can be understood from the above procedure so that it is not necessary to obtain the wave height by sampling any one of the displacement, speed and acceleration for one period of the object M. Since it can be obtained if it is obtained, it can be obtained in a timely manner. That is, according to the vibration level detection method described above and the vibration level detection device 1 that realizes this detection method, the magnitude of the vibration of the object can be detected in a timely and real time manner.

  Note that the vibration level r may be obtained by setting the first reference value a and the second reference value b to be equivalent to the speed and acceleration of the object M, the rate of change of acceleration and acceleration, and the integrated value of displacement and displacement. However, the phases of the first reference value a and the second reference value b are shifted from each other by 90 degrees, and the first reference value a and the second reference value b are converted into orthogonal coordinates by correcting with the angular frequency ω of the vibration to be detected. When the trajectory is taken as a circle, if the vibration level r is obtained, this vibration level r becomes an index representing the magnitude of vibration. That is, the first reference value a is set to any one of displacement, velocity, and acceleration in a direction that coincides with the vibration direction to be detected at an arbitrary part of the object M, and the second reference value b is an integral value of the first reference value a. If the value is equivalent or equivalent to the differential value, the vibration level r can be obtained.

  The first reference value a may not be obtained directly from a detector such as a sensor, but may be obtained by differentiating or integrating the sensor output. Further, the second reference value b can be obtained directly from the detector, and the second reference value b can be obtained by setting the equivalent of the differential value or the integral value of the first reference value a as the second reference value b. May be obtained directly from the detector instead of being obtained by differentiating or integrating the first reference value a.

  Further, when the integral value equivalent of the first reference value a is the second reference value b, the differential value equivalent of the first reference value a is the third reference value c, and the vibration level acquisition unit 4 And the second reference value b, a value corresponding to the vibration level is obtained by the above procedure, and this value is set as the first vibration level r1, and the third reference value c is used instead of the second reference value b. A value corresponding to the vibration level is obtained by the above procedure using the reference value a and the third reference value c, and this value is set as the second vibration level r2, and the first vibration level r1 and the second vibration level r2 are added to obtain 2 It is possible to calculate the average value of the first vibration level r1 and the second vibration level r2 by dividing by and to set this average value as the vibration level r. In this case, as shown in FIG. 4, in order to obtain the third reference value c, a third reference value acquisition unit 10 may be provided. When the second reference value b corresponds to the differential value of the first reference value a, the third reference value c may be set to the integral value of the first reference value a.

  In this case, as shown in FIG. 5, considering the orthogonal coordinates where the first reference value a is on the horizontal axis and the second reference value b and the third reference value c are on the vertical axis, the vibration frequency of the object M and the filter When the frequency extracted at 8 is shifted, when the first vibration level r1 is greater than or equal to the maximum value of the first reference value a, the trajectory J of the first reference value a and the second reference value b is 5 becomes an ellipse larger than the circle H having a radius of the maximum value of the first reference value a indicated by a broken line, and the second vibration level r2 takes a value equal to or less than the maximum value of the first reference value a. The locus K of the third reference value c is an ellipse smaller than the circle H. That is, when the vibration frequency of the object M and the vibration frequency to be detected do not match, the angular frequency ω used for correction by the correction unit 9 and the actual angular frequency ω ′ are deviated, so the integration of the first reference value a When the second reference value b corresponding to the value is corrected, the maximum value of the second reference value b is ω / ω ′ times the maximum value of the first reference value a and is equivalent to the differential value of the first reference value a. The maximum value of the third reference value c is ω ′ / ω times the maximum value of the first reference value a by correction. Thus, when the first vibration level r1 takes a value larger than the first reference value a, the second vibration level r2 takes a value smaller than the first reference value a. Since the fluctuation of the vibration level r is reduced when the level r is obtained, the stable vibration level r can be obtained even if the vibration frequency of the object M and the vibration frequency to be detected do not coincide with each other, and the vibration level r is detected. The result is good. In addition, even when the fluctuation of the vibration level r is reduced as described above, if the vibration level r swells, noise having a frequency component twice the vibration frequency of the object M may be superimposed on the vibration level r. Since it is known, a filter for removing the superimposed noise may be provided to filter the vibration level r. Further, in this case, the vibration level r is obtained with the second reference value b and the third reference value c corresponding to the integral value and the differential value with respect to the first reference value a. In addition to obtaining the vibration level r using the speed as the second reference value b, the vibration level r is obtained separately using the acceleration as the first reference value a and the rate of change of the acceleration as the second reference value b. A plurality of values obtained with different first reference values and second reference values, such as obtaining the average value of the vibration level r obtained from the obtained vibration level r and the acceleration and the rate of change of acceleration as the final vibration level. It is also possible to obtain the final vibration level from the vibration level.

