JPWO2019159619A1 - Mobile - Google Patents

Abstract

The moving body 1A including the vehicle body 2, the front wheels 3f (steering wheels), the rear wheels 3r, and the steering operation unit 7 includes a trail length variable mechanism 9, a steering actuator 8, an actuator 15 for changing the trail length, and a control device 50. .. The control device 50 controls the steering actuator 8 so as to apply steering torque in the same direction as the steering direction of the front wheels 3f to the steering operation unit 7.

Description

The present invention relates to a moving body such as a two-wheeled vehicle.

As a moving body such as a two-wheeled vehicle, conventionally, as seen in Patent Documents 1 and 2, for example, those which are configured so that the trail length can be changed are known. In this moving body, in the low speed range, the attitude of the vehicle body is controlled by steering control of the front wheels in a state where the trail length is controlled to a small trail length such as a negative trail length. Further, in the speed range on the high speed side, the trail length is controlled to a positive trail length like a normal motorcycle to realize the same running characteristics as a normal motorcycle.

The positive trail length is the trail length when the intersection of the front wheel steering axis and the road surface is located on the front side of the front wheel ground contact point, and the negative trail length is the front wheel steering axis and the road surface. This is the trail length when the intersection is located behind the grounding point of the front wheels.

Japanese Unexamined Patent Publication No. 2014-172586 U.S. Pat. No. 9,162,726

By the way, in a normal two-wheeled vehicle having a positive trail length, a steering moment that acts to turn the front wheels toward the turning direction side is naturally generated around the steering axis due to the so-called self-steering characteristic during turning (and by extension, the two-wheeled vehicle). The steering torque corresponding to the steering moment acts on the steering operation unit (steering wheel) of the vehicle).

On the other hand, according to various studies by the inventor of the present application, in a moving body as seen in Patent Documents 1 and 2, in a state where the trail length is controlled to a small trail length such as a negative value, the front wheels are turned during turning. A steering moment that acts toward the turning direction side is hardly generated around the steering axis, or a steering moment that acts in the opposite direction is generated (and thus, a steering torque that acts on the steering operation unit is hardly generated, or steering is performed. It was found that the steering torque in the opposite direction acts on the steering operation unit).

Therefore, an object of the present invention is to provide a moving body capable of changing the trail length, which can realize the same steering characteristics as a normal two-wheeled vehicle or the like during turning.

In order to achieve the above object, the moving body of the present invention includes a vehicle body and front wheels and rear wheels arranged at intervals in the front-rear direction of the vehicle body, and the front wheels are steered around the steering axis. It is a possible steering wheel, and is a moving body including a steering operation unit for the driver to steer the front wheel.
A front wheel support mechanism having a trail length variable mechanism for changing the trail length of the front wheels and being configured to steerably support the front wheels around the steering axis.
A steering actuator that generates a driving force for steering the front wheels,
An actuator for changing the trail length that generates a driving force that changes the trail length of the front wheels,
It is equipped with a control device for controlling the steering actuator and the trail length changing actuator.
The control device is characterized in that it controls the steering actuator so as to apply a steering torque in the same direction as the steering direction of the front wheels to the steering operation unit (first invention).

According to this, it is possible to apply a steering torque in the same direction as the steering direction of the front wheels to the steering operation unit regardless of the trail length of the front wheels. Therefore, according to the first invention, in a moving body whose trail length can be changed, it is possible to realize steering characteristics similar to those of a normal two-wheeled vehicle or the like during turning.

In the first invention, the trail length variable mechanism may be configured such that the trail length of the front wheels can be changed between a positive upper limit trail length and a negative lower limit trail length. In this case, the control device is configured to control the steering actuator so as to apply the steering torque to the steering operation unit in a state where the trail length of the front wheels is at least a negative trail length. (2nd invention).

In the present invention, the positive trail length (including the positive upper limit trail length) is the posture state when the moving body travels straight on a horizontal ground plane (specifically, the moving body is the center of the front wheel axle). Trail when the intersection of the steering axis and the tread is located in front of the tread of the front wheels in a state where the line is parallel to the axle centerline of the rear wheels and stands upright on the horizontal tread). The long and negative trail lengths (including the negative lower limit trail length) mean the trail lengths when the intersection of the steering axis and the contact patch is located behind the contact patch of the front wheels.

Here, when the trail length of the moving body is a negative trail length and the front wheels are steered (rotation around the steering axis) without generating the driving force of the steering actuator, the steering operation is performed. Almost no steering torque is generated with respect to the portion, or steering torque in the direction opposite to the steering direction of the front wheels acts on the steering operation portion.

However, according to the second invention, by operating the steering actuator, even when the trail length of the moving body is a negative trail length, the steering torque is applied to the steering operation unit in the same direction as the steering direction of the front wheels. Can be given. As a result, the same steering torque as in the state where the trail length of the moving body is a positive trail length can be applied to the steering operation unit.

In the second invention, the control device controls the trail length changing actuator so as to change the trail length of the front wheels from a negative trail length to a positive trail length as the traveling speed of the moving body increases. Can be configured to. In this case, it is preferable that the control device is configured to control the steering actuator so as to weaken the steering torque as the traveling speed increases (third invention).

According to this, it is possible to suppress the steering torque applied to the steering operation unit from fluctuating according to the change in the trail length according to the traveling speed of the moving body.

In the first to third inventions, it is preferable that the control device is configured to determine the steering torque according to the observed value of the steering angle of the front wheels (fourth invention).

According to this, it is possible to apply a steering torque matched to the steering angle of the front wheels to the steering operation unit.

In the fourth invention, the control device determines the relationship between the steering angle of the front wheels when the trail length of the front wheels is a positive predetermined value and the torque acting on the steering operation unit according to the steering angle. It is preferable that the correlation data to be represented is stored in memory and the steering torque is determined based on the correlation data from the observed values of the steering angles of the front wheels (Fifth Invention).

According to this, it is possible to apply the same steering torque to the steering operation unit as in the case where the trail length is maintained at the positive predetermined value, regardless of the change in the trail length.

