JP6510796B2 - サスペンション装置およびサスペンション制御装置 - Google Patents
サスペンション装置およびサスペンション制御装置 Download PDFInfo
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- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/017—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/056—Regulating distributors or valves for hydropneumatic systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
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- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/416—Fluid actuator using a pump, e.g. in the line connecting the lower chamber to the upper chamber of the actuator
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- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/02—Supply or exhaust flow rates; Pump operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/07—Inhibiting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9123—Active Body Control [ABC]
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- Engineering & Computer Science (AREA)
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- Vehicle Body Suspensions (AREA)
Description
ことを特徴とする。
なお、この場合、圧側室R2の圧力とピストン2の圧側室R2に面する受圧面積の積である力がピストン2を押し上げる推力として発生するが、圧側室R2はリザーバRと等圧であり、伸側室R1の圧力をリザーバRの圧力との差圧として捉えているので、ピストン2を押し上げる推力は0とみなせる。
Claims (7)
- シリンダと上記シリンダ内に摺動自在に挿入されるピストンとを有して伸縮可能であって車両のばね上部材とばね下部材との間に介装されるアクチュエータ本体と、回転駆動されることによって上記シリンダ内へ流体を供給して上記アクチュエータ本体を伸縮させることが可能なポンプとを備えたアクチュエータ装置と、
上記ポンプの回転数を制御するコントローラとを備え、
上記コントローラは、上記車両が走行中の路面の粗さの尺度である路面状態指標を求める路面状態指標取得部と、上記路面状態指標に基づいて上記ポンプの目標回転数を決定する目標回転数決定部と、上記車両の速度が速度閾値以下である場合、上記ポンプの目標回転数を0に設定するポンプ停止判断部とを有し、
上記目標回転数決定部は、上記路面状態指標の増加にしたがって上記目標回転数を増加させる
ことを特徴とするサスペンション装置。 - 上記コントローラは、上記車両のばね上部材の横方向加速度が横加速度閾値を超えるか、上記車両のばね上部材の前後方向加速度が前後加速度閾値を超える場合、必要最低回転数を0を超える既定値に設定する最低回転数規制部を備え、
上記目標回転数決定部は、上記必要最低回転数に上記路面状態指標に基づいて得る加算回転数を加算して上記目標回転数を求め、
上記ポンプ停止判断部は、上記車両の速度が速度閾値以下である場合、上記目標回転数決定部が求める上記目標回転数にかかわらず、上記目標回転数を0に設定する
ことを特徴とする請求項1に記載のサスペンション装置。 - 上記最低回転数規制部は、上記車両のばね上部材の横方向加速度が横加速度閾値以下であり、かつ、上記車両のばね上部材の前後方向加速度が前後加速度閾値以下である場合、上記ポンプの必要最低回転数を0に設定する
ことを特徴とする請求項2に記載のサスペンション装置。 - 上記目標回転数決定部で決定される上記目標回転数は、上記路面状態指標の増加に対して段階的に増加する
ことを特徴とする請求項1から3のいずれか一項に記載のサスペンション装置。 - 上記路面状態指標取得部は、所定時間内における上記ばね下部材の加速度、速度、変位、上記ばね下部材と上記ばね上部材の相対加速度、相対速度、相対変位のいずれかの状態量の絶対値の積分値、絶対値の積分平均値、二乗平均平方根値、単純平均値、最大値、度数分布に基づいて、上記路面状態指標を求める
ことを特徴とする請求項1から4のいずれか一項に記載のサスペンション装置。 - 上記アクチュエータ装置は、
上記シリンダと、上記シリンダ内に移動自在に挿入されて上記シリンダ内を伸側室と圧側室とに区画する上記ピストンとを備えたアクチュエータ本体と、
上記ポンプと、
上記ポンプの吸込側に接続されるリザーバと、
上記ポンプの吐出側に接続される供給路と、
上記リザーバに接続される排出路と、
上記伸側室に接続される伸側通路と、
上記圧側室に接続される圧側通路と、
上記伸側通路と上記圧側通路の一方を選択的に上記供給路に接続するとともに上記伸側通路と上記圧側通路の他方を上記排出路に接続する切換手段と、
上記伸側通路に設けられ上記伸側室から上記切換手段に向かう流れに対し抵抗を与え、反対向きの流れに対してはこれを許容する伸側減衰要素と、