  In the case of this embodiment, the vibration level detection device 1 is not illustrated, but specifically, for example, an A / D converter for taking in a signal output from the acceleration detector 5 as a hardware resource. A storage device such as a ROM (Read Only Memory) in which a program used for processing necessary for vibration level detection is stored; a calculation device such as a CPU (Central Processing Unit) that executes processing based on the program; The CPU may be configured to include a storage device such as a RAM (Random Access Memory) that provides a storage area to the CPU. When the CPU executes the program, the first reference value acquisition unit 2 and the second reference value The acquisition unit 3, the third reference value acquisition unit 10, the filter 8, the correction unit 9, and the vibration level acquisition unit 4 It is sufficient to realize the work.

  Next, a mode in which the vibration level detection device 1 is applied to a vehicle and the vibration levels of the sprung member and the unsprung member in the vehicle are detected will be described. As shown in FIG. 6, in this example, the vehicle includes four wheels, and the upper member B, which is a vehicle body in the vehicle, includes four suspension springs S1, S2, S3, S4 and four unsprung members W1, It is supported by W2, W3 and W4. For convenience of explanation, the four parts of the sprung member B that are supported by the suspension springs S1, S2, S3, and S4 are designated as parts B1, B2, B3, and B4. The unsprung members W1, W2, W3, and W4 include wheels and links that are swingably attached to a sprung member B that is a vehicle body.

  The suspension spring S1 is interposed between the sprung member B and the unsprung member W1, and the other suspension springs S2, S3, S4 are similarly formed between the sprung member B and the unsprung members W2, W3, W4. It is interposed between them in parallel. Further, dampers D1, D2, D3, and D4 that exhibit damping force are juxtaposed to each of the suspension springs S1, S2, S3, and S4, and these dampers D1, D2, D3, and D4 are connected to the sprung member B. It is interposed between the unsprung members W1, W2, W3 and W4.

  Hereinafter, each member will be described in detail. The dampers D1, D2, D3, and D4 are not shown in detail. For example, the cylinder C, a piston that is slidably inserted into the cylinder C, and a cylinder C A piston rod R that is movably inserted into the piston and connected to the piston, two pressure chambers partitioned by the piston in the cylinder C, a passage that connects the pressure chambers, and a flow of fluid that passes through the passage. The fluid pressure damper includes a damping force adjusting device to be applied. Each of the dampers D1, D2, D3, and D4 has a damping force that suppresses the expansion / contraction operation by applying resistance to the damping valve when the fluid filled in the pressure chamber passes through the passage according to the expansion / contraction operation. It exerts and restrains relative movement of the sprung member and the unsprung member. In addition to hydraulic oil, water, aqueous solution, or gas can be used as the fluid. When the fluid is liquid and each of the dampers D1, D2, D3, D4 is a single rod type damper, each of the dampers D1, D2, D3, D4 compensates the volume in which the piston rod R enters and exits the cylinder C. For this purpose, a gas chamber and a reservoir are provided. However, when the fluid is a gas, the gas chamber and the reservoir may not be provided.

  In addition to the above, the dampers D1, D2, D3, and D4 may be electromagnetic dampers that exhibit a damping force that suppresses the relative movement of the sprung member and the unsprung member by electromagnetic force. A motor and a motion conversion mechanism that converts the rotational motion of the motor into a linear motion are configured, or a linear motor.

  On the other hand, as shown in FIG. 7, the vibration level detection apparatus 1 has a bounce speed Vb that is the vertical speed of the sprung member B, a roll speed Vr that is the speed in the rolling direction, and a pitching speed that is the speed in the pitching direction. First reference value acquisition unit 2 for obtaining Vp, and second reference for obtaining a second reference value corresponding to a differential value of the first reference value using the value obtained by the first reference value acquisition unit 2 as a first reference value A value acquisition unit 3, a filter 8 that extracts a resonance frequency component of the sprung member from the first reference value and the second reference value, a correction unit 9, and a vibration level acquisition unit 4 that calculates a vibration level are provided.

