JPWO2005077685A1 - スタビライザ制御装置 - Google Patents
スタビライザ制御装置 Download PDFInfo
- Publication number
- JPWO2005077685A1 JPWO2005077685A1 JP2005517981A JP2005517981A JPWO2005077685A1 JP WO2005077685 A1 JPWO2005077685 A1 JP WO2005077685A1 JP 2005517981 A JP2005517981 A JP 2005517981A JP 2005517981 A JP2005517981 A JP 2005517981A JP WO2005077685 A1 JPWO2005077685 A1 JP WO2005077685A1
- Authority
- JP
- Japan
- Prior art keywords
- stabilizer
- electric motor
- roll
- vehicle
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
- B60G21/0555—Mounting means therefor adjustable including an actuator inducing vehicle roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/13—Torsion spring
- B60G2202/135—Stabiliser bar and/or tube
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/42—Electric actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
- B60G2800/0122—Roll rigidity ratio; Warping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9122—ARS - Anti-Roll System Control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
SBfr,SBfl 前輪側スタビライザバー
SBr 後輪側スタビライザ
FT,RT スタビライザアクチュエータ
SW ステアリングホイール
SA 操舵角センサ
WHfr, WHfl, WHrr, WHrl 車輪
WSfr,WSfl,WSrr,WSrl 車輪速度センサ
YR ヨーレイトセンサ
XG 前後加速度センサ
YG 横加速度センサ
ECU 電子制御装置
Gye =(Vx2・δf)/{L・N・(1+Kh・Vx2)} …(1)
ここで、Lはホイールベース、Nはステアリングギア比、Khはスタビリティファクタである。
Rmv =K1・Gye+K2・dGye+K3・Gy+K4・dGy …(2)
上記のように、制御演算の遅れやアクチュエータの応答性を補償するために、ハンドル角δfと車速Vxから求められる演算横加速度Gyeとその変化量dGyeが考慮される。
DT=Kp・Δθ+Kd・d(Δθ)/dt+Ki・∫Δθdt …(3)
ここで、Kpは比例項ゲイン、Kdは微分項ゲイン、Kiは積分項ゲインである。このデューティ比DTに基づき電気モータMにPWM出力が与えられる。尚、図13では、スタビライザバーSBfr及びSBflの相対位置を、電気モータMの回転角と減速比との関係から求め、相対位置検出手段を構成しているが、相対位置検出手段としては、電気モータMの回転角とは別個の相対角センサを設ける構成とすることも可能である。
Tra=Tma・ηP …(4)
逆に、領域2と領域3の交点Bにおける電気モータのトルク出力Tmb(ロールモーメント換算)と慣性力(横加速度)に起因するロールモーメントTrbとの均衡は、領域3は、電気モータMが車体慣性力によってねじり戻される領域3であるため、次の式(5)となる。
Tmb=Trb・ηN …(5)
Trb=Tra/(ηP・ηN) …(6)
ここで、車体慣性力に起因するロールモーメントは、概ね横加速度と比例関係にあるため、式(6)から、点A及びBにおける横加速度を夫々Ga及びGbとすると、次の式(7)の関係が導かれる。
Gb=Ga・{1/(ηP・ηN)} …(7)
Claims (3)
- 車両の左右車輪間に配設される一対のスタビライザバーと、電気モータ及び減速機を有し前記一対のスタビライザバーの間に配設されるアクチュエータを具備したスタビライザと、前記車両の旋回状態に応じて前記電気モータを制御して前記スタビライザのねじり剛性を制御する制御手段とを備えたスタビライザ制御装置において、前記一対のスタビライザバーの相対位置を検出する相対位置検出手段を備え、前記制御手段は、前記相対位置検出手段の検出結果に応じて前記電気モータを制御するように構成したことを特徴とするスタビライザ制御装置。
- 前記相対位置検出手段は、前記電気モータの回転角を検出する回転角センサを含むことを特徴とする請求項1記載のスタビライザ制御装置。
- 前記制御手段は、前記一対のスタビライザバーの相対位置に対する目標値を設定し、該目標値に基づいて前記電気モータの目標回転角を演算し、該目標回転角と前記回転角センサが検出した回転角との偏差に基づき、前記電気モータをPID制御することを特徴とする請求項2記載のスタビライザ制御装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005517981A JP4779652B2 (ja) | 2004-02-12 | 2005-02-10 | スタビライザ制御装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004034501 | 2004-02-12 | ||
JP2004034501 | 2004-02-12 | ||
PCT/JP2005/002071 WO2005077685A1 (ja) | 2004-02-12 | 2005-02-10 | スタビライザ制御装置 |
JP2005517981A JP4779652B2 (ja) | 2004-02-12 | 2005-02-10 | スタビライザ制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2005077685A1 true JPWO2005077685A1 (ja) | 2007-10-18 |
JP4779652B2 JP4779652B2 (ja) | 2011-09-28 |
Family
ID=34857659
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005517981A Active JP4779652B2 (ja) | 2004-02-12 | 2005-02-10 | スタビライザ制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7501786B2 (ja) |
