JPH04110217A - Inspection device of active type suspension for vehicle - Google Patents

Abstract

PURPOSE:To enhance the judging accuracy of acceptance or rejection by detecting respective up-and-down speeds respectively below and above a spring by means of vertical acceleration of the lower part of the spring of vehicles, computing a value that includes a vertical acceleration gain above the spring against vertical acceleration below the spring based on both detected signals, and judging acceptance or rejection based on the fact whether or not the computed value is within a specified range of deviation. CONSTITUTION:In an inspection device of active type suspensions for vehicles, the lower part of a spring for vehicles is vibrated with a vibrating means. And, respective up-and-down accelerations generated by this vibration below and above the spring are detected by respective acceleration detecting means and input to a Fourier transformation means. When the Fourier transformation means performed Fourier transformation of the detected value, and based on the result of this transformation, an arithmetic means computes a value that contains a gain when the up-and-down acceleration below the spring is processed as input and the up-and-down acceleration above the spring as output, judges whether or not the result of this computation is within a specified deviation, judges whether acceptable or not and displays on a display means.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a vehicle equipped with an active suspension that suppresses changes in attitude by controlling the operation of fluid pressure cylinders inserted between wheels and a vehicle body. This article relates to an inspection device for inspecting the active suspension after assembly of the vehicle.

[Prior Art] Conventionally, as an active suspension for a vehicle, the one described in JP-A-62-289420, for example, is known.

One aspect of this conventional device includes a fluid pressure cylinder interposed between each wheel side member and a vehicle body side member, and a pressure control valve that can change the operating pressure of this fluid pressure cylinder only in accordance with a command value. a vertical acceleration detection means for detecting the vertical acceleration approximately directly above each wheel of the vehicle body, a vertical speed detection means for detecting the vertical speed at each position, a vertical acceleration detection means and and control means for calculating a command value based on the detected value of the vertical speed detection means.

When manufacturing a vehicle with such an active suspension, each component is inspected at the time of component supply to determine if there are any variations in the characteristics of each component (for example, the control pressure characteristics and its frequency characteristics with respect to the voltage command value in the pressure control valve). Only those that fall within the prescribed tolerance range will be used.

: Problem to be solved by the invention : : However, even if the characteristics of each individual component of an active suspension conform to the standards, the frequency characteristics of the active suspension as a system assembled into a vehicle are Due to the overall variation in the characteristics of parts such as acceleration sensors, controllers, control valves, pumps, etc., in vertical control, the damping performance on the vehicle springs will vary by more than a predetermined difference, and ride comfort will vary depending on the vehicle. There was a possibility that it would fluctuate and give the passengers a sense of discomfort.

The present invention was made in view of the unresolved problems of the conventional device, and the first problem to be solved is to improve the suspension system due to the overall dispersion of the component parts of the active suspension. The goal is to identify variations in the characteristics of the product and make it possible to reliably determine whether it is acceptable or not.

In addition to solving the first problem, the second problem is to correct the variation in characteristics by adjusting the control cane for active suspension work when the characteristics of the suspension system fail. The goal is to make it possible for students to move into the passing range.

[Means for Solving the Problems] In order to solve the first problem, the invention according to claim (1) provides a method for solving the problems described above, as shown in FIG. 1(a). a control valve that changes the operation of the fluid pressure cylinder according to a command value; a sprung mass vertical speed acquisition means that acquires the vertical speed of the vehicle body;
In an apparatus for inspecting an active suspension for a vehicle, the device includes a command value calculating means for calculating the command value by multiplying the detected value of the sprung mass vertical speed detecting means by a control gain, and the apparatus for inspecting an active suspension for a vehicle includes a command value calculating means for calculating the command value by multiplying a detection value of the sprung mass vertical speed detecting means by a control gain. an excitation means for vibrating; a sprung mass vertical acceleration detection means for detecting acceleration in the vertical direction of the unsprung portion of the vehicle when the excitation means is vibrating; a sprung mass vertical acceleration detection means for detecting acceleration in the vertical direction of the sprung mass, and a Fourier transform means for Fourier transforming the detection signals of the sprung mass vertical acceleration detection means and the sprung mass vertical acceleration detection means, respectively;
Based on the converted value of this Fourier transform means, there is a calculation means that calculates a value including a gain of the sprung mass vertical acceleration with respect to the sprung mass vertical acceleration, and whether or not the calculated value of this calculation means falls within a predetermined deviation. a deviation judgment means for judging the
A pass/fail display means is provided for displaying the judgment result of the deviation judgment means as pass/fail of the test.