  First, as shown in FIG. 7, the first reference value acquisition unit 2 includes acceleration sensors G1, G2, and G3, a roll speed calculation unit 21, a pitching speed calculation unit 22, and a bounce speed calculation unit 23. Yes. The acceleration sensors G1, G2, and G3 detect acceleration in the vertical direction of the vehicle body B, and are installed at arbitrary three locations that are not on the same straight line on the same horizontal plane of the vehicle body (not shown).

The acceleration sensors G1, G2, G3 output voltage signals corresponding to the detected vertical accelerations α ₁ , α ₂ , α ₃ of the vehicle body to the roll speed calculation unit 21, the pitching speed calculation unit 22, and the bounce speed calculation unit. The roll speed calculation unit 21, the pitching speed calculation unit 22, and the bounce speed calculation unit 23 process the signals from the acceleration sensors G1, G2, and G3, and the bounce speed Vb of the body spring upper member B, the roll The speed Vr and the pitching speed Vp can be calculated. The sign of accelerations α ₁ , α ₂ , and α ₃ is positive in the upward direction.

Specifically, the roll speed calculation unit 21 obtains the acceleration α _{r in} the rolling direction of the sprung member B from the accelerations α ₁ , α ₂ , α ₃ , that is, the angular acceleration, and integrates this to obtain the roll speed Vr. This is used as the first reference value ar for obtaining the vibration level rr in the rolling direction. The roll speed Vr is an angular speed in the rolling direction at the center of gravity of the sprung member B that is the vehicle body. The pitching speed calculation unit 22 obtains the acceleration α _{p in} the pitching direction of the sprung member B from the accelerations α ₁ , α ₂ , α ₃ , that is, the angular acceleration, and integrates this to obtain the pitching velocity Vp, The first reference value ap is used to obtain the vibration level rp in the pitching direction. The pitching speed Vp is an angular speed in the pitching direction at the center of gravity of the sprung member B that is the vehicle body.

The bounce speed calculation unit 23 obtains an acceleration α _b in the bounce direction of the sprung member B from the accelerations α ₁ , α ₂ , α ₃ and integrates this to obtain a bounce speed Vb, which is obtained as a vibration level in the bounce direction. The first reference value ab for obtaining rb is used. The bounce speed Vb is a vertical speed at the center of gravity of the sprung member B that is the vehicle body.

Specifically, the roll acceleration α _r , the pitching direction acceleration α _p, and the bounce acceleration α _b are determined from the installation positions of the accelerations α ₁ , α ₂ , α ₃ and the acceleration sensors G 1, G 2, G _3, and the center of gravity of the vehicle body. Can be sought. That is, if the sprung member B which is the vehicle body is regarded as a rigid body, the vertical accelerations α ₁ , α ₂ and α ₃ in any three locations not on the same straight line on the same horizontal plane of the sprung member B can be obtained. The roll speed Vr, the pitching speed Vp, and the bounce speed Vb at any position of each sprung member B are uniquely determined, and the displacement and acceleration can be similarly obtained. In addition, when the vibration level of the object determines the vibration level in the rotation direction, the first reference value is determined by the rotation angle that is the displacement of the object in the rotation direction, the angular velocity that is the speed in the rotation direction, and the acceleration in the rotation direction. It may be a certain angular acceleration. And, when controlling to suppress vibration in the rolling direction, pitching direction and bounce direction of the vehicle body in the vehicle, generally, the vibration in each direction at the center of gravity position of the vehicle body is often evaluated and controlled. Also in this example, the vibration level rr in the rolling direction, the vibration level rp in the pitching direction, and the vibration level rb in the bounce direction at the center of gravity of the vehicle body are obtained.

  The second reference value acquisition unit 3 obtains a second reference value br corresponding to the acceleration in the rolling direction of the sprung member B by differentiating the first reference value ar that is the roll speed Vr, and is the pitching speed Vp. The second reference value bp corresponding to the acceleration in the pitching direction of the sprung member B is obtained by differentiating the first reference value ap, and further the second corresponding to the acceleration in the bounce direction by differentiating the bounce speed Vb. A reference value bb is obtained. In this case, the second reference values br, bp, bb are equivalent to the differential values of the first reference values ar, ap, ab, and are calculated when the roll speed Vr, the pitching speed Vp, and the bounce speed Vb are obtained. Since the values corresponding to the two reference values br, bp, bb are calculated, this may be used as the second reference value b. The filter 8 includes a first reference value ar in the rolling direction, a second reference value br in the rolling direction, a first reference value ap in the pitching direction, a second reference value bp in the pitching direction, and a first reference value in the bounce direction. The second reference value bb direction in the ab and bounce directions is filtered to extract the resonance frequency component of the sprung member B.