The figure which shows typically the motorcycle for demonstrating the basic technical matter concerning this invention. The explanatory view about the dynamic operation of the front wheel side part of the motorcycle shown in FIG. The graph which illustrates the characteristic of the change with respect to the trail length of the ratio (Mstr / δf) of the steering moment generated around the steering axis of the front wheel of the motorcycle shown in FIG. 1 and the steering angle of the front wheel. A side view showing a motorcycle as a moving body of the embodiment. FIG. 4 is a cross-sectional view taken along the line AA of FIG. FIG. 5 is a sectional view taken along line BB in FIG. The block diagram which shows the structure concerning the control of the motorcycle of an embodiment. The block diagram which shows the main function of the control device shown in FIG. The figure which shows the mass point system (two mass point system) for expressing the dynamics of a motorcycle of an embodiment. The graph for demonstrating an example of the process of the target trail length determination part shown in FIG. 8 and the process of controlling the actual trail length according to the target trail length. The graph for demonstrating another example of the processing of the target trail length determination part shown in FIG. 8 and the actual trail length control processing according to the target trail length. The block diagram which shows the processing of the attitude control calculation part shown in FIG. 13A, 13B and 13C are graphs for explaining the processing of the control gain determination unit shown in FIG.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 13C.
(Explanation of basic matters)
First, the basic technical matters relating to the present invention will be described with reference to FIGS. 1 to 3. FIG. 1 schematically shows a two-wheeled vehicle 1 as a representative example of a moving body including a vehicle body 2 and front wheels 3f and rear wheels 3r arranged at intervals in the front-rear direction of the vehicle body 2. .. In FIG. 1, the rear wheels 3r seen from the rear side of the motorcycle 1 and the front wheels 3f seen from the front side of the motorcycle 1 are shown together on the left side and the right side of the side view of the motorcycle 1. ing.

The front wheel 3f is rotatably supported by a front wheel support mechanism 4 provided at the front portion of the vehicle body 2. The front wheel support mechanism 4 may be composed of, for example, a front fork or the like. The front wheels 3f are steering wheels that can be steered (rotatable) around the steering axis Csf that is tilted backward.

The fact that the steering axis Csf is tilted backward means that the steering axis Csf is tilted backward so that the upper side of the steering axis Csf is relatively rearward in the front-rear direction of the vehicle body 2. It means that it is tilted and extended.

The rear wheels 3r are rotatably supported by a rear wheel support mechanism 5 provided at the rear portion of the vehicle body 2. The rear wheel support mechanism 5 may be composed of, for example, a swing arm or the like. The rear wheels 3r are non-steering wheels.

In the motorcycle 1 having the above structure, the front wheels 3 are not subjected to steering force from the steering wheel (not shown in FIG. 1), and the front wheels 3f are steered (rotation around the steering axis Csf) around the steering axis Csf. The moment Mstr generated in (hereinafter referred to as the steering moment Mstr) will be described below. The steering moment Mstr corresponds to a moment generated by the so-called self-steering characteristic of a two-wheeled vehicle.

In the following description, as shown in FIG. 1, the motorcycle 1 is in a straight-ahead traveling posture (a posture in which the axle center line of the front wheels 3f is parallel to the axle center line of the rear wheels 3r) on a horizontal ground contact surface 110 (road surface). The state of standing up at) is called the reference posture state of the motorcycle 1. Further, as shown in FIGS. 1 and 2, each of the front-rear direction, the left-right direction (vehicle width direction), and the height direction (vertical direction) of the vehicle body 2 of the two-wheeled vehicle 1 in the reference posture state is the X-axis direction of the XYZ coordinate system. , Y-axis direction, Z-axis direction.

According to the study of the inventor of the present application, the steering moment Mstr is the gravity acting on the front wheel side portion of the motorcycle 1 (specifically, the portion including the front wheel 3f and capable of rotating with the front wheel 3f around the steering axis Csf). It is considered that there is a high dependence on the road surface reaction force (ground load) acting on the front wheels 3f among the road surface reaction forces acting on the front wheels 3f and the rear wheels 3r against the gravity acting on the entire motorcycle 1.

In FIG. 1, “G” indicates the entire center of gravity of the motorcycle 1, and “Gf” indicates the center of gravity of the front wheel side portion (hereinafter, referred to as the front wheel side center of gravity).

In this case, according to the study of the inventor of the present application, the kinetic model representing the relationship between the steering angle δf (rotation angle around the steering axis Csf) of the front wheels 3f and the steering moment Mstr is approximately the following equation. It can be expressed by (1). In addition, in this specification, "*" means a multiplication symbol.

Here, referring to FIGS. 1 and 2, m in the equation (1) is the total mass of the two-wheeled vehicle 1 (the mass of the mass of the total center of gravity G), g is the gravity acceleration constant, and Lf is the two-wheeled vehicle 1 in the reference posture state. The distance in the X-axis direction between the total center of gravity G and the ground contact point of the front wheels 3f, Lr is the distance in the X-axis direction between the total center of gravity G of the two-wheeled vehicle 1 in the reference posture state and the ground contact point of the rear wheels 3r. mf is the mass of the front wheel side portion of the two-wheeled vehicle 1 (the mass of the mass of the center of gravity Gf on the front wheel side), and a is a straight line passing through the ground contact point and the axle center point of the front wheel 3f of the two-wheeled vehicle 1 in the reference posture state (straight line in the Z axis direction). ) And the height of the intersection Ef of the steering axis Csf from the ground contact surface 110 (the distance between the intersection Ef and the ground contact point of the front wheels 3f).

The intersection Ef is not limited to the case where it is located above the contact patch 110 as shown in FIG. 1, but it may be located above the contact patch 110 depending on the positional relationship between the steering axis Csf and the front wheels 3f. It may be located below the ground plane 110.

In the description of the present embodiment, regarding the height a of the intersection Ef, when the intersection Ef is located above the ground plane 110 (in other words, the intersection of the steering axis Csf and the ground plane 110 is FIG. 1 When the polarity of the height a at the front wheel 3f is located on the front side of the ground contact point as shown in (a> 0), and when the intersection Ef is located on the lower side of the ground contact surface 110 (in other words,). The polarity of the height a at the intersection of the steering axis Csf and the ground contact surface 110 is located behind the ground contact point of the front wheel 3f) is defined as the negative electrode property (a <0).

Further, Rf in the equation (1) is the radius of curvature of the cross-sectional shape of the front wheel 3f at the position of the ground contact point of the front wheel 3f in the reference posture state, and hgf is the contact of the center of gravity Gf on the front wheel side of the two-wheeled vehicle 1 in the reference posture state. The height from the ground 110, h is the height from the ground plane 110 of the total center of gravity G of the two-wheeled vehicle 1 in the reference posture state, and I is the height around the axis Crol in the front-rear direction (X-axis direction) passing through the total center of gravity G. The total moment of inertia of the two-wheeled vehicle 1 (hereinafter referred to as the total inertia I) and θcf are caster angles as the inclination angle (inclination angle with respect to the Z-axis direction) of the steering axis Csf.

Further, in the equation (1), the steering angle δf of the front wheels 3f in the reference posture state of the motorcycle 1 (hereinafter, may be simply referred to as the front wheel steering angle δf) is set to zero, and the forward direction and steering moment of the front wheel steering angle δf are set to zero. The positive direction of Mstr is the direction in which the front wheels 3f rotate counterclockwise around the steering axis Csf when the motorcycle 1 in the reference posture is viewed from above.

