JP6789454B1 - Control device, vehicle height adjustment device, saddle-mounted vehicle - Google Patents

Abstract

The control device supports and moves the end of the spring of the suspension of the vehicle to change the load of the spring. The output value of the sensor that outputs a value according to the amount of movement of the support member while the support member is stopped. The current movement is performed using the difference between the output value of the sensor at the current position and the stopped output value stored in the storage unit 56 after the target movement amount of the storage unit 56 to be stored and the support member is changed. A setting unit 52 and a drive control unit 53 that calculate the amount and control the movement amount of the support member by using the deviation between the calculated current movement amount and the changed target movement amount are provided.

Description

The present invention relates to a control device, a vehicle height adjusting device, and a saddle-mounted vehicle.

In recent years, a device for adjusting the height (vehicle height) of the vehicle body of a vehicle has been proposed for the purpose of adjusting the posture of the vehicle.
For example, the front fork, the rear suspension, and the control device described in Patent Document 1 are an example of a vehicle height adjusting device that adjusts the vehicle height of a motorcycle. This vehicle height adjusting device adjusts the vehicle height by changing the initial load of the spring by moving the support member that supports the end of the spring toward the center line of the spring with respect to the hydraulic jack.

Further, in recent years, a sensor that detects a stroke amount based on a change in coil inductance has been proposed.
For example, in the sensor described in Patent Document 2, the upper end thereof is attached to a piston and the conductor member is extended to the lower end side, and the lower end thereof is attached to the lower end of the inner tube and is extended to the upper end side. It includes a coil conductor into which a member can be inserted. Then, the sensor detects the stroke amount based on the change in the inductance of the coil conductor.

JP-A-2018-144650 Japanese Unexamined Patent Publication No. 2016-194320

It is conceivable to include a sensor that detects the amount of movement of the support member of the vehicle height adjusting device, and adjust the vehicle height using the output value of this sensor. Then, as this sensor, it is conceivable to adopt a sensor provided with a coil and detecting the movement amount of the support member based on the change in the inductance generated in the coil, like the sensor described in Patent Document 2. However, since the output value of the sensor having a coil may change significantly depending on the temperature change, the vehicle height may not be adjusted with high accuracy.
An object of the present invention is to provide a control device or the like capable of adjusting the vehicle height with high accuracy even if a temperature change occurs.

Hereinafter, the present disclosure will be described.
The first aspect of the present disclosure is to set a value according to the amount of movement of the support member while the support member for changing the load of the spring by supporting and moving the end portion of the spring of the suspension of the vehicle is stopped. A storage unit that stores the output value of the sensor to be output, an output value of the sensor at the current position after the target movement amount of the support member is changed, and the stopped output value stored in the storage unit. A control unit that calculates the current movement amount using the difference between the above and controls the movement amount of the support member by using the difference between the calculated current movement amount and the changed target movement amount. The control unit is a control device that stops the support member when the deviation is within a predetermined range .
Here, the front Symbol controller, the time of stopping the support member, and stores the error which is a difference between the moving amount and the target amount of movement stop position, then, the target amount of movement of the support member When calculating the current movement amount due to the change, the error may be used for calculation.
Further, the control unit may move the support member to a reference position where the movement amount of the support member becomes 0 at a predetermined timing.
The second aspect of the present disclosure is to set a value according to the amount of movement of the support member while the support member for changing the load of the spring by supporting and moving the end portion of the spring of the suspension of the vehicle is stopped. A storage unit that stores the output value of the sensor to be output, an output value of the sensor at the current position after the target movement amount of the support member is changed, and the stopped output value stored in the storage unit. A control unit that calculates the current movement amount using the difference between the above and controls the movement amount of the support member by using the difference between the calculated current movement amount and the changed target movement amount. The control unit is a control device that moves the support member to a reference position where the movement amount of the support member becomes 0 at a predetermined timing.
Here, in the first or second aspect, the predetermined timing may be immediately after the vehicle is started.
Further, when the elapsed time from the start / stop of the vehicle to the restart is equal to or longer than a predetermined time, the control unit is a sensor at the current position immediately after the vehicle is started. The current movement amount may be calculated by using the difference between the output value of the above and the output value of the sensor at a predetermined reference position.
A third aspect of the present disclosure is to set a value according to the amount of movement of the support member while the support member that changes the load of the spring by supporting and moving the end portion of the spring of the suspension of the vehicle is stopped. A storage unit that stores the output value of the sensor to be output, an output value of the sensor at the current position after the target movement amount of the support member is changed, and the stopped output value stored in the storage unit. A control unit that calculates the current movement amount using the difference between the above and controls the movement amount of the support member by using the difference between the calculated current movement amount and the changed target movement amount. The control unit is at the current position immediately after the vehicle is started when the elapsed time from the start / stop of the vehicle to the restart is equal to or longer than a predetermined predetermined time. It is a control device that calculates the current movement amount by using the difference between the output value of the sensor and the output value of the sensor at a predetermined reference position.
Another aspect of the present disclosure has a support member that changes the load of the spring by supporting and moving the end of the spring of the suspension of the vehicle, and the vehicle by changing the amount of movement of the support member. The vehicle height adjusting device includes an adjusting unit capable of adjusting the height of the support member and a control device according to the first to third aspects described above for controlling the amount of movement of the support member.
Another aspect of the present disclosure is a saddle-mounted vehicle including a vehicle body, wheels, and a vehicle height adjusting device according to the above-described aspect.