EP (1) | EP1714809B1 (ja) |
JP (1) | JP4779652B2 (ja) |
CN (1) | CN100469608C (ja) |
DE (1) | DE602005014201D1 (ja) |
WO (1) | WO2005077685A1 (ja) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4506497B2 (ja) * | 2005-02-14 | 2010-07-21 | トヨタ自動車株式会社 | 車両用スタビライザシステム |
DE102005053608A1 (de) * | 2005-11-10 | 2007-05-16 | Schaeffler Kg | Wankstabilisator |
JP4244999B2 (ja) * | 2006-02-09 | 2009-03-25 | トヨタ自動車株式会社 | 車両用スタビライザシステム |
DE102006040109A1 (de) * | 2006-08-26 | 2008-02-28 | Bayerische Motoren Werke Ag | Aktiver, geteilter Kraftfahrzeugstabilisator mit eingebauten Schwenkmotor |
DE102006055733A1 (de) * | 2006-11-25 | 2008-05-29 | Zf Friedrichshafen Ag | Stabilisatoranordnung |
DE102007005983A1 (de) * | 2007-02-07 | 2008-08-14 | Zf Friedrichshafen Ag | Verfahren zum Betrieb eines Aktuators, insb. eines elektrischen Aktuators innerhalb einer Stabilisatoranordnung |
JP4872782B2 (ja) * | 2007-04-26 | 2012-02-08 | トヨタ自動車株式会社 | 車両用サスペンションシステム |
GB0714103D0 (en) * | 2007-07-19 | 2007-08-29 | Delphi Tech Inc | Vehicle roll control system |
DE102009059669A1 (de) * | 2009-12-19 | 2011-06-22 | Robert Bosch GmbH, 70469 | Verfahren und Vorrichtung zur Dämpfung von Torsionsschwingungen |
CN102834279B (zh) * | 2010-02-23 | 2015-01-21 | 丰田自动车株式会社 | 稳定器系统 |
DE102011078819A1 (de) * | 2010-09-30 | 2012-04-05 | Schaeffler Technologies Gmbh & Co. Kg | Geteilter Wankstabilisator |
KR101316870B1 (ko) * | 2011-12-12 | 2013-10-08 | 현대자동차주식회사 | 액티브 롤 컨트롤 장치 |
KR101393561B1 (ko) * | 2012-12-31 | 2014-05-27 | 현대자동차 주식회사 | 액티브 롤 컨트롤 장치 |
DE102013110953A1 (de) * | 2013-10-02 | 2015-04-02 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zum Betreiben einer Stabilisatoranordnung |
CN103818211B (zh) * | 2014-02-26 | 2015-11-18 | 湖南大学 | 一种车用主动横向稳定杆 |
JP6443395B2 (ja) * | 2016-06-06 | 2018-12-26 | トヨタ自動車株式会社 | スタビライザ制御装置 |
DE102016226072A1 (de) * | 2016-12-22 | 2018-06-28 | Zf Friedrichshafen Ag | Sicherheitsfunktion und Steuergerät zur Überwachung sowie Steuerung von Wankstabilisatoren |
JP6583255B2 (ja) * | 2016-12-27 | 2019-10-02 | トヨタ自動車株式会社 | 車両走行制御装置 |
DE102017209144A1 (de) * | 2017-05-31 | 2018-12-06 | Zf Friedrichshafen Ag | Vorrichtung und Verfahren zur Wankstabilisierung |
DE102018102433A1 (de) | 2017-12-11 | 2019-06-13 | Schaeffler Technologies AG & Co. KG | Aktuator zur Beeinflussung einer Wankbewegung eines Kraftfahrzeugs |
EP3594030B1 (en) * | 2018-07-12 | 2022-10-19 | Ningbo Geely Automobile Research & Development Co., Ltd. | An anti-roll bar for a vehicle |
DE102019111310A1 (de) | 2018-12-04 | 2020-06-04 | Schaeffler Technologies AG & Co. KG | Aktiver Wankstabilisator |
CN111760795B (zh) * | 2019-07-16 | 2022-02-01 | 北京京东乾石科技有限公司 | 用于分拣货物的方法和装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0885328A (ja) * | 1994-09-19 | 1996-04-02 | Kayaba Ind Co Ltd | 車両の姿勢制御装置 |
JP2000071739A (ja) * | 1998-08-26 | 2000-03-07 | Honda Motor Co Ltd | スタビライザの効力制御装置 |
JP2001277833A (ja) * | 2000-03-13 | 2001-10-10 | Robert Bosch Gmbh | 車両のシャシ制御システム |