The above equation (1) is an equation derived from the relational equations (2-1) to (2-8) shown below.

Here, referring to FIG. 2, φf in the equations (2-1) to (2-8) is the inclination angle of the front wheel 3f in the roll direction (direction around the X axis), and ef is the roll direction of the front wheel 3f. The amount of movement of the intersection Ef in the lateral direction (Y-axis direction) due to the inclination (inclination from the reference posture state), pf, is the amount of movement of the front wheel 3f due to the inclination of the front wheel 3f in the roll direction (inclination from the reference posture state). The amount of movement of the ground contact point in the lateral direction (Y-axis direction), pgf is the amount of movement of the front wheel side center of gravity Gf in the lateral direction (Y-axis direction) due to the inclination of the front wheel 3f in the roll direction (inclination from the reference posture state). Ff is the road surface reaction force (ground load) acting on the front wheels 3f among the road surface reaction forces acting on the front wheels 3f and the rear wheels 3r against the gravity acting on the entire motorcycle 1, and Mef is the front wheel side center of gravity Gf. It is a moment generated in the roll direction at the intersection Ef by the gravity (= mf * g) acting on the front wheel 3f and the road surface reaction force Ff acting on the front wheel 3f. Although not shown, φb is the inclination angle of the vehicle body 2 in the roll direction that occurs in response to the steering of the front wheels 3f.

In this case, the inclination angles φf and φb in the reference posture state of the motorcycle 1 are zero, and the positive directions of the inclination angles φf and φb and the moment Mef are in the clockwise direction when the motorcycle 1 is viewed from the rear side. is there. Further, the forward directions of the movement amounts ef, pf, and pgf are in the leftward direction when the motorcycle 1 is viewed from the rear side.

The formulas (2-1), (2-2), and (2-3) are the same as the formulas (8), (11), and (16) described in Patent Documents 1 and 2, respectively. is there.

The equation (1) can be rewritten into the equation (3) by introducing the variables kstr and astr defined by the following equations (3a) and (3b).

Further, the trail length t (see FIG. 1), which is the distance from the ground contact point of the front wheels 3f, at the intersection of the steering axis Csf and the ground contact surface 110 in the reference posture state of the motorcycle 1, and the height a of the intersection point Ef. The relationship of the following equation (4) is established between them.

t = a * tan (θcf) …… (4)

Therefore, the equation (3) can be rewritten into the following equation (5) by using the trail length t.

Mstr = (kstr / tan (θcf)) * (t-astr * tan (θcf)) * δf …… (5)

In the description of the present embodiment, the polarity of the trail length t is the same as the polarity of the height a of the intersection Ef, and the intersection of the steering axis Csf of the motorcycle 1 in the reference posture state and the ground plane 110 is shown in FIG. As shown in 1, the trail length t when located on the front side of the ground contact point of the front wheel 3f is positive electrode (t> 0), and the intersection of the steering axis Csf and the ground contact surface 110 is on the rear side of the ground contact point of the front wheel 3f. The trail length t when positioned is negative (t <0).

As can be seen from the above equation (5), the steering moment Mstr is proportional to the front wheel steering angle δf when the trail length t is constant (when the height a is constant). Further, when the front wheel steering angle δf is constant, the magnitude and polarity (direction) of the steering moment Mstr change according to the trail length t.

More specifically, since the value of the variable kstr is generally a positive value, when focusing on the ratio Mstr / δf of the steering moment Mstr and the front wheel steering angle δf (however, δf ≠ 0), the ratio Mstr / δf The value changes with respect to the change in the trail length t, for example, as shown in the graph of FIG.

In this case, as can be seen from the equation (5), when the trail length t is t> astr * tan (θcf)) (when a> astr), the polarity (direction) of the steering moment Mstr is the front wheel. It matches the polarity (direction) of the steering angle δf (Mstr / δf> 0). This corresponds to the self-steering characteristics of a normal two-wheeled vehicle. In this case, if the trail length t of the two-wheeled vehicle 1 is set to, for example, a positive trail length of the same size as that of a normal two-wheeled vehicle, it is possible to realize the same self-steering characteristics as that of a normal two-wheeled vehicle.

On the other hand, when the trail length t is t <astr * tan (θcf)) (in other words, when a <astr), the polarity (direction) of the steering moment Mstr is the polarity of the front wheel steering angle δf (in other words, when a <astr). Orientation) and the opposite (Mstr / δ <0). Therefore, when the trail length t is set to a negative trail length smaller than astr * tan (θcf)), the polarity (direction) of the steering moment Mstr generated in response to the steering of the front wheel 3f changes the positive trail length. It is the opposite of the normal two-wheeled vehicle that you have.

Further, even if the trail length t is larger than astr * tan (θcf)), if the trail length t is a negative value, the trail length t becomes a value close to astr * tan (θcf)). The steering moment Mstr generated in response to the steering of the front wheel 3f is very small (close to zero).

On the other hand, as described in Patent Documents 1 and 2, in a state where the traveling speed of the motorcycle 1 is relatively low (including a stopped state), the posture (roll) of the vehicle body 2 in the roll direction is controlled by steering control of the front wheels 3f. In order to control the inclination angle in the direction), it is preferable to set the trail length t to, for example, a negative value.

Then, when the trail length t is set to a negative value in order to control the posture of the vehicle body 2 in the roll direction in this way, as described above, the steering moment Mstr corresponding to the steering of the front wheels 3f around the steering axis Csf. Is hardly generated, or a steering moment Mstr having a polarity (direction) opposite to the polarity (direction) of the front wheel steering angle δf is generated. As a result, the torque applied from the front wheel 3f side to the steering operation unit such as the steering wheel for the driver to steer the front wheel 3f is the same as the steering moment Mstr.

Therefore, in the present embodiment, even when the trail length t is set to a negative value, the steering moment having the same polarity (in the same direction) as the front wheel steering angle δf is the same as when the trail length t is set to a positive value. Steering control of the front wheels 3f is executed so that Mstr is generated around the steering axis Csf (and thus torque similar to the steering moment Mstr is applied to the steering operation unit such as the steering wheel).

(Explanation of Embodiment)
Based on the matters described above, one embodiment of the present invention will be described in detail. In the description of the present embodiment, for convenience, the same reference numerals as those in FIG. 1 are used for the components having the same functions as the motorcycle 1 shown in FIG.

With reference to FIG. 4, the moving body 1A of the present embodiment is a two-wheeled vehicle including a vehicle body 2 and front wheels 3f and rear wheels 3r arranged at intervals in the front-rear direction of the vehicle body 2. Hereinafter, the moving body 1A is referred to as a motorcycle 1A.