Further, the invention as claimed in claim (2), as shown in FIG. adjustment amount calculation means for calculating an adjustment amount of the gain adjustment means that can bring the calculated value within a predetermined deviation when it is determined that the calculated value does not fall within a predetermined deviation; An adjustment amount display means for displaying the calculated value has been added.

1 Effect] In the invention described in claim (1), during the inspection, the unsprung part of the vehicle is vibrated by the vibration excitation means, and the vertical acceleration on the lower part and the lower part of the huff produced by this vibration is determined as the vertical acceleration of the unsprung part of the vehicle. The acceleration detection means and the nominal vertical acceleration detection means are used to detect the acceleration. The detection values of the rain detection means are each subjected to Fourier transformation by the Fourier transform means, and a value including at least a gain is calculated by the calculation means when the sprung mass vertical acceleration is input and the sprung mass vertical acceleration is output. Therefore, the deviation judgment means judges whether or not the calculated value of Cain etc. is within a predetermined deviation, and the pass/fail display means indicates a pass if the calculated value is within the deviation, and a pass if the calculated value is within the deviation. Show a failure. As a result, it is possible to reliably and automatically test whether the suspension system is acceptable or not, which is caused by the total variation of each component of the active suspension.

In the invention described in claim (2), in addition to the above-mentioned effect, when the damping characteristic is determined to be rejected, the adjustment amount of the control gain that can shift the damping characteristic to a predetermined acceptable range is calculated by the adjustment amount calculation means. The calculated value is displayed on the adjustment amount display means. Therefore, the operator can operate the gain adjustment means to change the control gain based on the displayed value of the adjustment amount display means, and perform the vibration test again on the spot.

(Example) Hereinafter, an example of the present invention (the invention described in claim (2)) will be described based on FIGS. 2 to 11 of the accompanying drawings.

In FIG. 2, 2 indicates a vehicle, and 4 indicates an active suspension inspection device. The vehicle 2 includes an active suspension 6 that is inspected by an inspection device 4.

First, the active suspension 6 will be explained. This active suspension 6 suppresses changes in the vertical posture of the vehicle.

In FIG. 3, 10 indicates a vehicle body side member, and 1IFL~
IIRR indicates the front to rear right wheel. The active suspension 6 includes hydraulic cylinders 18FL to 18RR as fluid pressure cylinders interposed between the vehicle body side member 10 and each wheel side member 16 of wheels 11FL to IIRR, and hydraulic cylinders 18F to 18RR. Pressure control valves 20FL to 20RR as control valves that individually adjust the working oil pressure, a hydraulic pressure source 22 of this hydraulic system, and a pressure accumulating valve inserted between this hydraulic pressure source 22 and the pressure control valves 20FL to 2°RR. A vertical acceleration sensor 26 that has an accumulator 24° 24 and detects vertical acceleration acting in the vertical direction of the vehicle body.
, a control gain adjustment potentiometer 28 for varying the control gain of the suspension system, and pressure control valves 20FL to 2
It has a controller 30 that individually controls the output pressure of ORR. Additionally, a coil spring 31 is provided between the wheels and the vehicle body, which has a relatively low spring constant and supports the static load of the vehicle body.

Each of the hydraulic cylinders 18FL to 18RR has a cylinder tube 18a, and the cylinder tube 18a is formed with a lower pressure chamber separated by the piston 1B'c. And cylinder tube 18
The lower end of the piston rod a is attached to the wheel side member 16, and the upper end of the piston rod 18b is attached to the vehicle body side member 10. In addition, each of the pressure chambers is partially connected to the piston rod 1.
It communicates with the output ports of the pressure control valves 20FL to 20RIl through a hydraulic piping 38 provided in the axial direction inside the pressure chamber 8b, so that the working oil pressure in the pressure chamber can be controlled. As shown, each pressure chamber is connected to an accumulator 34 for vibration absorption via a throttle valve 32.