According to the present invention, it is possible to provide a control device or the like capable of adjusting the vehicle height with high accuracy even if a temperature change occurs.

It is a figure which shows an example of the schematic structure of the motorcycle 1 which concerns on 1st Embodiment. It is a figure which shows an example of the schematic structure of the vehicle height adjusting device 100. It is a figure which shows an example of the block diagram of the control device 50. It is a figure which shows an example of the relationship between the movement amount of a support member 73, and the output value of a movement amount sensor 75. It is a flowchart which shows an example of the procedure of the setting process of the target current It performed by the setting unit 52. It is a figure which shows an example of the block diagram of the control device 250 of the vehicle height adjustment device 200 which concerns on 2nd Embodiment. It is a figure which shows an example of the block diagram of the control device 350 of the vehicle height adjustment device 300 which concerns on 3rd Embodiment. It is a flowchart which shows an example of the procedure of the setting process of the target current It performed by the setting unit 352. It is a figure which shows an example of the block diagram of the control device 450 of the vehicle height adjustment device 400 which concerns on 4th Embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments shown below are examples of embodiments of the present invention, and the present invention is not limited to the embodiments shown below.

<First Embodiment>
FIG. 1 is a diagram showing an example of a schematic configuration of the motorcycle 1 according to the first embodiment.
FIG. 2 is a diagram showing an example of a schematic configuration of the vehicle height adjusting device 100.
A motorcycle 1 as an example of a saddle-mounted vehicle includes a front wheel 2 which is a front wheel, a rear wheel 3 which is a rear wheel, and a vehicle body 10. The vehicle body 10 includes a vehicle body frame 11 that forms the skeleton of the motorcycle 1, a handle 12, a brake lever 13, a seat 14, and a user interface 17 that can be operated by the user.

Further, the motorcycle 1 has one suspension 21 on the front wheel 2 side connecting the front wheel 2 and the vehicle body 10 on each of the left side and the right side of the front wheel 2. Further, the motorcycle 1 includes two brackets 15 for holding the two suspensions 21 and a shaft 16 arranged between the two brackets 15. The suspension 21 includes a spring 21s that absorbs the impact applied to the front wheels 2 from the road surface or the like, and a damping device 21d that damps the vibration of the spring 21s.

Further, the motorcycle 1 has one suspension 22 on the rear wheel 3 side connecting the rear wheel 3 and the vehicle body 10 on the left side and one on the right side of the rear wheel 3. The suspension 22 includes a spring 22s that absorbs the impact applied to the rear wheels 3 from the road surface or the like, and a damping device 22d that damps the vibration of the spring 22s.
In the following description, the front wheels 2 and the rear wheels 3 may be collectively referred to as "wheels", and the vehicle body 10 may be referred to as a "body". Further, the suspension 21 on the front wheel 2 side and the suspension 22 on the rear wheel 3 side may be collectively referred to as "suspension 23". Further, the spring 21s and the spring 22s may be collectively referred to as a "spring 23s".

Further, the motorcycle 1 includes an adjusting unit 70 that adjusts the height of the vehicle body 10, in other words, the vehicle height by changing the initial load (preload) applied to the spring 23s.
Further, the motorcycle 1 is provided with a control device 50 that controls the initial load of the spring 23s.

(Adjustment unit 70)
See FIGS. 1 and 2. The adjusting portion 70 is provided on the suspension 23 and includes a jack portion 71 for adjusting the length of the spring 23s, and a supply device 80 for supplying oil to the jack chamber 72 of the jack portion 71.
The jack portion 71 has a support member 73 that supports the end portion of the spring 23s on the vehicle body 10 side, and a forming member 74 that forms the jack chamber 72 together with the support member 73, and the amount of oil in the jack chamber 72 is adjusted. The length of the spring 23s is adjusted by moving the support member 73 accordingly. It is illustrated that the support member 73, the jack chamber 72, and the forming member 74 are realized by the support member of the rear suspension or the front fork described in Patent Document 1, the jack chamber, and the hydraulic jack, respectively. Can be done.

Further, the jack portion 71 includes a movement amount sensor 75 that detects the movement amount of the support member 73. The movement amount of the support member 73 detected by the movement amount sensor 75 is the movement amount when the movement amount when the support member 73 is located at the reference position is set to 0. The reference position is, for example, the position of the support member 73 when the oil in the jack chamber 72 is 0. The movement amount sensor 75 uses, for example, a coil (not shown) wound around the outer peripheral surface of the forming member 74, the support member 73 being a magnetic material, and the inductance of the coil that changes according to the movement of the support member 73 with respect to the forming member 74. This is a sensor that detects the amount of movement of the support member 73. The movement amount sensor 75 detects information on the inductance of the coil and measures an oscillation circuit (not shown) that oscillates at a period (frequency) according to the change in inductance and a value corresponding to the frequency of the oscillation waveform by the oscillation circuit. It also has a timer unit (not shown) to output. Hereinafter, the value output from the timer unit may be referred to as an "output value of the movement amount sensor 75" or an "output value". The oscillation circuit and the timer unit may be provided in the control device 50, or may be provided in a member different from the control device 50.