A seat 6 on which the driver sits is mounted on the upper surface of the vehicle body 2. At the front of the vehicle body 2, a front wheel support mechanism 4 that pivotally supports the front wheels 3f, a steering handle 7 that can be gripped by a driver seated on the seat 6, and an actuator 8 that generates a driving force for steering the front wheels 3f (hereinafter , Sometimes referred to as a steering actuator 8) is assembled.

The front wheel support mechanism 4 includes a trail length variable mechanism 9 which is a mechanism for changing the trail length t of the front wheel 3f, and a front fork 10 including a suspension mechanism such as a damper. The front wheel 3f is pivotally supported at the lower end of the front fork 10 via a bearing or the like so that it can rotate around its axle centerline.

The trail length variable mechanism 9 is configured as shown in FIGS. 5 and 6, for example. Specifically, the trail length variable mechanism 9 has a frame-shaped steering rotating portion 12 rotatably supported by a head pipe 11 provided at the front end portion of the vehicle body 2, and a hinge mechanism 13 on the steering rotating portion 12. The frame-shaped swinging portion 14 assembled so as to swing through the swinging portion 14 and the actuator 15 that generates a driving force for swinging the swinging portion 14 (hereinafter, may be referred to as an actuator 15 for changing the trail length). ), And a crank mechanism 16 that swings the swinging portion 14 with respect to the steering rotating portion 12 by the driving force of the actuator 15.

The axis of the head pipe 11 is the steering axis Csf of the front wheels 3f, and the head pipe 11 is fixed to the front end portion of the vehicle body 2 so that the steering axis Csf tilts backward. The steering rotating portion 12 is arranged so as to sandwich the head pipe 11 between the upper end portion and the lower end portion thereof, and the head pipe can rotate around the steering axis Csf with respect to the head pipe 11. It is fitted to 11.

The rocking portion 14 is arranged on the front side of the steering rotating portion 12, and its upper end is connected to the upper end of the steering rotating portion 12 by a hinge mechanism 13. The front fork 10 extends downward from the lower end of the swinging portion 14.

As a result, the swinging portion 14 can rotate integrally with the steering rotating portion 12 around the steering axis Csf together with the front fork 10 and the front wheel 3f, and the hinge mechanism 13 with respect to the steering rotating portion 12 It can swing around the center of rotation. In this case, the rotation axis of the hinge mechanism 13 (the central axis of the swing of the swing portion 14) extends in the left-right direction (vehicle width direction) of the vehicle body 2. Therefore, the swinging portion 14 swings in the pitch direction with respect to the steering rotating portion 12 in the reference posture state of the motorcycle 1A.

The reference posture state of the two-wheeled vehicle 1A is the same as that of the reference posture state of the two-wheeled vehicle 1 in FIG. It is in a state of standing upright.

The trail length changing actuator 15 is composed of an electric motor mounted on the swing portion 14, and outputs a rotational driving force via the speed reducer 17. More specifically, in the example of the present embodiment, the trail length changing actuator 15 and the speed reducer 17 are arranged at the upper portion and the lower portion inside the rocking portion 14, respectively, and the respective housings are provided. It is fixed to the swinging portion 14. The speed reducer 17 may have an arbitrary structure, for example, a harmonic drive (registered trademark) or one composed of a plurality of gears.

Then, the output shaft of the trail length changing actuator 15 is connected to the input shaft of the speed reducer 17 via a power transmission mechanism 18 composed of a pulley / belt mechanism or the like. As a result, the rotational driving force generated by the trail length changing actuator 15 is input to the speed reducer 17 from the output shaft of the actuator 15 via the power transmission mechanism 18, and is further output from the speed reducer 17. ing.

Further, in the present embodiment, the trail length changing actuator 15 has a built-in electric lock mechanism 15a that holds the output shaft in a non-rotatable state. The lock mechanism 15a may be configured by a friction type brake mechanism or the like.

The power transmission mechanism 18 may be provided with a function as a speed reducer, and the speed reducer 17 may be omitted. Alternatively, by connecting the output shaft of the trail length changing actuator 15 and the input shaft of the speed reducer 17 coaxially, the rotational driving force of the trail length changing actuator 15 is directly input to the speed reducer 17. You may. Further, the trail length changing actuator 15 may be composed of a hydraulic actuator.

The crank mechanism 16 includes a pair of crank arms 19a and 19b provided so as to rotate integrally with the output shaft of the speed reducer 17, and a connecting rod 20 for connecting the crank arms 19a and 19b to the steering rotating portion 12. ..

The pair of crank arms 19a and 19b are arranged inside the swing portion 14 so as to face each other with a gap in the axial direction of the output shaft of the speed reducer 17. One end of the crank arm 19a is fixed to the output shaft of the speed reducer 17, and the crank arm 19a can rotate integrally with the output shaft.

Further, the other crank arm 19b is provided with a support shaft 21 fixed coaxially with the output shaft of the speed reducer 17 at a portion closer to one end thereof. The crank arm 19b is rotatably supported by the bearing portion 22 fixed to the swing portion 14 via the support shaft 21.

The other ends of these crank arms 19a and 19b are connected to the axis of the output shaft of the speed reducer 17 (= the axis of rotation of the crank arms 19a and 19b) via an eccentric shaft 23. Then, one end of the connecting rod 20 is rotatably supported by the eccentric shaft 23 between the crank arms 19a and 19b. Further, the other end of the connecting rod 20 is rotatably supported by a support shaft 24 provided fixed to the steering rotation unit 12 inside the steering rotation unit 12. The axial direction of the support shaft 24 is parallel to the axial center of the eccentric shaft 23.

The trail length variable mechanism 9 is configured as described above. Therefore, by rotating the steering rotating portion 12 and the swinging portion 14 of the trail length variable mechanism 9 around the steering axis Csf, the front wheels 3f are steered around the steering axis Csf.

Further, by rotating the crank arms 19a and 19b around the axis of the output shaft of the speed reducer 17 by the rotational driving force of the trail length changing actuator 15, the swing portion 14 hinges with the steering rotating portion 12. It swings around the rotation axis of the mechanism 13 within a predetermined angle range. Along with the swing of the swing portion 14, the front wheel 3f also swings around the rotation axis of the hinge mechanism 13. Therefore, the front wheels 3f are displaced in the front-rear direction with respect to the vehicle body 2. As a result, the ground contact point of the front wheel 3f is displaced in the front-rear direction within a predetermined range with respect to the intersection of the steering axis Csf and the ground contact surface 110. As a result, the trail length t changes within a predetermined range.