Moreover, each of the pressure control valves 20FL to 20RR is constituted by a pilot type proportional pressure reducing valve having a cylindrical valve housing and a proportional solenoid provided integrally with the valve housing. By controlling the command current i supplied to the excitation coil of the proportional solenoid, the moving distance of the poppet accommodated in the insertion hole in the valve housing, that is, the position of the spool, is controlled, and the hydraulic cylinder 18FL (
~18RR) can be controlled. Note that the reference numerals 40 and 42 in FIG. 3 indicate the hydraulic power source 2.
2 and the pressure control valves 20FL to 20RR.

The above-mentioned vertical acceleration sensor 26 is fixedly installed at a predetermined position on the vehicle, and this vertical acceleration sensor 26 detects the acceleration in the vertical direction of the vehicle body acting on the vehicle body, and detects the vertical acceleration formed by the corresponding analog voltage value. A signal G2 is output to the controller 30. The control gain adjustment potentiometer 28 is operated by a staff member during post-assembly inspection, and outputs a gain adjustment signal J having an analog voltage value proportional to the scale position to the controller 30.

Furthermore, the controller 30 as shown in FIG.
A microcomputer 50 , A/D converters 51 and 52 that convert the input analog gain adjustment signal J and vertical acceleration signal G2 into digital quantities and output them to the microcomputer 50 , and digital signals output from the microcomputer 50 . D/A converters 53A to 53D convert pressure command values DV of quantities into analog quantities, and command currents i corresponding to the outputs of these D/A converters 53A to 53D are individually supplied to the pressure control valves 20FL to 20RR. Drive circuit 54 to output
A to 54D.

Of these, the microcomputer 5o is configured to include a small number of interface circuits, an arithmetic processing unit, and a memory including a RAM ROM, etc., and includes vertical acceleration signals G2.
The gain adjustment signal J is read and the processing shown in FIG. 5 is performed.

Here, the process shown in FIG. 5 will be explained. The controller 30 is activated when the power is turned on, and performs the timer interrupt process shown in FIG. 5-22 while executing a predetermined main program.

The microcomputer 50 reads the gain adjustment signal J in step 7 (2) in the figure, stores the value in the memory, and proceeds to step (2).

In step (2), a control gain K that is uniquely determined corresponding to the gain adjustment signal value j is set with reference to the memory map corresponding to FIG. The characteristics shown in FIG. 6 are preset so that as the gain adjustment signal value J increases, the control gain also increases.

Next, the microcomputer 50 advances the process to step (2), reads the detection signal G2 of the vertical acceleration sensor 26 for a predetermined period of time, and then sequentially performs the processes of steps (2) to (2). In step (2), vertical velocity (2) is calculated by integrating the read vertical acceleration G2, and in step (2), vertical speed (2) is multiplied by control gain K set in step (2) to calculate pressure command value DV. In step (2), the calculated pressure command value DV is output to the D/A converters 53A to 53D, and then the process returns to the main program. As a result, the drive circuit 54
A command current i corresponding to the pressure command (1iDV) is output from A to 54D to the pressure control valves 20FL to 20RR, respectively, and the operating pressures of the hydraulic cylinders 18FL to 18RR are controlled so as to damp the vertical vibration of the vehicle body.

In this embodiment, the vertical acceleration sensor 26. A/D converter 5
2. The processing in steps ① and ① in Fig. 5 constitutes a vertical speed acquisition means, and the processing in step ◯◯ in Fig. 5, D/A converters 53A to 53D, and drive circuits 54A to 54D constitute a command value calculation means. Furthermore, the control gain adjustment potentiometer 28. A/D converter 51. The processing of steps ① and ② in Fig. 5 constitutes a gain adjustment means.

Next, the active suspension inspection device 4 will be explained with reference to FIGS. 2 and 7.