As shown in FIG. 2, the supply device 80 includes a housing 81 for storing oil and a columnar piston 82 that slides in the housing 81. A storage chamber 83 for storing oil is formed on the inner surface of the housing 81 and in the space surrounded by the piston 82.
Further, the supply device 80 includes a motor 84, a speed reducer 85 that reduces the rotational speed of the motor 84, and a screw 86 connected to the output shaft 85a of the speed reducer 85.
It can be exemplified that the motor 84 is a direct current (DC) motor with a brush. The drive of the motor 84 is controlled by the control device 50. It can be exemplified that the speed reducer 85 is a planetary speed reducer using a well-known planetary gear mechanism.
The screw 86 has three columnar parts having different diameters, the first part 86a, the second part 86b, and the third part 86c, from one side (right side in FIG. 2) to the other side in the rotation axis direction. It is held in order from (left side in FIG. 2). The outer diameter of the second part 86b is larger than the outer diameter of the first part 86a and the outer diameter of the third part 86c. A male screw 86d is formed on the outer peripheral surface of the first portion 86a. The output shaft 85a of the speed reducer 85 is fitted inside the third part 86c. As a result, the screw 86 rotates integrally with the output shaft 85a of the speed reducer 85.

Further, the supply device 80 has a nut 87 formed with a female screw 87a that meshes with a male screw 86d formed in the first portion 86a of the screw 86. The nut 87 has a flange 87b at the other end.
Further, the supply device 80 includes an intervening member 88 interposed between the flange 87b of the nut 87 and the piston 82, and a cylindrical collar 89 arranged inside the intervening member 88 and outside the nut 87. It has a cylindrical collar 90 arranged on the outside of the intervening member 88. The intervening member 88 is an elastic member, and is sandwiched between the piston 82 and the flange 87b of the nut 87 in a state of being elastically deformed by being pressed by the piston 82 that receives a force from oil. As a result, the intervening member 88 suppresses the rotation of the nut 87 as the screw 86 rotates.

Further, the supply device 80 has a bearing 91 that rotatably supports the screw 86, and a support member 92 that supports the bearing 91. The bearing 91 is arranged between the support member 92 and the second portion 86b of the screw 86.
The piston 82, the motor 84, the speed reducer 85, the screw 86, the nut 87, the intervening member 88, the collar 89, the collar 90, the bearing 91, and the support member 92 described above are housed in the housing 81.
Then, the supply device 80 is mounted on the housing 81 and is provided between the storage chamber 83 and the jack chamber 72 of the jack portion 71 to allow oil to flow between the storage chamber 83 and the jack chamber 72. It is equipped with a hose 93.

In the adjusting unit 70 configured as described above, the rotation of the shaft of the motor 84 of the supply device 80 causes the screw 86 to rotate in the same direction, and the nut 87 moves to one side in the rotation axis direction. .. As the nut 87 moves, the collar 89, the collar 90, and the intervening member 88 receive a force from the other side in the rotation axis direction toward one side, and move the piston 82 to one side in the rotation axis direction. As a result, the oil is discharged from the storage chamber 83, and the oil is supplied into the jack chamber 72 via the hose 93. As a result, the support member 73 moves to the wheel side (right side in FIG. 2) with respect to the forming member 74, in other words, the amount of movement of the support member 73 from the reference position becomes large, and the spring length of the spring 23s becomes short. ..

When the spring length of the spring 23s is shortened, the force of the spring 23s pushing the support member 73 becomes larger than that before the support member 73 moves with respect to the forming member 74. As a result, even if a force acts from the vehicle body to the wheel side, the initial load that does not change the relative positions of the two becomes large. In such a case, when the same force is applied from the vehicle body side to the wheel side, the subduction amount of the suspension 23 (change in the distance between the vehicle body and the wheels) becomes small. Therefore, when the spring length of the spring 23s becomes shorter due to the movement of the support member 73 with respect to the forming member 74, the height of the vehicle body 10 becomes higher than before the support member 73 moves with respect to the forming member 74. Ascend (vehicle height increases).

On the other hand, when the shaft of the motor 84 of the supply device 80 rotates in the direction opposite to the above, the screw 86 also rotates in the direction opposite to the above. Then, the force from the piston 82 that receives the oil force of the storage chamber 83 acts on the flange 87b of the nut 87 via the collar 89, the collar 90, and the intervening member 88, and the nut 87 moves to the other side in the rotation axis direction. To do. As the nut 87 moves to the other side, the volume of the storage chamber 83 increases. As a result, the support member 73 discharges the oil in the jack chamber 72 and supplies it to the storage chamber 83. As a result, the support member 73 moves to the vehicle body side (left side in FIG. 2) with respect to the forming member 74, in other words, the amount of movement of the support member 73 from the reference position becomes small, and the spring length of the spring 23s becomes long. ..

When the spring length of the spring 23s becomes longer, the force with which the spring 23s pushes the support member 73 becomes smaller than before the support member 73 moves with respect to the forming member 74. As a result, when the same force is applied from the vehicle body side to the wheel side, the amount of subduction of the suspension 23 becomes large. Therefore, when the spring length of the spring 23s becomes longer due to the movement of the support member 73 with respect to the forming member 74, the height of the vehicle body 10 becomes higher than before the support member 73 moves with respect to the forming member 74. Descend (lower vehicle height).