In this case, the front wheel 3f can be displaced in the front-rear direction as the rocking portion 14 swings, for example, between the state shown by the solid line in FIG. 4 and the state shown by the alternate long and short dash line. The displacement state of the front wheel 3f shown by the solid line in FIG. 4 is a state in which the trail length t is a negative value tn, and the displacement state of the front wheel 3f shown by the alternate long and short dash line is a state in which the trail length t is a positive value tp. Is. Therefore, the trail length t can be changed within the range between the lower limit value tn (<0) and the upper limit value tp (> 0). Hereinafter, the lower limit value tn is referred to as a lower limit trail length tn, and the upper limit value tp is referred to as an upper limit trail length tp.

Further, in the present embodiment, the locking mechanism 15a mechanically holds the output shaft of the trail length changing actuator 15 so that the swing portion 14 cannot swing with respect to the steering rotating portion 12. Is held in. As a result, the trail length t can be mechanically fixed and held (locked) without controlling the driving force of the trail length changing actuator 15.

In the present embodiment, the trail length changing actuator 15 is provided with a lock mechanism 15a, but instead of the lock mechanism 15a, for example, the output shaft of the speed reducer 17 or the crank arms 19a and 19b are held non-rotatably. A locking mechanism may be provided on the output side of the speed reducer 17.

The steering actuator 8 generates a rotational driving force for rotating the front wheels 3f around the steering axis Csf as a driving force for steering the front wheels 3f. In the present embodiment, the steering actuator 8 is composed of an electric motor. The housing of the steering actuator 8 is fixed to the vehicle body 2. Further, the output shaft of the steering actuator 8 is connected to the lower end portion of the steering rotating portion 12 via a power transmission mechanism 25 composed of a pulley / belt mechanism or the like. As a result, a rotational driving force around the steering axis Csf is applied from the steering actuator 8 to the steering rotating portion 12 via the power transmission mechanism 25. The power transmission mechanism 25 also has a deceleration function.

By applying a rotational driving force from the steering actuator 8 to the steering rotary portion 12, the front wheel support mechanism 4 including the trail length variable mechanism 9 and the front fork 10 is rotationally driven around the steering axis Csf together with the front wheels 3f. As a result, the front wheels 3f are steered by the rotational driving force of the steering actuator 8. Further, by adjusting the rotational driving force of the steering actuator 8, it is also possible to adjust the torque generated around the steering axis Csf.

Further, in the present embodiment, the power transmission mechanism 25 includes a steering clutch 8a, which is a clutch mechanism for appropriately interrupting power transmission between the steering actuator 8 and the steering rotation unit 12. The steering clutch 8a is composed of, for example, an electromagnetic clutch or the like. The steering actuator 8 is not limited to the electric motor, and may be composed of, for example, a hydraulic actuator.

The steering handle 7 has a function as a steering operation unit for the driver to perform a steering operation of the front wheels 3f, and is assembled to the steering rotation unit 12 of the trail length variable mechanism 9. Specifically, the steering handle 7 is fixed to the upper end of the steering rotation unit 12 via a support column 26 so as to rotate around the steering axis Csf integrally with the steering rotation unit 12. As a result, the driver can steer the front wheels 3f by rotating the steering wheel 7. Further, although detailed illustration is omitted, the steering wheel 7 is assembled with an accelerator grip, a brake lever, a turn signal switch, and the like, similarly to the steering wheel of a normal motorcycle.

An actuator 27 that rotationally drives the front wheel 3f around the axle center line Cf is mounted on the axle of the front wheel 3f. The actuator 27 has a function as a prime mover for generating the propulsive force of the motorcycle 1A. In this embodiment, the actuator 27 (hereinafter, may be referred to as a traveling actuator 27) is composed of an electric motor (an electric motor with a speed reducer).

The traveling actuator 27 may be configured by, for example, a hydraulic actuator instead of the electric motor. Alternatively, the traveling actuator 27 may be composed of an internal combustion engine. Further, the traveling actuator 27 may be mounted on the vehicle body 2 at a position away from the axle of the front wheel 3f, and the traveling actuator 27 and the axle of the front wheel 3f may be connected by an appropriate power transmission device. Further, instead of the traveling actuator 27, or in addition to the traveling actuator 27, an actuator that rotationally drives the rear wheels 3r may be provided.

A rear wheel support mechanism 5 that rotatably supports the rear wheels 3r is assembled to the rear portion of the vehicle body 2. The rear wheel support mechanism 5 includes a swing arm 28 and a suspension mechanism 29 including a coil spring, a damper, and the like. As these mechanical structures, for example, a structure similar to the rear wheel support mechanism of a normal motorcycle can be adopted.

Then, the rear wheels 3r are pivotally supported at the end of the swing arm 28 (the rear end of the vehicle body 2) via bearings or the like so that the rear wheels 3r can rotate around the axle center line. The rear wheels 3r are non-steering wheels.

In addition to the above mechanical configuration, the motorcycle 1A is for controlling the operation of the steering actuator 8, the steering clutch 8a, the trail length changing actuator 15, the lock mechanism 15a, and the traveling actuator 27, as shown in FIG. A control device 50 for executing a control process is provided.

Further, the two-wheeled vehicle 1A uses a vehicle body tilt detector 51 for detecting the tilt angle φb in the roll direction of the vehicle body 2 and a front wheel steering angle δf as sensors for detecting various state quantities required for the control process of the control device 50. The front wheel steering angle detector 52 to detect, the trail length detector 53 to detect the trail length, the front wheel rotation speed detector 54 to detect the rotation speed (angular velocity) of the front wheels 3f, and the rotation speed (angular velocity) of the rear wheels 3r. It is provided with a rear wheel rotation speed detector 55 for detecting the above, and an accelerator operation detector 56 for detecting the accelerator operation amount (rotation amount) of the accelerator grip of the control handle 7.

The vehicle body inclination detector 51 is composed of, for example, an inertial sensor including an acceleration sensor and a gyro sensor (angular velocity sensor), and is assembled to the vehicle body 2. In this case, the control device 50 measures the inclination angle φb in the roll direction of the vehicle body 2 (more specifically, the inclination angle in the roll direction with respect to the vertical direction (gravity direction)) based on the output of the inertial sensor. As the measurement method, for example, a strap-down type measurement method or the like can be adopted. The vehicle body inclination detector 51 may be provided with a processing unit (processor or the like) that executes measurement processing of the inclination angle φb in the roll direction of the vehicle body 2.

The front wheel steering angle detector 52 is composed of, for example, a steering actuator 8 (electric motor), a power transmission mechanism 25, or a detector such as a rotary encoder or a resolver attached to the steering rotating unit 12, and is composed of the steering actuator 8. A detection signal corresponding to the rotation angle of the output shaft or the steering rotation unit 12 is output.