The inspection device 4 includes hydraulic exciters 62a and 62b placed under the wheels 11F to IIRR, and the hydraulic exciters 62a,
In addition to the vibration controller 64 which provides the control signal S to 62b,
Vertical acceleration sensor 66 provided under the spring and on the spring.
68, a frequency analyzer 70, and a display 72. The hydraulic exciters 62a and 62b generate vibrations such as sine waves with amplitude 2 phase 9 according to the control signal S supplied from the vibration controller 64.
It is possible to excite between the four wheels or independently by changing the frequency. The excitation controller 64 is adapted to adjust the on/off state, frequency, etc. of its excitation operation in accordance with the control signal SS supplied from the frequency analyzer 70. Here, the hydraulic vibrators 62a, 62b and the vibration controller 64 constitute vibration means.

Further, an acceleration sensor 66 for detecting the vertical acceleration under the spring is fixed in advance to the hydraulic exciter 62b, and an acceleration sensor 68 for detecting the vertical acceleration on the spring is placed at a predetermined position on the vehicle floor by the operator during inspection. It can be attached to
Both are analog voltage signals G corresponding to vertical acceleration.
L, G, are output to the frequency analyzer 70. The display 72 is composed of a liquid crystal display or a printer, and the frequency analyzer 70
The test results are displayed according to the display command signal given by the tester.

FIG. 7 shows a block diagram of the frequency analyzer 70 described above. The frequency analyzer 70 includes a microcomputer 74 for calculation and control, and amplifiers 76a and 76 for amplification.
6b, and a start switch 80 that commands when to start the inspection.
, a blue lamp 82 and a red lamp 84 to indicate inspection pass (OK) or fail (NG). Among these, the sprung vertical acceleration sensor 66 and the sprung vertical acceleration sensor 68
The detection signals Ct and Cu are each taken into an A/D converter 74A built in the microcomputer 74 via an amplifier 76a76b. When the start switch 80 is pressed on its automatic return type operating section, the start switch 80 outputs its switch signal S.
W is turned on and this signal SW is supplied to the microcomputer 74. Blue lamp 82. The red lamp 84 blinks in response to a lighting command signal from the microcomputer 74. Also on the output side of the microcomputer 74,
The vibration controller 64 and display 72 are connected.

Frequency analyzer 700 microcomputer 4 ROM
The program shown in FIG. 8 and the fixed data shown in FIG. 11 are stored in advance.

Here, the Fourier transform of the downward vertical acceleration is expressed by the following equation.

5X(f)=a=-jb (ill) The Fourier transform of the vertical acceleration of the sprung mass is expressed by the following equation.

Sy(f)=c+jd...
(2) However, f: 0 to (N/2)-1, j-1.

Therefore, gain A(f) when the sprung mass vertical acceleration is input and the sprung mass vertical acceleration is output.

The phase θ(f) is expressed by the following equation.

A (f) = ... (3) θ　(f)− Next, the operation of the above embodiment will be explained.

Vehicles that have been assembled at the factory are transported to an inspection process, where workers place the vehicles on hydraulic vibrators 62a and 62b. Next, the power of the frequency analyzer 70 and the vibration controller 64 is turned on (always on after the start of the test). When the power is turned on, the vibration controller 64 operates the vibration exciters 62a' and 62a'.
2b, the vibrators 62a and 62b generate, for example, a sine wave with a predetermined amplitude, two phases, and one frequency to vibrate the four wheels 11FL.
.about.11RR is excited, and the microcomputer 74 starts the process shown in FIG.

First, in step (2) of FIG. 8, the microcomputer 74 performs initialization, and proceeds to step (2). In step ■, the switch signal S of the start switch 80 is
W is read, it is determined whether the start switch 80 is turned on, that is, the operator presses the start switch 80 for automatic return, and the process waits until the start switch 80 is turned on.

When it is confirmed in step (2) that the start switch 80 is turned on, the process proceeds to step (2), where the detection signal GL of the sprung mass vertical acceleration sensor 66 and the detection signal GL of the sprung mass vertical acceleration sensor 66 are detected.
8 detection signals G are read in, each A/D converted at a predetermined sampling time (for example, 2m5ec), and the results are stored in a memory area. Next, move to step ■,
It is determined whether the number of data related to the above-mentioned sampling has reached a predetermined number (for example, 8192 pieces when 8 blocks of 1024 points are taken), and if No, the process returns to step (2).