The adjusting unit 70 configured as described above, the control device 50, and the like constitute a vehicle height adjusting device 100 that adjusts the vehicle height of the motorcycle 1.

(Control device 50)
Next, the control device 50 will be described.
FIG. 3 is a diagram showing an example of a block diagram of the control device 50.
The control device 50 includes a CPU, a ROM in which programs executed by the CPU, various data, and the like are stored, a RAM used as a work memory of the CPU, and an EEPROM which is a non-volatile memory. .. The operation information of the user interface 17, the output information of the movement amount sensor 75, and the like are input to the control device 50. The control device 50 is activated by being supplied with electric power when the motorcycle 1 is activated.

The control device 50 includes a setting unit 51 that sets a target movement amount Lt of the support member 73 of the jack unit 71, a setting unit 52 that sets a target current It to be supplied to the motor 84, and a drive control that controls the drive of the motor 84. A unit 53 and the like are provided. Further, the control device 50 includes a drive unit 54 for driving the motor 84 and a detection unit 55 for detecting the motor current Im actually flowing through the motor 84. Further, the control device 50 includes a storage unit 56 that stores the output value and the like of the movement amount sensor 75. The setting unit 51, the setting unit 52, and the drive control unit 53 are realized by the CPU executing software stored in a storage area such as a ROM. The storage unit 56 is realized by RAM or EEPROM.

The drive control unit 53 performs feedback control so that the deviation between the target current It set by the setting unit 52 and the motor current Im detected by the detection unit 55 becomes zero.
The drive unit 54 has, for example, a transistor (FET) as a switching element connected between the positive electrode side line of the power supply and the coil of the motor 84. Then, the drive unit 54 controls the drive of the motor 84 by driving the gate of the transistor and switching the transistor.
The detection unit 55 detects the motor current Im flowing through the motor 84 from the voltage generated across the shunt resistor connected to the drive unit 54.

The setting unit 51 sets the target movement amount Lt to a value corresponding to the control mode selected by the user via the user interface 17. For example, on the user interface 17, control modes corresponding to three levels of target vehicle heights of high, medium, and low are displayed in a selectable manner. In the ROM, the target movement amount Lt corresponding to each target vehicle height of high, medium, and low is predetermined and stored. In the following, the target movement amount Lt corresponding to the highest "high" target vehicle height among high, medium, and low is the highest target value Lth, and the target movement amount corresponding to the lowest "low" target vehicle height. Lt may be referred to as the minimum target value Ltl. Further, the target movement amount Lt corresponding to the intermediate "medium" target vehicle height among high, medium, and low may be referred to as an intermediate target value Ltm.

When the control mode corresponding to the “high” target vehicle height is selected via the user interface 17, the setting unit 51 sets the target movement amount Lt to the maximum target value Lth. Further, the setting unit 51 sets the target movement amount Lt to the intermediate target value Ltm when the control mode corresponding to the “medium” target vehicle height is selected via the user interface 17. Further, the setting unit 51 sets the target movement amount Lt to the minimum target value Ltl when the control mode corresponding to the “low” target vehicle height is selected via the user interface 17.

Further, the setting unit 51 sets the target movement amount Lt to 0 in order to move the support member 73 to a reference position where the movement amount of the support member 73 becomes 0 at a predetermined timing. It can be exemplified that the predetermined timing is immediately after the motorcycle 1 is started. Then, after the support member 73 has stopped at the reference position, the setting unit 51 sets the target movement amount Lt according to the target vehicle height corresponding to the control mode selected via the user interface 17.

The setting unit 52 moves the target current for moving the piston 82 so that the target movement amount Lt set by the setting unit 51 and the current movement amount La grasped by using the output value of the movement amount sensor 75 match. Set It.
When the piston 82 is moved in the direction of discharging the oil from the storage chamber 83, the setting unit 52 sets the target current It to a predetermined first value in order to raise the vehicle height. On the other hand, when the piston 82 is moved in the direction of discharging the oil from the jack chamber 72, the setting unit 52 sets the target current It to a second value predetermined in order to lower the vehicle height. A current in the direction of rotating the motor 84 to move the piston 82 to discharge the oil from the storage chamber 83 is added, and the motor 84 is rotated to move the piston 82 to discharge the oil from the jack chamber 72. It can be exemplified that the first value is 8A and the second value is -8A when the current in the direction is negative.

In determining the movement direction of the piston 82, the setting unit 52 first determines in advance a subtraction value ΔL (= Lt-La) obtained by subtracting the current movement amount La calculated as described later from the target movement amount Lt. Judge whether it is within the specified range. Then, when the subtraction value ΔL is within the predetermined range, the setting unit 52 sets the target current It to 0. It should be noted that the predetermined range can be exemplified as, for example, −0.2 (mm) or more and 0.2 (mm) or less. Further, when the subtraction value ΔL is larger than the maximum value in the predetermined range (for example, ΔL> 0.2 (mm)), the setting unit 52 aims to move the piston 82 in the direction of discharging the oil from the storage chamber 83. The current It is set to the first value. On the other hand, when the subtraction value ΔL is smaller than the minimum value in the predetermined range (for example, ΔL <−0.2 (mm)), the setting unit 52 moves the piston 82 in the direction of discharging the oil from the jack chamber 72 in order to move the piston 82. The target current It is set to the second value.