JP2004519389A (ja) * | 2001-06-01 | 2004-07-02 | ツェットエフ レムフェルダー メタルヴァーレン アクチエンゲゼルシャフト | 自動車用のスタビライザ |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63145118A (ja) | 1986-12-10 | 1988-06-17 | Nippon Denso Co Ltd | スタビライザの捩れ量検出装置 |
JPH0717142B2 (ja) | 1987-11-19 | 1995-03-01 | 日本電装株式会社 | スタビライザ制御装置 |
WO1999067100A1 (de) | 1998-06-25 | 1999-12-29 | Robert Bosch Gmbh | System und verfahren zur wankstabilisierung von fahrzeugen |
US6354607B1 (en) | 1998-08-26 | 2002-03-12 | Honda Giken Kogyo Kabushiki Kaisha | Stabilizer effectiveness control device |
DE10221716A1 (de) | 2002-05-16 | 2003-11-27 | Bayerische Motoren Werke Ag | Regelsystem für ein Kraftfahrzeug mit Wankstabilisierung |
JP4303140B2 (ja) * | 2004-02-12 | 2009-07-29 | アイシン精機株式会社 | スタビライザ制御装置 |
-
2005
- 2005-02-10 DE DE602005014201T patent/DE602005014201D1/de active Active
- 2005-02-10 WO PCT/JP2005/002071 patent/WO2005077685A1/ja not_active Application Discontinuation
- 2005-02-10 CN CNB2005800048550A patent/CN100469608C/zh active Active
- 2005-02-10 EP EP05710123A patent/EP1714809B1/en active Active
- 2005-02-10 US US10/587,717 patent/US7501786B2/en active Active
- 2005-02-10 JP JP2005517981A patent/JP4779652B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0885328A (ja) * | 1994-09-19 | 1996-04-02 | Kayaba Ind Co Ltd | 車両の姿勢制御装置 |
JP2000071739A (ja) * | 1998-08-26 | 2000-03-07 | Honda Motor Co Ltd | スタビライザの効力制御装置 |
JP2001277833A (ja) * | 2000-03-13 | 2001-10-10 | Robert Bosch Gmbh | 車両のシャシ制御システム |
JP2004519389A (ja) * | 2001-06-01 | 2004-07-02 | ツェットエフ レムフェルダー メタルヴァーレン アクチエンゲゼルシャフト | 自動車用のスタビライザ |
Also Published As
Publication number | Publication date |
---|---|
JP4779652B2 (ja) | 2011-09-28 |
EP1714809A4 (en) | 2007-12-05 |
DE602005014201D1 (de) | 2009-06-10 |
CN100469608C (zh) | 2009-03-18 |
US7501786B2 (en) | 2009-03-10 |
EP1714809A1 (en) | 2006-10-25 |
WO2005077685A1 (ja) | 2005-08-25 |
US20070119644A1 (en) | 2007-05-31 |
EP1714809B1 (en) | 2009-04-29 |
CN1918014A (zh) | 2007-02-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4779652B2 (ja) | スタビライザ制御装置 | |
JP4336217B2 (ja) | スタビライザ制御装置 | |
US7384047B2 (en) | Stabilizer control apparatus | |
US7344142B2 (en) | Stabilizer control apparatus | |
EP1491371B1 (en) | Stabilizer control device | |
EP1894756B1 (en) | Vehicle suspension system | |
US20070150144A1 (en) | Stabilizer control apparatus | |
US8027765B2 (en) | Vehicle stabilizer system | |
JP2005238972A (ja) | スタビライザ制御装置 | |
WO2007040012A1 (ja) | スタビライザ制御装置 | |
JP4311424B2 (ja) | 横加速度検出装置 | |
JP4294525B2 (ja) | スタビライザ制御装置 | |
JPH0732845A (ja) | 車両用サスペンション制御装置 | |
JP2005145360A (ja) | サスペンション制御装置 | |
JP2005255012A (ja) | スタビライザ制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20080121 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20101019 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20101201 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20110607 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20110620 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140715 Year of fee payment: 3 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 4779652 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140715 Year of fee payment: 3 |