上記圧側通路に設けられ上記圧側室から上記切換手段に向かう流れに対し抵抗を与え、反対向きの流れに対してはこれを許容する圧側減衰要素と、
供給電流に応じて上記供給路の圧力を調整可能な制御弁と、
上記供給路と上記排出路とを接続する吸込通路と、
上記吸込通路の途中に設けられて上記排出路から上記供給路へ向かう流体の流れのみを許容する吸込チェック弁と、
上記供給路の途中であって上記制御弁と上記ポンプとの間に設けられて上記ポンプ側から上記制御弁側へ向かう流れのみを許容する供給側チェック弁と
を備えたことを特徴とする請求項1から5のいずれか一項に記載のサスペンション装置。 - シリンダと上記シリンダ内に摺動自在に挿入されるピストンとを有して伸縮可能であって車両のばね上部材とばね下部材との間に介装されるアクチュエータ本体と、回転駆動されることによって上記シリンダ内へ流体を供給して上記アクチュエータ本体を伸縮させることが可能なポンプとを備えたアクチュエータ装置における上記ポンプの回転数を制御するサスペンション制御装置であって、
上記車両が走行中の路面の粗さの指標である路面状態指標を求める路面状態指標取得部と、上記路面状態指標に基づいて上記ポンプの目標回転数を決定する目標回転数決定部と、上記車両の速度が速度閾値以下である場合、上記ポンプの目標回転数を0に設定するポンプ停止判断部とを有し、
上記目標回転数決定部は、上記路面状態指標の増加にしたがって上記目標回転数を増加させる
ことを特徴とするサスペンション制御装置。
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JP2014226736A JP6510796B2 (ja) | 2014-11-07 | 2014-11-07 | サスペンション装置およびサスペンション制御装置 |
EP15857228.9A EP3216632A4 (en) | 2014-11-07 | 2015-11-06 | Suspension device and suspension control device |
US15/524,903 US10183540B2 (en) | 2014-11-07 | 2015-11-06 | Suspension device and suspension control unit |
PCT/JP2015/081392 WO2016072512A1 (ja) | 2014-11-07 | 2015-11-06 | サスペンション装置およびサスペンション制御装置 |
KR1020177013043A KR101923843B1 (ko) | 2014-11-07 | 2015-11-06 | 서스펜션 장치 및 서스펜션 제어 장치 |
CN201580060514.9A CN107107699A (zh) | 2014-11-07 | 2015-11-06 | 悬架装置和悬架控制装置 |
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JP6463948B2 (ja) * | 2014-11-07 | 2019-02-06 | Kyb株式会社 | サスペンション装置 |
US10675936B2 (en) * | 2014-12-16 | 2020-06-09 | Atv8 Llc | System and method for vehicle stabilization |
CN106627022B (zh) * | 2016-09-20 | 2019-04-19 | 西安科技大学 | 带振动能量回收功能的车辆半主动悬架系统的控制方法 |
JP7008486B2 (ja) * | 2017-11-21 | 2022-01-25 | Kyb株式会社 | サスペンション装置 |
DE102017011905A1 (de) * | 2017-12-21 | 2019-06-27 | Wabco Gmbh | Verfahren und Einrichtung zum Betreiben eines pneumatischen Systems mit einer Druckluftversorgungsanlage und einer Luftfederanlage und pneumatisches System mit einer Druckluftversorgungsanlage und einer Luftfederanlage sowie Fahrzeug |
CN108248325B (zh) * | 2018-01-11 | 2021-03-30 | 山西大学 | 基于事件触发的汽车主动悬架状态反馈控制方法 |
EP3867088A4 (en) * | 2018-10-19 | 2022-07-20 | Clearmotion, Inc. | METHOD AND APPARATUS FOR ADDRESSING ROAD SURFACE ASPERITIES |
CN109455052B (zh) * | 2018-12-24 | 2021-07-30 | 西安科技大学 | 一种复合式阻尼可调馈能型主动悬架作动器及其控制方法 |
JP7162081B2 (ja) * | 2019-01-28 | 2022-10-27 | 日立Astemo株式会社 | 車両挙動装置 |
DE102019107218B4 (de) * | 2019-03-21 | 2023-07-06 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Dämpfungsmodul für zwei Dämpfungsvorrichtungen an zwei Radträgern einer Achse eines Fahrzeugs |
JP7279689B2 (ja) | 2020-06-16 | 2023-05-23 | トヨタ自動車株式会社 | データ処理装置及びデータ処理システム |