In the following, when the support member 73 is moved due to the setting unit 51 changing the setting of the target movement amount Lt, it may be referred to as “in operation”. Further, during operation, the period from when the subtraction value ΔL is within the predetermined range and the setting unit 52 sets the target current It to 0 until the setting unit 51 next changes the target movement amount Lt is “stopped”. It may be called.

FIG. 4 is a diagram showing an example of the relationship between the movement amount of the support member 73 and the sensor value which is the output value of the movement amount sensor 75.
The setting unit 52 calculates the current movement amount La using the following equation (1) during operation.
La = Lp + (Sa-Sp) x Lq / G ... (1)
Here, it can be exemplified that Lp, Sa, Sp, Lq, and G have the following values, respectively.
Lp is the movement amount at the position where the setting unit 51 was stopped when the target movement amount Lt was changed. That is, Lp is the target movement amount Lt during the previous stop. For example, when the target vehicle height of "low" is selected and the movement amount of the support member 73 is the minimum target value Ltl, when the target vehicle height is changed to "medium" via the user interface 17. , Lp is the minimum target value Ltl.
Sa is the output value of the current movement amount sensor 75.
Sp is the output value of the movement amount sensor 75 at the position where the setting unit 51 was stopped when the target movement amount Lt was changed. Sp is a value stored in the storage unit 56, as will be described later.
Lq is the amount of movement that the support member 73 can move. In other words, Lq is the difference between the minimum movement amount Lmin, which is the movement amount when the support member 73 is positioned at the reference position, and the maximum movement amount Lmax, which is the maximum movement amount when the support member 73 is positioned at the maximum. In this embodiment, since the minimum movement amount Lmin is 0, Lq = Lmax.
When the support member 73 is located at the reference position, G is, in other words, the minimum output value Smin which is the output value of the movement amount sensor 75 at the minimum movement amount Lmin and the output value of the movement amount sensor 75 at the maximum movement amount Lmax. This is the difference from a certain maximum output value Smax.
Lq and G are predetermined and stored in the ROM. Further, a reference between the movement amount of the support member 73 and the output value of the movement amount sensor 75, which is a linear relationship connecting the minimum output value Smin at the minimum movement amount Lmin and the maximum output value Smax at the maximum movement amount Lmax. The relationship is also stored in the ROM. The reference relationship is determined by using the value measured when the movement amount sensor 75 is at room temperature.

Further, the setting unit 52 periodically acquires the output value of the movement amount sensor 75 while the setting unit 52 is stopped, and stores the acquired output value in the storage unit 56. The output value stored in the storage unit 56 in this way is the above Sp. FIG. 4 also shows an example in which the relationship between the movement amount of the support member 73 and the output value of the movement amount sensor 75 changes due to the change in the temperature around the movement amount sensor 75. In the example shown in FIG. 4, the output value of the movement amount sensor 75 is increased due to the change in temperature even if the movement amount of the support member 73 is the same. Further, in FIG. 4, the output value of the movement amount sensor 75 when stopped due to the subtraction value ΔL being within a predetermined range is Sp0, and then the setting unit 51 sets the target movement amount Lt. The case where the output value of the movement amount sensor 75 when the support member 73 starts moving due to the change is Spn is illustrated. In the case of the example shown in FIG. 4, the setting unit 52 updates the output value Sp of the movement amount sensor 75 while stopped from Sp0 to Spn.

FIG. 5 is a flowchart showing an example of a procedure for setting the target current It performed by the setting unit 52.
The setting unit 52 repeatedly executes this process, for example, in a predetermined control cycle (for example, every 1 millisecond).
First, the setting unit 52 determines whether or not the target movement amount Lt has been changed by the setting unit 51 (S501). When the target movement amount Lt is changed (Yes in S501), the setting unit 52 grasps the changed target movement amount Lt (S502). After that, the setting unit 52 calculates the current movement amount La using the above equation (1) (S503). After that, the setting unit 52 determines whether or not the subtraction value ΔL (= Lt-La) obtained by subtracting the current movement amount La calculated in S503 from the target movement amount Lt grasped in S502 is within the predetermined range. (S504). When the subtraction value ΔL is not within the predetermined range (No in S504), the setting unit 52 determines whether or not the subtraction value ΔL is larger than the maximum value in the predetermined range (S505). Then, when the subtraction value ΔL is larger than the maximum value (Yes in S505), the setting unit 52 sets the target current It to the first value in order to move the piston 82 in the direction of discharging the oil from the storage chamber 83. (S506). After that, the setting unit 52 performs the processing after S503.

On the other hand, when the subtraction value ΔL is not larger than the maximum value (No in S505), it is considered that the subtraction value ΔL is smaller than the minimum value in the predetermined range, so that the setting unit 52 pistons in the direction of discharging oil from the jack chamber 72. In order to move the 82, the target current It is set to the second value (S507). After that, the setting unit 52 performs the processing after S503.
On the other hand, when the subtraction value ΔL is within the predetermined range (Yes in S504), the setting unit 52 sets the target current It to 0 (S508), and ends the process.
If the target movement amount Lt has not been changed (No in S501), the setting unit 52 ends the process.

