JPH02208U - - Google Patents

Description

[Brief explanation of drawings]

Fig. 1 is a basic configuration diagram of the present invention, Fig. 2 is a schematic configuration diagram of an embodiment of an electronically controlled suspension device, Fig. 3 is an air circuit diagram of this embodiment, and Fig. 4 is a diagram of this embodiment. A block diagram showing the configuration of the electrical system, FIG. 5 is a general flowchart of the control routine executed by the electronic control circuit of this embodiment, and FIG. Figure 7 is a flowchart of the feedback calculation process, Figure 8 is a flowchart of the corrected total pressure calculation process, Figure 9 is a flowchart of the valve control amount calculation process, and Figure 10 is a flowchart of the steering angle θ. A graph showing a map for calculating the estimated lateral acceleration G^RL from the vehicle speed V, Fig. 11 is a graph showing a map for calculating the estimated lateral jerk RL from the steering angle θ and the vehicle speed V, and Fig. 12 shows the predicted acceleration GRLM.
to target pressure difference ΔPFLM, ΔPFRM, ΔPR
A graph representing a map for determining LM, ΔPRRM,
Figure 13 shows predicted acceleration GRLM and actual lateral acceleration GR
Feed forward gain k based on the difference from L
_Fig . ₁₄ is a graph corresponding to a map for calculating the target vehicle height based on the vehicle speed V and _mode , and Fig. 15 is a graph based on the actual longitudinal acceleration GFR. Fig. 16 is a graph corresponding to a map for calculating the target roll displacement XRM based on the actual lateral acceleration GRL, and Fig. 17 is a graph corresponding to the map for calculating the target pitch displacement XPM based on the actual longitudinal acceleration GFR. The graph corresponding to the map for calculating speed X〓PM, Figure 18 is the actual lateral jerk G〓R
_The graph corresponding to the map for calculating the target roll displacement _{speed Figure 20} is a graph corresponding to _the map for determining the coefficients aF/φ and aR/φ based on ₃ and the coefficient b based on the ratio P ₂ /P ₃
A graph corresponding to a map for calculating F/φ and bR/φ, FIG. 21 is a graph corresponding to a map for calculating output duty based on actual valve drive times tU and tD, and FIG. 22 is a timing diagram showing the effects of the embodiment. Chart, Figure 23 is a graph showing a map for calculating estimated longitudinal acceleration G^FR from throttle opening θTH and vehicle speed V, Figure 24 is a graph showing throttle opening θ
= Estimated longitudinal jerk G from TH and vehicle speed V = FR
Fig. 25 is a graph showing a map for calculating estimated longitudinal acceleration G^FR from throttle opening θTH and internal combustion engine rotation speed N. Fig. 26 is a graph showing a map for calculating estimated longitudinal acceleration G^FR from throttle opening θTH and internal combustion engine rotation speed. A graph showing a map for calculating the estimated longitudinal jerk = FR from the speed N, and Fig. 27 shows the estimated longitudinal acceleration G^ from the brake depression amount θBR and the vehicle speed V.
FIG. 28 is a graph representing a map for determining FR. FIG. 28 is a graph representing a map for determining estimated longitudinal jerk FR from brake depression speed θ BR and vehicle speed V. FIG. 29 is a flowchart of valve control processing. M1...Wheel, M2...Fluid actuator,
M3...Vehicle running state detection means, M4...Difference value calculation means, M5...Supply/discharge control means, 1FL, 1F
R, 1RL, 1RR...Suspension, 2FL
, 2FR, 2RL, 2RR... gas spring, 26,
30...High pressure reserve switching valve, 34, 36
, 50, 52, 54, 56, 70, 72... Pressure sensor, 42, 44, 46, 48... Leveling valve, 58, 60, 64, 66... Discharge valve, 80, 82, 84, 86 ... Vehicle height sensor, 90 ... Steering angle sensor, 92 ... Acceleration sensor, 93 ... Vehicle speed sensor, 96 ... Throttle opening sensor, 97 ... Vehicle height high switch, 98 ...
...Vehicle height low switch, 100...Electronic control circuit.

Claims (1)

[Scope of Claim for Utility Model Registration] In an electronically controlled suspension device that adjusts the posture of a vehicle by controlling the supply and discharge of fluid in fluid actuators of a suspension installed in the wheels of a vehicle, the driving state of the vehicle is detected. Based on the vehicle running state detection means and the vehicle running state detected by the vehicle running state detection means, the acceleration of the vehicle that will be reached beyond the control period of the fluid actuator is predicted, and this acceleration or this acceleration is predicted. a difference value calculation means for calculating a difference value between a predetermined cycle of values obtained by performing a predetermined linear conversion on the acceleration; An electronically controlled suspension device comprising: a supply/exhaust control means for controlling supply/exhaust of the air;