The trail length detector 53 is composed of, for example, a trail length changing actuator 15 (electric motor) or a detector such as a rotary encoder or a resolver attached to the speed reducer 17, and the trail length changing actuator 15 or the speed reducer 17. Outputs a detection signal according to the rotation angle of the output shaft.

Here, in the present embodiment, the trail length t is defined according to the amount of swing of the swing portion 14 with respect to the steering rotation portion 12 of the trail length variable mechanism 9 (rotation angle around the rotation axis of the hinge mechanism 13). .. Further, the swing amount of the swing portion 14 is defined according to the rotation angles of the crank arms 19a and 19b. Further, the rotation angles of the crank arms 19a and 19b are defined according to the rotation angle of the output shaft of the trail length changing actuator 15.

Therefore, the trail length t can be detected from the output of the trail length detector 53 (detection signal corresponding to the rotation angle of the output shaft of the trail length changing actuator 15 or the speed reducer 17). The trail length detector 53 may be provided, for example, so as to be able to detect the amount of swing of the swing portion 14.

The front wheel rotation speed detector 54 is composed of, for example, detectors such as a rotary encoder and a resolver attached to the axle of the front wheel 3f, and outputs a detection signal according to the rotation angle or rotation angular velocity of the front wheel 3f.

The rear wheel rotation speed detector 55 is composed of, for example, a detector such as a rotary encoder attached to the axle of the rear wheels 3r, and outputs a detection signal according to the rotation angle or the rotation angular velocity of the rear wheels 3r.

The accelerator operation detector 56 is composed of, for example, detectors such as a rotary encoder and a potentiometer built in the steering wheel 7, and outputs a detection signal according to the rotation angle or rotation angular velocity of the accelerator grip.

The control device 50 is composed of one or more electronic circuit units including a microcomputer, a memory, an interface circuit, and the like, and is assembled to the vehicle body 2. Then, the output (detection signal) of each of the above detectors 51 to 56 is input to the control device 50.

The function of the control device 50 will be further described with reference to FIGS. 8 and 9. The XYZ coordinate system in the following description is the front-rear direction, the left-right direction (vehicle width direction), and the height direction (vertical direction) of the vehicle body 2 of the two-wheeled vehicle 1A in the reference posture state, as in the case of the two-wheeled vehicle 1 in FIG. It is a coordinate system in which each of the above is in the X-axis direction, the Y-axis direction, and the Z-axis direction (see FIG. 3).

Further, in the following description, the subscript "_act" attached to the reference code of the state quantity is used as a code indicating an actual value or an observed value (detected value or estimated value) thereof. The subscript "_cmd" is added to the target value.

Here, as described in Patent Documents 1 and 2, the dynamic behavior of the posture of the vehicle body 2 in the roll direction is, as shown in FIG. 8, above the ground contact surface 110 of the motorcycle 1A, the vehicle body 2 Inverted pendulum mass point 123 that can move laterally (Y-axis direction) according to the change of the inclination angle φb in the roll direction, and the ground contact patch 110 according to the steering of the front wheel 3f (according to the change of the front wheel steering angle δf). It can be approximately represented by a dynamic model of a two-mass system composed of a ground plane mass point 124 that can move above in the lateral direction (in the Y-axis direction).

In this case, the mass m1 of the inverted pendulum mass point 123, the mass m2 of the ground surface high quality point 124, the height h'of the inverted pendulum mass point 123, the total mass m of the two-wheeled vehicle 1A, the height h of the total center of gravity G of the two-wheeled vehicle 1A, and The relationship between the total moment of inertia I (the moment of inertia about the axis in the X-axis direction passing through the total center of gravity G) of the two-wheeled vehicle 1A is expressed by the following equations (6a) to (6d).

m1 + m2 = m …… (6a)
m1 * c = m2 * h …… (6b)
m1 * c ² + m2 * h ² = I …… (6c)
c = h'-h …… (6d)

The inclination of the straight line connecting the inverted pendulum mass point 123 and the contact patch upper quality point 124 coincides with the inclination angle φb in the roll direction of the vehicle body 2.

Then, the control device 50 in the present embodiment is basically the same as that described in Patent Documents 1 and 2, and the control process (inverted pendulum mass point 123) based on the above-mentioned two-mass point system dynamics model. Steering control of the front wheel 3f is performed by the control process) in consideration of the motion state of. However, in the present embodiment, the control device 50 performs steering control so that a required steering moment Mstr can be generated.

As shown in FIG. 7, the control device 50 has the Y-axis direction (body 2) of the inverted pendulum quality point 123 of the dynamics model as a main function realized by the implemented hardware configuration and program (software configuration). Calculate the estimated value of the inverted pendulum quality point lateral movement amount Pb_diff_y (hereinafter referred to as the inverted pendulum quality point lateral movement amount estimated value Pb_diff_y_act), which is the movement amount of the inverted pendulum quality point lateral movement amount. The actual value of the inverted pendulum quality point lateral velocity Vby, which is the translational speed of the part 31 and the inverted pendulum quality point 123 in the Y-axis direction (the left-right direction of the vehicle body 2). ) Inverted pendulum quality point lateral speed estimation value calculation unit 32, and vehicle speed estimation value calculation unit that calculates the actual value Vox_act of the vehicle speed Vox (running speed) of the two-wheeled vehicle 1A (hereinafter referred to as vehicle speed estimation value Vox_act). 33, the target value Pb_diff_y_cmd of the inverted pendulum quality point lateral movement amount Pb_diff_y (hereinafter referred to as the target inverted pendulum quality point lateral movement amount Pb_diff_y_cmd) and the target value Vby_cmd of the inverted pendulum quality point lateral speed Vby (hereinafter referred to as the target inverted pendulum quality point lateral speed Vby_cmd) Target attitude state determining unit 34 for determining the attitude, the control gain determining unit 35 for determining the values of a plurality of gains K1, K2, K3, K4, K5 for attitude control of the vehicle body 2, and the target of the vehicle speed Vox of the two-wheeled vehicle 1A. The target vehicle speed determining unit 36 that determines the value Vox_cmd (hereinafter referred to as the target vehicle speed Vox_cmd), the target trail length determining unit 37 that determines the target value t_cmd (hereinafter referred to as the target trail length t_cmd) of the trail length t, and the steering moment. A standard steering moment determination unit 38 for determining a standard value Mstr_nml of Mstr (hereinafter referred to as a standard steering moment Mstr_nml) is provided.

Further, the control device 50 executes a calculation process for controlling the attitude of the vehicle body 2, so that the target value δf_cmd of the front wheel steering angle δf (hereinafter referred to as the target front wheel steering angle δf_cmd) and the front wheel steering angle δf are temporal. Target value δf_dot_cmd (hereinafter referred to as target front wheel steering angular velocity δf_dot_cmd) of front wheel steering angular velocity δf_dot which is the rate of change and target value δf_dot2_cmd of front wheel steering angular acceleration δf_dot2 which is the temporal change rate of the front wheel steering angular velocity δf_dot (hereinafter referred to as target front wheel steering) The attitude control calculation unit 39 for determining the angular acceleration δf_dot2_cmd) is provided.