If YES in step (2), the process proceeds to step (2), where the control signal SS to the vibration controller 64 is turned off and a command is given to stop the vibration.

The microcomputer 74 then performs steps (1) to (2). In step (2), the sampled sprung vertical acceleration GL is Fourier-transformed for each block, and in step (2), the Fourier-transformed results are added for each frequency. Further, the process moves to step (2), and it is determined whether or not the Fourier transform of 1024 points has been performed for a predetermined number of plots (e.g., 8 blocks). If NO, steps (2) to (2) are repeated to process other blocks. conduct. If YES is determined in step (2), the process moves to step (2), where the added Fourier transform data is divided by the number of blocks to calculate the average value of the Fourier transform.

Next, similar Fourier transformation and addition are performed on the sprung vertical acceleration GU in steps [phase] to @, and the average value for the number of blocks is calculated in step (2).

After this, processing for gain calculation in steps [phase] to (2) is performed. First, in step [shares], the Fourier transformed value (5x(r+') of equation (1) - a, b of a+jb
(see FIG. 9(a)) is extracted. Furthermore, in step @, the Fourier transform value of the vertical acceleration of the sprung mass at the peak frequency fp (Sy (fr
) −c + j d values of c and d: see FIG. 9(b)) are extracted. Then, in the step [phase], the unsprung part ~
Calculate the coefficients a, b, c, and d for determining the gain between C and C, and calculate the coefficients a, b, c, and d in step
The gain A (f) is calculated when the lower vertical acceleration is input and the sprung vertical acceleration is output.

Next, the process moves to step (2), and the calculation result of the gain A ([) is displayed on the display 72 as a gain value for the excitation frequency (same as the peak frequency f).

Next, in step [phase], it is checked whether or not the excitation at all preset excitation frequencies necessary for the inspection has been completed, and if it has not been completed, in step Φ, the excitation controller 64 is activated. A control signal SS is output to increase the frequency by a predetermined value, and the process returns to step (3) to repeat the above-described process. By the process in step @, the excitation frequency of the vibrators 62a and 62b increases. On the other hand, when the determination in step (2) is rYES, data corresponding to the gain A to excitation frequency characteristics shown in FIG. 10 has been obtained. In the figure, the broken line indicates zone A where deviation of gain A is allowed, ±α (so-called OK
zone), and the solid line is the center value AN of OK So>.

Therefore, the microcomputer 74 advances the process to step 0, calculates the deviation between the gain A and the center value A for each excitation frequency, and then calculates all the gain data based on the deviation in step 0. Determine whether or not it is within the zone. Based on the judgment of this step O, rY
ES", the inspection is passed and the blue lamp 82 is turned on in step 0, and then the process returns to step (2). On the other hand, “NO
”, it is assumed that the inspection has failed and the process moves to step [phase].
After lighting the red lamp 84, the processes of steps [phase] to @ are performed.

In step @, the deviation of the gain A from the center value AN for each excitation frequency calculated in step 0 is used to calculate their average value AAv. In step @, the adjustment scale M of the control gain adjustment potentiometer 28 corresponding to the average value AV obtained in step [phase] is calculated with reference to the map corresponding to FIG. M is displayed on the display 72. For example, this display is
It is done as ○○ scale up (down). After this, return to step ■. In FIG. 11, the setting is such that as the average gain deviation value increases, the adjustment scale M increases (thereby, the cane adjustment signal J also increases).

Therefore, even if the damping performance falls outside of the allowable range at the inspection site and is determined to be NG, the operator can manually adjust the control gain adjustment potentiometer 28 and use the active type as described above. The control gain K of the suspension 6 is changed. As a result, the vibration test can be performed again in a state where the damping characteristics of the active suspension 6 have been corrected to be substantially the same.