  Further, the second reference value br in the rolling direction, the second reference value bp in the pitching direction, and the second reference value bb in the bounce direction use an angular frequency ω that matches the resonance frequency of the sprung member B in the correction unit 9. Corrected.

  The vibration level acquisition unit 4 uses the above-described calculation method for obtaining the vibration level r of the object M from the first reference value ar in the rolling direction and the second reference value br in the corrected rolling direction. A vibration level rr in the rolling direction at B is obtained.

  Similarly, the vibration level acquisition unit 4 uses the above calculation method from the first reference value ap in the pitching direction and the second reference value bp in the pitching direction after correction, so that the pitching in the sprung member B is performed. The direction vibration level rp is obtained.

  Further, the vibration level acquisition unit 4 similarly uses the above-described calculation method from the first reference value ab in the bounce direction and the second reference value bb in the bounce direction after correction, so that the bounce in the sprung member B is bounced. The direction vibration level rb is obtained.

Finally, the vibration level r of the sprung member B is obtained by adding the vibration level rr in the rolling direction, the vibration level rp in the pitching direction, and the vibration level rb in the bounce direction. The vibration level rr in the rolling direction and the vibration level rp in the pitching direction are vibration levels in the rotational direction at the center of gravity of the sprung member B. In this case, in order to obtain the overall vibration level of the sprung member B, the rolling direction As for the vibration level rr, the roll vibration level average value at the parts B1, B2, B3, B4 is obtained by multiplying the center of gravity position of the sprung member B and the average value of the lateral distances of the parts B1, B2, B3, B4. The calculated vibration level rp in the pitching direction is multiplied by the center of gravity position of the sprung member B and the average value of the distances in the front-rear direction of each of B1, B2, B3, and B4, and pitching vibration in the parts B1, B2, B3, B4 After calculating the level average value, the vibration level r is obtained by adding the average value to the vibration level rb in the bounce direction. Here, the average value of the lateral distance is the average value of half the front wheel tread width and half the rear wheel tread width. If these values are not significantly different, either value is used. May be adopted. In addition, the average value of the front-rear distance is an average value of the front-rear distance of the front wheel position and the center of gravity position, and the front-rear distance of the rear wheel position and the center of gravity position. In that case, either one of the values may be adopted. Moreover, when the damping force of each damper D1, D2, D3, D4 of each wheel is controlled independently, it is necessary to calculate the vibration level at the position of each part B1, B2, B3, B4. In such a case, the vertical acceleration of each part B1, B2, B3, B4 is obtained by performing coordinate conversion according to the positional relationship between the installation position of each acceleration sensor G1, G2, G3 and each part B1, B2, B3, B4. Since it can be calculated, it is only necessary to obtain the vibration level of the vertical vibration of each part B1, B2, B3, B4. Further, when obtaining the vibration level r of the sprung member B in the vehicle, it is divided into a first reference value ar in the rolling direction of the sprung member B, a first reference value ap in the pitching direction, and a first reference value ab in the bounce direction. Therefore, the control for suppressing the vibration in the rolling direction of the sprung member B, which is the vehicle body, is used for the control for suppressing the vibration in the pitching direction of the sprung member B using the vibration level rr in the rolling direction. The vibration level rp in the pitching direction can be used, and the vibration level rb in the bounce direction can be used for control to suppress the vibration in the bounce direction of the sprung member B. , Pitching and bouncing) can be performed appropriately, and the total vibration level r of the sprung member B is detected. It is also possible. It should be noted that all of the vibration levels rr, rp, rb, r may be detected, or only those vibration levels that are desired to be detected may be detected.