Further, in the present embodiment, by operating a predetermined mode setting switch (not shown) provided in the motorcycle 1A, steering control of the front wheels 3f via the steering actuator 8 (and by extension, the attitude of the vehicle body 2 in the roll direction). It is possible for the driver to selectively set whether or not to execute the control) for the control device 50.

Then, the control device 50 performs the processing of each functional unit shown in FIG. 7 at a predetermined control processing cycle when the motorcycle 1A is stopped and running in a state where the mode for steering control of the front wheels 3f is selected. Execute sequentially.

Then, the control device 50 controls the steering actuator 8 according to the target front wheel steering angle δf_cmd, the target front wheel steering angular velocity δf_dot_cmd, and the target front wheel steering angular acceleration δf_dot2_cmd determined by the attitude control calculation unit 39.

Further, the control device 50 controls the trail length changing actuator 15 according to the target trail length t_cmd determined by the target trail length determining unit 37. Further, the control device 50 controls the traveling actuator 27 according to the target vehicle speed Vox_cmd determined by the target vehicle speed determination unit 36.

The details of the control process of the control device 50 (the control process in the state where the mode for steering the front wheel 3f is selected) will be described below. In this control process, the value of the parameter h'related to the above-mentioned two-mass system dynamic model and the value of the parameters θcf, Lf, Lr related to the specifications of the motorcycle 1 are used. The values of these parameters h', θcf, Lf, and Lr are predetermined set values (fixed values) and are stored and held in the memory of the control device 50.

Further, among the control processes of the control device 50, the processes of each functional unit other than the standard steering moment determination unit 38, the control gain determination unit 35, and the attitude control calculation unit 39 are, in the present embodiment, the above-mentioned Patent Documents 1 and 2. It is the same as that described in. Therefore, the description of the processing of each functional unit other than the standard steering moment determination unit 38, the control gain determination unit 35, and the attitude control calculation unit 39 of the control device 50 is limited to a brief description.

In each control processing cycle, the control device 60 includes a target vehicle speed determination unit 36, a standard steering moment determination unit 38, a vehicle speed estimation value calculation unit 33, a target attitude state determination unit 34, and an inverted pendulum mass point lateral movement amount estimation value calculation unit 31. The process is executed as described below.

The detection value of the accelerator operation amount indicated by the output of the accelerator operation detector 56 is input to the target vehicle speed determination unit 36. Then, the target vehicle speed determination unit 36 determines the target vehicle speed Vox_cmd from the detected value of the accelerator operation amount by a map or a calculation formula created in advance. In this case, the target vehicle speed Vox_cmd is determined to be larger as the accelerator operation amount is larger in the range equal to or less than the default maximum value.

When the brake of the motorcycle 1A is operated, the target vehicle speed Vox_cmd depends on the detected value of the brake operation amount or according to both the detection value of the brake operation amount and the detection value of the accelerator operation amount. It may be determined by a map, a calculation formula, or the like.

The vehicle speed estimation value calculation unit 33 is specified from the detection value of the front wheel steering angle δf_act indicated by the output of the front wheel steering angle detector 52 and the detection value of the rotation angular velocity of the front wheels 3f indicated by the output of the front wheel rotation speed detector 54. The estimated value of the rotational movement speed Vf_act of the front wheel 3f to be performed (specifically, the movement speed calculated by multiplying the detected value of the rotational angular velocity of the front wheel 3f by the predetermined effective rotational radius of the front wheel 3f) is input.

Then, the vehicle speed estimation value calculation unit 33 calculates the vehicle speed estimation value Vox_act from the input detection value of the front wheel steering angle δf_act and the estimated value of the rotational movement speed Vf_act of the front wheel 3f, for example, by the following equation (7). ..

Vox_act = Vf_act * cos (δf_act * cos (θcf)) …… (7)

The vehicle speed estimated value Vox_act calculated in this way corresponds to the X-axis direction component of the estimated value of the rotational movement speed Vf_act of the front wheel 3f. It should be noted that the estimated value of the rotational moving speed of the rear wheels 3r specified from the detected value of the rotational angular velocity of the rear wheels 3r indicated by the output of the rear wheel rotational speed detector 55 (specifically, the detected value of the rotational angular velocity of the rear wheels 3r). The moving speed obtained by multiplying the rear wheel 3r by the predetermined effective turning radius) may be obtained as the vehicle speed estimated value Vox_act.

The detection value of the front wheel steering angle δf_act is input to the standard steering moment determination unit 38. Then, the standard steering moment determination unit 38 determines the standard steering moment Mstr_nml from the input detection value of the front wheel steering angle δf_act based on the correlation data such as a map or a calculation formula created in advance. The correlation data is correlation data representing the relationship between the front wheel steering angle δf and the standard steering moment Mstr_nml, and is stored and stored in advance in the control device 50.

In this case, the standard steering moment Mstr_nml determined based on the correlation data sets the trail length t_act of the motorcycle 1A to a predetermined standard positive trail length (for example, the trail length t_nml shown in FIG. 3; hereinafter, standard). When the front wheels 3f are steered without operating the steering actuator 8 while maintaining the trail length (called tnml), the steering moment Mstr generated according to the front wheel steering angle δf is matched or almost matched. It is determined.

For example, when the trail length t in the equation (5) is made to match the standard trail length tnml, the correlation data shows the relationship between the front wheel steering angle δf defined by the equation (5) and the steering moment Mstr. The standard steering moment Mstr_nml according to the front wheel steering angle δf is determined based on the correlation data.

As the standard trail length tnml, for example, a trail length similar to that of a normal motorcycle can be adopted. Further, in the present embodiment, the upper limit trail length tp is the standard trail length tnml.

Supplementally, in an actual motorcycle 1A in a state where the trail length t_act is maintained at the standard trail length tnml, the relationship between the steering moment Mstr generated in response to the steering of the front wheels 3f and the front wheel steering angle δf is actually measured. The above correlation data for determining the standard steering moment Mstr_nml may be created based on the measured data. Further, it is more desirable to determine the standard steering moment Mstr_nml in consideration of the influence of the inclination angle φb in the roll direction of the vehicle body 2 generated by the disturbance. For example, the value (reference value) of the standard steering moment Mstr_nm obtained based on the above correlation data is set according to the estimated value Pb_diff_y_act of the lateral movement amount of the inverted pendulum mass point calculated as described later (or the inclination angle in the roll direction of the vehicle body 2). It is more desirable to determine the standard steering moment Mstr_nm by making corrections (according to the detected value of φb_act).