In the above explanation, the sprung mass vertical acceleration sensor 66, the amplifier 76a, and the processing of steps (2) and (2) in FIG. The amplifier 76b and the processing in steps (2) and (2) in FIG. 8 constitute a sprung mass vertical acceleration detection means. In addition, the processing of steps ① to ① in Fig.
, corresponds to the calculation means in steps 0 to [F] in FIG. 8, and corresponds to the deviation determination means in steps (2) and (2) in FIG. Furthermore, the process of step 0.0 in FIG. 8 and the blue lamp 82. A red lamp 84 constitutes a pass/fail display means, and the eighth
The processing in step O in FIG. 8 and the display 72 constitute adjustment amount calculation means.

In this way, according to this embodiment, the active suspension 6
Whether or not the damping performance in the vertical direction is within a predetermined range can be reliably and automatically determined through Fourier transformation. Furthermore, even if the variations in the characteristics of the individual parts that make up the active suspension 6 are within the permissible range, the overall damping performance of the suspension system in the vertical direction may deviate from the permissible range due to the sum of each variation. In such cases, re-inspection can be easily attempted on-site, reducing the failure rate of suspension inspections and improving inspection efficiency and, ultimately, manufacturing efficiency. Furthermore, by performing the vibration test of this example, the damping performance can be kept strictly within the permissible range.
Even if the vehicle changes, almost constant ride comfort can be obtained, and discomfort caused to passengers is eliminated.

Note that in the above embodiment, if the vibration test fails, a retest can be performed after adjusting the control gain, but it is possible to remove this retest mechanism and simply display pass/fail. (This constitutes the embodiment of the invention set forth in claim (1)), and the structure is simplified, such as eliminating the need for the control gain adjustment potentiometer 28, and the above-mentioned first Can solve problems.

Further, the aforementioned control gain adjustment potentiometer 28 can be integrated with the active suspension 6 in advance, or a separately prepared control gain adjustment potentiometer 28 can be connected to the controller 30 during vibration testing. You can.

Further, in the above embodiment, the vertical acceleration sensor 28 for the active suspension and the spring-mounted vertical acceleration sensor 68 for the inspection device are provided separately, or the sensor 28 on the suspension side is mounted on the spring-mounted A configuration may be adopted in which it is used as a sensor.

Furthermore, in the above embodiment, the unsprung vertical acceleration (input)
Pass/fail was determined only from the frequency characteristics of the gain with the sprung mass vertical acceleration (output), but in addition to this, the unsprung mass vertical acceleration (output)
In order to find the phase difference between the input) and the sprung mass vertical acceleration (output), check whether the frequency characteristics of this phase difference and the frequency characteristics of the gain described above both fall within the individual setting range. It is also possible to determine whether the active suspension is acceptable or not based on whether the active suspension is acceptable or not, thereby further improving the inspection accuracy.

Furthermore, the vibration excitation means in the present invention does not use a hydraulic vibrator, but is made to run on a road surface with predetermined irregularities at varying speeds, and the pass/fail judgment is similarly made by an on-vehicle frequency analyzer. You may also do this.

Furthermore, in the above embodiments, the case where a hydraulic cylinder is applied as the fluid pressure cylinder has been explained, but the present invention is not limited to this, but can be obtained by applying other fluid pressure cylinders such as an air cylinder. It is. Also,
As the control valve, a configuration using a flow rate control valve may be used.

[Effects of the Invention] As explained above, according to the invention described in claim (1), the unsprung portion of a vehicle equipped with an active suspension is vibrated in the vertical direction by the vibration excitation means, and in this state, the vehicle Detect the unsprung vertical acceleration and the unsprung vertical acceleration separately, and calculate a value that includes at least the gain of the sprung vertical acceleration with respect to the unsprung vertical acceleration based on the values obtained by Fourier transforming these detection signals, and calculate this calculated value. Since the results are displayed after determining whether the damping characteristics are within a predetermined deviation, it is possible to determine the magnitude of the variation in the damping characteristics of the suspension system due to the overall slight variation of each component of the active suspension system. and can reliably determine pass/fail.
This has the effect of increasing the efficiency of vibration testing.