  Furthermore, when the vehicle is turning or traveling on a slope or banked road, since the drift component is superimposed on the displacement of the sprung member B due to the influence of centrifugal force and gravity, as described above, The influence of the drift component can be reduced by selecting the speed and acceleration of the sprung member B as the first reference value and the second reference value, and the vibration levels rr, rp, rb, r of the sprung member B can be accurately obtained. Can be detected. In order to reduce the influence of such a drift component, the acceleration and acceleration change rate of the sprung member B may be selected as the first reference value and the second reference value. Even when the vibration level r of the sprung member B is obtained, third reference values in the rolling direction, the pitching direction, and the bounce direction are acquired. First, the first vibration level and the second reference value are obtained in rolling, pitching, and bounce. It is natural that the final vibration level may be obtained after calculating the vibration level, and at that time, the first reference value, the second reference value, and the third reference value should be selected other than displacement. As described above, the influence of the drift component can be reduced, and the vibration level can be obtained with high accuracy. Moreover, as shown in FIG. 6, the vibration level detection apparatus 1 can also directly detect the vibration level r in the vertical direction of the parts B1, B2, B3, B4, for example. That is, it is also possible to obtain any one of the vertical displacement, velocity, and acceleration of these parts B1, B2, B3, and B4 as the first reference value a and obtain the vibration level by the above procedure. The vibration level r in each part B1, B2, B3, B4 obtained in this way indicates the magnitude of vibration in each part B1, B2, B3, B4. Thus, each part B1, B2, B3, The magnitude of the vibration of B4 can be detected.

  Further, in order to detect the vibration level r of the unsprung members W1, W2, W3, W4, for example, as shown in FIG. 6, stroke sensors L1, L2, L3, L4 are connected to the dampers D1, D2, D3, D4. The relative displacement between the cylinder C and the piston rod R detected by the stroke sensors L1, L2, L3, and L4, the relative speed obtained by differentiating the relative displacement, and the relative acceleration obtained by differentiating the relative speed Is a first reference value a, and the filter 8 extracts a component that matches the resonance frequency of the unsprung members W1, W2, W3, and W4 included in the first reference value a. Any of vertical displacement, speed, and acceleration of W3 and W4 can be obtained. Further, sensors are attached to the unsprung members W1, W2, W3, and W4, and the vertical accelerations of the unsprung members W1, W2, W3, and W4 are directly detected, and the first reference value is obtained using the vertical accelerations. You may do it.

  When detecting the vibration level r of the unsprung members W1, W2, W3, W4, a third reference value is acquired, and first the first vibration level and the second vibration level are calculated, and then the final vibration level is obtained. Of course, it may be possible to do so.

  By detecting the vibration level in this way, the magnitude of vibration at an arbitrary part of the object can be detected in a timely and real-time manner, and the vibration level thus obtained is temporally related to the vibration of the object. Since the delay is small, for example, it can sufficiently withstand the use for vehicle vibration suppression control. The vibration level detection device and the vibration level detection method can detect the vibration level of an object in a system in which the object is supported by a spring, and are also suitable for vehicles other than automobiles, for example, railway vehicles. Can be applied to the detection of the vibration level of a building supported by a seismic isolation device.

  This is the end of the description of the embodiment of the present invention, but the scope of the present invention is of course not limited to the details shown or described.

  The vibration level detection method and the vibration level detection apparatus of the present invention can be used, for example, for detection of vibration levels of vehicles and buildings.

DESCRIPTION OF SYMBOLS 1 Vibration level detection apparatus 2 First reference value acquisition part 3 Second reference value acquisition part 4 Vibration level acquisition part 8 Filter 9 Correction part 10 Third reference value acquisition part M Object S Spring

Claims (11)