In the motorcycle 1 configured as described above, the setting unit 52 stores the output value of the movement amount sensor 75 while stopped in the storage unit 56. Then, after the setting unit 51 starts moving the support member 73 due to the setting change of the target movement amount Lt, the movement amount from the position of the support member 73 during the stop (previous target movement amount Lt) is set. , Calculated using the latest output value of the stopped movement amount sensor 75 stored in the storage unit 56. Therefore, even if the output value of the movement amount sensor 75 changes due to the temperature change, the setting unit 52 calculates the current position of the support member 73 with high accuracy by using the changed output value. It becomes possible to do. As a result, the setting unit 52 can set the target current It so that the movement amount of the support member 73 matches the target movement amount Lt with high accuracy even if the temperature changes. Then, the drive control unit 53 performs feedback control so that the deviation between the target current It set by the setting unit 52 and the motor current Im detected by the detection unit 55 becomes zero. As a result, according to the control device 50, the vehicle height can be adjusted to a desired height with high accuracy.

As described above, the setting unit 52 uses the difference between the output value Sa of the movement amount sensor 75 as an example of the sensor at the current position and Sp as an example of the stopped output value stored in the storage unit 56. Then, the current movement amount La is calculated. Therefore, the setting unit 52 and the drive control unit 53 control the movement amount of the support member 73 by using the subtraction value ΔL as an example of the deviation between the calculated current movement amount La and the changed target movement amount Lt. , Functions as an example of a control unit.

Further, the setting unit 51 sets the target movement amount Lt to 0 immediately after the motorcycle 1 is started. Then, when the target movement amount Lt is set to 0 immediately after the motorcycle 1 is started, the setting unit 52 moves the nut 87 to the other side in the rotation axis direction, and the flange 87b of the nut 87 is moved. The target current It is set to 0 when it is detected that the screw 86 has hit the second part 86b. The fact that the flange 87b of the nut 87 hits the second portion 86b of the screw 86 can be detected, for example, by detecting that the motor current Im detected by the detection unit 55 becomes larger than the reference value. Can be done. However, it may be detected by other methods.

During operation, when the subtraction value ΔL falls within a predetermined range, the setting unit 52 sets the target current It to 0 to stop the movement of the support member 73, so that the actual movement of the support member 73 at the stop position is stopped. The amount may differ from the target movement amount Lt. If they are different, the setting unit 52 erroneously recognizes the movement amount of the support member 73 as a movement amount different from the actual movement amount even when stopped. In the present embodiment, the setting unit 51 sets the target movement amount Lt to 0, and the setting unit 52 sets the target current It to 0 when the support member 73 is truly positioned at the reference position. As a result, the setting unit 52 can recognize that the support member 73 is located at the reference position when the support member 73 is truly located at the reference position. As a result, it is possible to suppress setting the target current It while erroneously recognizing the movement amount of the support member 73, so that it becomes easy to adjust the vehicle height with high accuracy. Further, by setting the target movement amount Lt to 0 immediately after the motorcycle 1 is started by the setting unit 51, in addition to the above effect, the driver feels uncomfortable due to the change in vehicle height. It can be made smaller.

It should be noted that setting the target movement amount Lt to 0 in order to improve the accuracy of vehicle height adjustment is not limited to immediately after the motorcycle 1 is started. For example, when the setting unit 51 is stopped at the minimum target value Ltl and a control mode corresponding to the “medium” or “high” target vehicle height is selected via the user interface 17, the target movement amount Lt May be set to 0 once before setting to the intermediate target value Ltm or the maximum target value Lth. Then, after setting the target movement amount Lt to 0 and detecting that the flange 87b of the nut 87 hits the second portion 86b of the screw 86, for example, the motor current Im detected by the detection portion 55 is used as a reference. After becoming larger than the value, the target movement amount Lt may be set to the intermediate target value Ltm or the maximum target value Lth. In this embodiment, in order to eliminate erroneous recognition, for example, the support member is compared with setting the target movement amount Lt to 0 from the state of being stopped at the intermediate target value Ltm or the maximum target value Lth. The amount of movement of 73 can be reduced.

Further, in the above description, the temperature change is illustrated as the cause of the change in the output value of the movement amount sensor 75, but the cause of the change in the output value is not limited to the temperature change. The function of the control device 50 described above is also effective when the output value of the movement amount sensor 75 changes due to other changes in the external environment. Further, the configuration of the movement amount sensor 75 is not limited to that having a coil.

<Second embodiment>
FIG. 6 is a diagram showing an example of a block diagram of the control device 250 provided in the vehicle height adjusting device 200 according to the second embodiment.
The vehicle height adjusting device 200 according to the second embodiment is different from the vehicle height adjusting device 100 according to the first embodiment in the control device 250 corresponding to the control device 50. The control device 250 is different from the control device 50 in that it has a setting unit 252 instead of the setting unit 52. Hereinafter, the points different from the first embodiment will be described. The same reference numerals are used for those having the same function in the first embodiment and the second embodiment, and detailed description thereof will be omitted.