Furthermore, in the invention described in claim (2), the control gain of the active suspension is adjustable in the invention described in claim (1), and when the vibration test fails, a calculated value indicating the tamping characteristic is obtained. Since we have added a configuration that calculates the control gain adjustment that can keep the value within a predetermined deviation and displays this adjustment amount, in addition to the above-mentioned effects, even if the characteristics do not pass the suspension system, the active suspension itself By adjusting the control gain, it is possible to correct such variations in characteristics and bring them within the passing range at the inspection site, thereby increasing inspection efficiency and providing a vehicle with almost constant ride comfort.

[Brief explanation of the drawing]

FIGS. 1(a) and 1(b) are diagrams corresponding to the claims of the present invention, respectively. 2 to 11 are diagrams showing an embodiment of the present invention, in which FIG. 2 is a block diagram of an inspection device, FIG. 3 is a schematic configuration diagram of an active suspension, and FIG. 4 is a diagram of an active suspension. Figure 5 is a flowchart showing the processing in the active suspension controller, Figure 6 is a graph showing the relationship between the gain adjustment signal and the control gain, and Figure 7 is a diagram of the frequency analyzer of the inspection equipment. Fronck diagram, Figure 8 is a flowchart showing the processing by the microcomputer of the frequency analyzer, Figure 9i3fa)
is the power spectrum diagram of the vertical acceleration of the sprung mass, Figure 9 (b
) is a power spectrum diagram of vertical acceleration of a sprung mass, FIG. 10 is a frequency characteristic diagram of gain (C♀ upper/C1 lower), and FIG. 11 is a graph showing an example of potentiometer adjustment scale characteristics. Main symbols in the diagram are 2...vehicle, 4...inspection device,
6... Active suspension, 10... Vehicle body side member, 16... Wheel side member, 18FL to 18RR... Hydraulic cylinder, 20FL to 20RR... Pressure control valve, 2
6... Vertical acceleration sensor, 28... Control gain adjustment potentiometer, 30... Controller, 62a, 62b... Hydraulic vibrator, 64... Vibration controller, 66... Spring top and bottom Acceleration sensor, 68... Hub upper and lower acceleration sensor, 70... Frequency analyzer, 72
. . . Indicator, 82 . . . Blue lamp, 84 . . . Red lamp. Monna Koumata f (H2I

Claims (2)

[Claims] (1) A fluid pressure cylinder provided between the vehicle body side member and the wheel side member, a control valve that changes the operation of this fluid pressure cylinder according to a command value, and a spring that obtains the vertical speed of the vehicle body. An apparatus for inspecting an active suspension for a vehicle, comprising: a vertical speed acquisition means; and a command value calculation means for calculating the command value by multiplying the detected value of the sprung vertical speed detection means by a control gain. an excitation means for vibrating an unsprung section in the vertical direction; an unsprung section vertical acceleration detecting means for detecting vertical acceleration of the unsprung section of the vehicle when the unsprung section is vibrated by the excitation section; Sprung mass vertical acceleration detection means for detecting the vertical acceleration of the sprung mass of the vehicle during vibration; and Fourier transform means for Fourier transforming the detection signals of the sprung mass vertical acceleration detection means and the sprung mass vertical acceleration detection means, respectively. , a calculation means for calculating a value including at least a gain of the sprung vertical acceleration with respect to the unsprung vertical acceleration based on the converted value of the Fourier transform means, and a calculation means for calculating whether or not the calculated value of the calculation means falls within a predetermined deviation. 1. An inspection device for an active suspension for a vehicle, comprising: a deviation determining means for determining the deviation; and a pass/fail display means for displaying the determination result of the deviation determining means as pass/fail of the inspection. (2) gain adjustment means capable of adjusting the control gain;
adjustment amount calculation means for calculating an adjustment amount of the gain adjustment means that can bring the calculated value within a predetermined deviation when the deviation judgment means determines that the calculated value of the calculation means does not fall within a predetermined deviation; 2. The inspection device for an active suspension for a vehicle according to claim 1, further comprising: an adjustment amount display means for displaying the calculated value of the adjustment amount calculation means.