In a vibration level detection method for detecting a vibration level that is a magnitude of vibration of an arbitrary part of an object,
When detecting the vibration level of the arbitrary part due to the vibration of the object, one of the displacement, velocity, and acceleration in the direction of vibration to be detected of the arbitrary part is set as a first reference value, and the above-mentioned generated by the rotation of the object When detecting the vibration level of an arbitrary part, one of displacement, speed, acceleration obtained from the rotation angle, angular velocity, angular acceleration of the arbitrary part as a first reference value,
A value corresponding to one of differentiation or integration of the first reference value is set as a second reference value,
A value corresponding to the other of the differentiation or integration of the first reference value is set as a third reference value,
When the second reference value corresponds to the integral value of the first reference value, the angular frequency value of the vibration to be detected is multiplied by the second reference value, and the second reference value is a differential value of the first reference value. When the second reference value after dividing the second reference value by the angular frequency value and the first reference value are taken as orthogonal coordinates, the second reference value and the first Find the first vibration level from a value that can recognize the length of the composite vector of the reference value ,
When the third reference value corresponds to an integral value of the first reference value, the angular frequency value is multiplied by the third reference value, and the third reference value corresponds to a differential value of the first reference value. In this case, the third reference value and the first reference value when the third reference value and the first reference value after dividing the third reference value by the angular frequency value are taken as orthogonal coordinates. Find the second vibration level from the value that can recognize the length of the composite vector ,
The vibration level detection method, wherein the vibration level is obtained based on the first vibration level and the second vibration level. Performing a process of extracting vibrations at a frequency to be detected from the first reference value, the second reference value, and the third reference value;
The vibration level detection method according to claim 1 , wherein the vibration level is obtained based on the first reference value, the second reference value, and the third reference value after the extraction process. The vibration level detection method according to claim 1 or 2 , wherein the second reference value and the third reference value are obtained by differentiating and integrating the first reference value. The object is a sprung member of a vehicle,
The first reference value other than the displacement of the arbitrary sites, any of claims 1 to 3, characterized in that obtaining the vibration level as a value corresponding to the addition displace said second reference value and said third reference value vibration level detecting method according to an item or. In a vibration level detection device that detects a vibration level that is the magnitude of vibration of an arbitrary part of an object,
When detecting the vibration level of the arbitrary part due to the vibration of the object, one of the displacement, velocity, and acceleration in the direction of vibration to be detected of the arbitrary part is set as a first reference value, and the above-mentioned generated by the rotation of the object When detecting the vibration level of an arbitrary part, a first reference value acquisition unit that determines one of the displacement, speed, and acceleration obtained from the rotation angle, angular velocity, and angular acceleration of the arbitrary part as a first reference value;
A second reference value acquisition unit for obtaining a value corresponding to one of differentiation or integration of the first reference value as a second reference value;
A third reference value obtaining unit for obtaining a value corresponding to the other of the differentiation or integration of the first reference value as a third reference value;
When the second reference value corresponds to the integral value of the first reference value, the angular frequency value of the vibration to be detected is multiplied by the second reference value, and the second reference value is a differential value of the first reference value. When the second reference value is corrected by dividing the second reference value by the angular frequency value, the third reference value corresponds to an integral value of the first reference value. When the third reference value is multiplied by the angular frequency value, and the third reference value corresponds to a differential value of the first reference value, the third reference value is divided by the angular frequency value to obtain the third reference value. A correction unit for correcting the reference value;
From the value which can recognize the length of the synthetic vector of the second reference value and the first reference value when the second reference value and the first reference value corrected by the correction unit are taken as orthogonal coordinates The first vibration level is obtained, and the length of the combined vector of the third reference value and the first reference value when the third reference value corrected by the correction unit and the first reference value are taken as orthogonal coordinates A vibration level obtaining unit that obtains a second vibration level from a value capable of recognizing the height, and further obtains the vibration level based on the first vibration level and the second vibration level. Level detection device. A filter that performs a process of extracting vibrations of a frequency to be detected from the first reference value, the second reference value, and the third reference value;
The vibration level according to claim 5 , wherein the vibration level acquisition unit obtains a vibration level based on the first reference value, the second reference value, and the third reference value after extraction processing by a filter. Detection device. The vibration level detection device according to claim 5, wherein the second reference value acquisition unit obtains the second reference value by differentiating or integrating the first reference value. The vibration level detection device according to any one of claims 5 to 7, wherein the third reference value acquisition unit obtains the third reference value by differentiating or integrating the first reference value. The object is a sprung member of a vehicle,
The first reference value other than the displacement of the arbitrary site one of claims 5 8, characterized in that obtaining the vibration level as a value corresponding to the addition displace said second reference value and said third reference value vibration level detecting apparatus according to an item or. The vibration level detection device according to any one of claims 5 to 9, wherein vibration levels in at least two directions of pitching and rolling at an arbitrary portion of the sprung member are obtained. The object is a sprung member of a vehicle,
The vibration level acquisition unit obtains the vibration level in the rolling direction, the vibration level in the pitching direction, and the vibration level in the bounce direction individually at an arbitrary part of the sprung member, and adds these to obtain the vibration level of the sprung member. The vibration level detection apparatus according to any one of claims 5 to 10 , wherein

Images