IT202000015142A1 (it) * | 2020-06-24 | 2021-12-24 | Way Assauto S R L | Sospensione attiva per veicolo |
JP7251538B2 (ja) * | 2020-10-19 | 2023-04-04 | トヨタ自動車株式会社 | 車両の制御方法及び制御装置 |
JP7314904B2 (ja) * | 2020-10-30 | 2023-07-26 | トヨタ自動車株式会社 | 制振制御装置 |
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JPH0788134B2 (ja) * | 1987-01-16 | 1995-09-27 | 日産自動車株式会社 | 能動型サスペンシヨン装置 |
JP2503246B2 (ja) * | 1988-03-31 | 1996-06-05 | 日産自動車株式会社 | 油圧サスペションの油圧供給装置 |
JP2702535B2 (ja) * | 1989-01-17 | 1998-01-21 | マツダ株式会社 | 車両のサスペンション装置 |
JPH038013U (ja) * | 1989-06-12 | 1991-01-25 | ||
JP3020656B2 (ja) * | 1991-07-01 | 2000-03-15 | マツダ株式会社 | 車両のサスペンシヨン装置 |
JP3062616B2 (ja) * | 1991-09-06 | 2000-07-12 | カヤバ工業株式会社 | アクティブサスペンションの油圧回路 |
JPH08169223A (ja) * | 1994-12-19 | 1996-07-02 | Mitsubishi Heavy Ind Ltd | 車両用能動式懸架装置の油圧源機構 |
JP3385940B2 (ja) * | 1997-10-13 | 2003-03-10 | トヨタ自動車株式会社 | 車高調整装置 |
JPH11170837A (ja) * | 1997-12-16 | 1999-06-29 | Toyota Motor Corp | 車高調整装置 |
JP3428414B2 (ja) * | 1998-01-12 | 2003-07-22 | トヨタ自動車株式会社 | 車両の車高調整装置 |
JPH11198626A (ja) * | 1998-01-13 | 1999-07-27 | Toyota Motor Corp | 車高調整装置 |
JP3884182B2 (ja) * | 1999-02-18 | 2007-02-21 | 株式会社日立製作所 | 悪路判定装置およびこの悪路判定装置を用いたブレーキ制御装置 |
JP2005193708A (ja) * | 2003-12-26 | 2005-07-21 | Hitachi Ltd | サスペンション装置 |
EP2156970A1 (en) * | 2008-08-12 | 2010-02-24 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | Multi-point hydraulic suspension system for a land vehicle |
JP5668872B2 (ja) * | 2011-12-28 | 2015-02-12 | 日産自動車株式会社 | 車両の制御装置 |
JP6108531B2 (ja) * | 2013-03-14 | 2017-04-05 | Kyb株式会社 | 車高昇降装置 |
US9702349B2 (en) * | 2013-03-15 | 2017-07-11 | ClearMotion, Inc. | Active vehicle suspension system |
JP6369498B2 (ja) * | 2016-04-26 | 2018-08-08 | トヨタ自動車株式会社 | サスペンションシステム |
-
2014
- 2014-11-07 JP JP2014226736A patent/JP6510796B2/ja active Active
-
2015
- 2015-11-06 CN CN201580060514.9A patent/CN107107699A/zh active Pending
- 2015-11-06 KR KR1020177013043A patent/KR101923843B1/ko active IP Right Grant
- 2015-11-06 EP EP15857228.9A patent/EP3216632A4/en not_active Withdrawn
- 2015-11-06 US US15/524,903 patent/US10183540B2/en not_active Expired - Fee Related
- 2015-11-06 WO PCT/JP2015/081392 patent/WO2016072512A1/ja active Application Filing
Also Published As
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KR101923843B1 (ko) | 2018-11-29 |
US20170320368A1 (en) | 2017-11-09 |
KR20170071545A (ko) | 2017-06-23 |
WO2016072512A1 (ja) | 2016-05-12 |
CN107107699A (zh) | 2017-08-29 |
EP3216632A1 (en) | 2017-09-13 |
US10183540B2 (en) | 2019-01-22 |
EP3216632A4 (en) | 2018-06-27 |
JP2016088360A (ja) | 2016-05-23 |
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