In addition to the functions of the setting unit 52, the setting unit 252 uses the following equation (2), for example, when it can be determined that the movement amount sensor 75 is at room temperature immediately after the motorcycle 1 is started. Calculate the current movement amount La.
La = (Sa-Smin) x Lq / G ... (2)
Here, Smin is an output value of the movement amount sensor 75 when the support member 73 is located at the reference position (when the minimum movement amount is Lmin). Smin is predetermined and stored in ROM.

The setting unit 252 grasps the elapsed time from the start / stop of the motorcycle 1 to the restart, and when the elapsed time is equal to or longer than a predetermined time, the movement amount sensor 75 is at room temperature. It can be exemplified that the judgment is made. The setting unit 252 has a timer unit for measuring the elapsed time, and by acquiring the elapsed time measured by the timer unit, it can be exemplified that the elapsed time is grasped. Alternatively, the setting unit 252 may acquire the elapsed time from a system capable of acquiring time information such as GPS (Global Positioning System) provided in the motorcycle 1 via the vehicle network (for example, CAN).

As described above, when the elapsed time from the start / stop of the motorcycle 1 to the restart is equal to or longer than the predetermined time, the setting unit 252 immediately after the motorcycle 1 is started, the output value Sa of the sensor at the current position The current movement amount La is calculated by using the difference between the above and the output value Smin of the sensor at the predetermined reference position. As a result, it is possible to prevent the setting unit 252 from setting the target current It while erroneously recognizing the movement amount of the support member 73, so that the vehicle height can be adjusted with high accuracy.

<Third embodiment>
FIG. 7 is a diagram showing an example of a block diagram of the control device 350 of the vehicle height adjusting device 300 according to the third embodiment.
The vehicle height adjusting device 300 according to the third embodiment is different from the vehicle height adjusting device 100 according to the first embodiment in that it has a control device 350 instead of the control device 50. The control device 350 differs from the control device 50 in the setting unit 52 and the corresponding setting unit 352. Hereinafter, the points different from the first embodiment will be described. The same reference numerals are used for those having the same function in the first embodiment and the third embodiment, and detailed description thereof will be omitted.

Similar to the setting unit 52, the setting unit 352 sets the target current It to 0 when the subtraction value ΔL is within a predetermined range even if the subtraction value ΔL is not 0. In addition, the setting unit 352 calculates the current movement amount La in consideration of the difference between the actual movement amount and the target movement amount Lt at the previous stop position of the support member 73. More specifically, the setting unit 352 calculates the current movement amount La using the following equation (3).
La = Lp + ΔLp + (Sa-Sp) x Lq / G ... (3)
Here, ΔLp is an error between the actual movement amount and the target movement amount Lt at the stop position of the previous support member 73 when stopped after the previous operation. In other words, it is the value of the subtraction value ΔL when stopped after the previous operation.

FIG. 8 is a flowchart showing an example of a procedure for setting the target current It performed by the setting unit 352.
The setting unit 352 repeatedly executes this process, for example, in a predetermined control cycle (for example, every 1 millisecond).
The same reference numerals are shown for the same processes as those described with reference to FIG. 5, and detailed description thereof will be omitted. The setting unit 352 calculates the current movement amount La using the above equation (3) (S503), and subtracts the current movement amount La calculated in S503 from the target movement amount Lt grasped in S502. It is determined whether or not ΔL (= Lt-La) is within a predetermined range (S504). Then, when the subtraction value ΔL is within the predetermined range, the setting unit 352 sets the target current It to 0 (S508), and stores the subtraction value ΔL calculated in S504 in the storage unit 56 (S809).

Then, in the processing of S503 when the target movement amount Lt is changed (Yes in S501) in the setting processing from the next time onward, the setting unit 352 sets the value of the subtraction value ΔL stored in the storage unit 56 to the above equation (Yes). Substitute into ΔLp in 3) to calculate the current movement amount La. As a result, even if an error has occurred at the time of the previous stop, the setting unit 352 calculates the current movement amount La in consideration of the error, so that the vehicle height can be easily adjusted with high accuracy.
Similar to the setting unit 252, the setting unit 352 uses the above equation (2) when it can be determined that the movement amount sensor 75 is at room temperature immediately after the motorcycle 1 is started, for example. The movement amount La may be calculated.

<Fourth Embodiment>
FIG. 9 is a diagram showing an example of a block diagram of the control device 450 of the vehicle height adjusting device 400 according to the fourth embodiment.
The vehicle height adjusting device 400 according to the fourth embodiment is different from the vehicle height adjusting device 100 according to the first embodiment in that it has a control device 450 instead of the control device 50. The control device 450 is different from the control device 50 in that it has a setting unit 452 corresponding to the setting unit 52 and a filter 456 that smoothes the output value of the movement amount sensor 75. Hereinafter, the points different from the first embodiment will be described. The same reference numerals are used for those having the same function in the first embodiment and the fourth embodiment, and detailed description thereof will be omitted.

The filter 456 performs a filtering process that does not attenuate the component having a frequency lower than the cutoff frequency but attenuates the component having a frequency higher than the cutoff frequency among the output values of the movement amount sensor 75. For example, the filter 456 can be exemplified as a low-pass filter.
The setting unit 452 calculates the current movement amount La by using the output value of the movement amount sensor 75 smoothed by the filter 456 and the above equation (1).

Here, since the support member 73 that supports the end of the spring 23s is subjected to a force from the spring 23s, the support member 73 moves to the vehicle body side, for example, when the wheel rides on the convex portion of the road surface. There is a risk of Therefore, for example, when the motorcycle 1 is traveling on a rough road, the movement amount of the support member 73 fluctuates at high speed according to the input from the wheels, and the output value of the movement amount sensor 75 fluctuates at high speed. There is a risk. On the other hand, the change in the output value of the movement amount sensor 75 with temperature is not rapid.

In view of the above items, the control device 450 has a filter 456, and the setting unit 452 uses the output value of the movement amount sensor 75 after smoothing by the filter 456 to calculate the current movement amount La. , It becomes easier to consider the change of output value due to temperature. As a result, even if the temperature changes, the movement amount of the support member 73 can be easily matched with the target movement amount Lt with high accuracy, and the vehicle height can be adjusted to the target vehicle height with high accuracy.

In addition, the control device 450 may have a means for calculating the average value of the output values of the movement amount sensor 75 for a plurality of times instead of providing the filter 456, and the setting unit 452 uses the calculated average value. The current movement amount La may be calculated.
Further, the means for calculating the average value of the output values of the filter 456 or the movement amount sensor 75 described above may be applied to the control device 250 according to the second embodiment and the control device 350 according to the third embodiment. good.

1 ... Motorcycle (saddle type vehicle, vehicle), 2 ... Front wheel, 3 ... Rear wheel, 10 ... Vehicle body, 21, 22, 23 ... Suspension, 21s, 22s, 23s ... Spring, 50, 250, 350, 450 ... Control device, 51, 52, 252, 352, 452 ... Setting unit, 53 ... Drive control unit (an example of control unit), 55 ... Detection unit, 56 ... Storage unit, 70 ... Adjustment unit, 71 ... Jack unit, 72 ... Jack chamber, 73 ... Support member, 75 ... Movement amount sensor (sensor), 80 ... Supply device, 81 ... Housing, 82 ... Piston, 83 ... Storage chamber, 84 ... Motor, 100, 200, 300, 400 ... Vehicle height Adjuster

Claims (9)

Stores the output value of the sensor that outputs a value according to the amount of movement of the support member while the support member that changes the load of the spring by supporting and moving the end of the spring of the vehicle suspension is stopped. Memory and
After the target movement amount of the support member is changed, the current movement amount is calculated by using the difference between the output value of the sensor at the current position and the stopped output value stored in the storage unit. In addition, a control unit that controls the movement amount of the support member by using the deviation between the calculated current movement amount and the changed target movement amount.
Equipped with a,
The control unit is a control device that stops the support member when the deviation is within a predetermined range . The control unit stores an error that is the difference between the movement amount at the stop position and the target movement amount when the support member is stopped, and then the target movement amount of the support member is changed. The control device according to claim 1 , wherein the current movement amount is calculated by using the error. The control device according to claim 1 or 2 , wherein the control unit moves the support member to a reference position where the movement amount of the support member becomes 0 at a predetermined timing. Stores the output value of the sensor that outputs a value according to the amount of movement of the support member while the support member that changes the load of the spring by supporting and moving the end of the spring of the vehicle suspension is stopped. Memory and
After the target movement amount of the support member is changed, the current movement amount is calculated by using the difference between the output value of the sensor at the current position and the stopped output value stored in the storage unit. In addition, a control unit that controls the movement amount of the support member by using the deviation between the calculated current movement amount and the changed target movement amount.
With
The control unit moves the support member to a reference position where the movement amount of the support member becomes 0 at a predetermined timing.
Control device. The control device according to claim 3 or 4, wherein the predetermined timing is immediately after the vehicle is started. The control unit outputs a sensor at the current position immediately after the vehicle is started when the elapsed time from the start / stop of the vehicle to the restart is equal to or longer than a predetermined predetermined time. The control device according to any one of claims 1 to 5, wherein the current movement amount is calculated by using the difference between the value and the output value of the sensor at a predetermined reference position. Stores the output value of the sensor that outputs a value according to the amount of movement of the support member while the support member that changes the load of the spring by supporting and moving the end of the spring of the vehicle suspension is stopped. Memory and
After the target movement amount of the support member is changed, the current movement amount is calculated by using the difference between the output value of the sensor at the current position and the stopped output value stored in the storage unit. In addition, a control unit that controls the movement amount of the support member by using the deviation between the calculated current movement amount and the changed target movement amount.
With
The control unit outputs the sensor at the current position immediately after the vehicle is started when the elapsed time from the start / stop of the vehicle to the restart is equal to or longer than a predetermined predetermined time. Calculate the current movement amount using the difference between the value and the output value of the sensor at the predetermined reference position.
Control device. It has a support member that changes the load of the spring by supporting and moving the end of the spring of the suspension of the vehicle, and the height of the vehicle can be adjusted by changing the amount of movement of the support member. Department and
The control device according to any one of claims 1 to 7 , which controls the amount of movement of the support member.
Vehicle height adjustment device equipped with. A saddle-mounted vehicle including a vehicle body, wheels, and a vehicle height adjusting device according to claim 8 .

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