The target attitude state determination unit 34 sets the target inverted pendulum mass lateral movement amount Pb_diff_y target value Pb_diff_y_cmd and the target inverted pendulum mass lateral velocity Vby target inverted pendulum mass lateral velocity Vby_cmd. decide. In the present embodiment, the target posture state determination unit 34 sets both Pb_diff_y_cmd and Vby_cmd to zero as an example.

In the inverted pendulum mass point lateral movement amount estimation value calculation unit 31, the front wheel indicated by the output of the vehicle body inclination detector 51 and the detection value of the inclination angle φb in the roll direction of the vehicle body 2 and the output of the front wheel steering angle detector 52. The detected value of the steering angle δf_act is input. Then, the inverted pendulum mass lateral movement amount estimation value calculation unit 31 uses the input detection value of the inclination angle φb and the detection value of the front wheel steering angle δf_act, and uses the following equation (8) to calculate the lateral movement amount of the inverted pendulum mass point. Calculate the estimated value Pb_diff_y_act.

Pb_diff_y_act = φb_act * (-h') + Plfy (δf_act) …… (8)

Here, Plfy (δf_act) on the right side of the equation (8) is a function value corresponding to the detected value of the front wheel steering angle δf_act of the function Plfy (δf) of the front wheel steering angle δf. The function Plfy (δf) is a non-linear function having a characteristic that the function value decreases as the front wheel steering angle δf increases (the value on the negative side increases to the value on the positive side).

In each control processing cycle, the control device 50 further executes the processing of the inverted pendulum mass point lateral velocity estimation value calculation unit 32, the control gain determination unit 35, and the target trail length determination unit 37 as described below.

The inverted pendulum mass lateral velocity estimation value calculation unit 32 includes an inverted pendulum mass lateral movement estimation value Pb_diff_y_act calculated by the inverted pendulum mass lateral movement estimation value calculation unit 31, a detection value of the front wheel steering angle δf_act, and a front wheel 3f. The estimated value of the rotational movement speed Vf_act of is input. Then, the inverted pendulum mass lateral velocity estimation value calculation unit 32 uses the input inverted pendulum mass lateral movement amount estimation value Pb_diff_y_act, the front wheel steering angle δf_act detection value, and the rotational movement speed Vf_act estimation value, and uses the following equation (9). ) To calculate the estimated lateral velocity of the inverted pendulum mass point Vby_act.

Vby_act
= Pb_diff_y_dot_act + Vf_act * sin (δf_act * cos (θcf)) * (Lr / L)
…… (9)

The Pb_diff_y_dot_act in the first term on the right side of the equation (9) is the temporal change rate (change amount per unit time) of the estimated lateral movement amount of the inverted pendulum mass point Pb_diff_y_act.

The vehicle speed estimation value Vox_act calculated by the vehicle speed estimation value calculation unit 33 and the detection value of the trail length t_act indicated by the output of the trail length detector 53 are input to the control gain determination unit 35, and the previous control The previous target front wheel steering angle δf_cmd_p, which is the target front wheel steering angle δf_cmd calculated by the attitude control calculation unit 39 in the processing cycle, is input via the delay element 40.

The previous target front wheel steering angle δf_cmd_p has a meaning as a pseudo estimated value of the actual steering angle δf_act of the front wheels 3f at the current time. Therefore, instead of δf_cmd_p, the detection value of the front wheel steering angle δf_act at the current time indicated by the output of the front wheel steering angle detector 52 may be input to the control gain determination unit 35.

Then, the control gain determination unit 35 sets the gains K1, K2, K3, K4, and K5, which will be described later in the processing of the attitude control calculation unit 39, into the input vehicle speed estimation value Vox_act, the trail length t_act detection value, and the previous target front wheel. It is determined according to the steering angle δf_cmd_p (or the detected value of the front wheel steering angle δf_act). The specific determination process of the gains K1, K2, K3, K4, and K5 will be described later.

The vehicle speed estimation value Vox_act calculated by the vehicle speed estimation value calculation unit 33 is input to the target trail length determination unit 37. Then, the target trail length determination unit 37 determines the target trail length t_cmd according to the input vehicle speed estimation value Vox_act. In this case, in the present embodiment, the target trail length t_cmd is determined to be either the upper limit trail length tp or the lower limit trail length tn according to the vehicle speed estimated value Vox_act, for example, as shown in FIG.

Specifically, when the vehicle speed estimated value Vox_act is zero, the target trail length t_cmd is determined to be the lower limit trail length tn (<0). Then, in the state where t_cmd = tt, the target trail length t_cmd is maintained at the lower limit trail length tn until the vehicle speed estimated value Vox_act increases to a value exceeding the predetermined first predetermined value Vox1.

When the vehicle speed estimated value Vox_act exceeds the first predetermined value Vox1, the target trail length t_cmd is switched from the lower limit trail length tn to the upper limit trail length tp (> 0). The upper limit trail length tp is the standard trail length t_nml in the present embodiment.

After that, in the state where t_cmd = tp, the target trail length t_cmd is set to the upper limit trail length tp (> 0) until the vehicle speed estimated value Vox_act drops below the predetermined second predetermined value Vox2. Be maintained. In this case, the second predetermined value Vox2 has a speed smaller than that of the first predetermined value Vox1. Then, when the vehicle speed estimated value Vox_act falls below the second predetermined value Vox2, the target trail length t_cmd is returned from the upper limit trail length tp to the lower limit trail length tun.

As described above, the target trail length t_cmd is basically set to the lower limit trail length tn (<0) when the actual vehicle speed Vox_act is the vehicle speed in the low speed range (including when the vehicle is stopped), and is actually set. When the vehicle speed Vox_act of is the vehicle speed on the high speed side, the upper limit trail length tp (> 0) is set. In this case, t_cmd is determined to have a hysteresis characteristic with respect to changes in Vox_act.

Supplementally, the target trail length t_cmd may be determined to be continuously changed with respect to the vehicle speed Vox_act. For example, the target trail length t_cmd may be determined according to the vehicle speed Vox_act in the manner shown in FIG. In this example, in the low-speed side vehicle speed range of the predetermined vehicle speed Vox3 or less, t_cmd is maintained constant at the lower limit trail length tn, and in the high-speed side vehicle speed range of the predetermined vehicle speed Vox4 or more larger than Vox3, t_cmd is the upper limit trail length tp. Is kept constant. Then, t_cmd is monotonously increased as Vox_act increases in the vehicle speed range between Vox3 and Vox4.

The control device 50 further executes the processing of the attitude control calculation unit 39 in each control processing cycle as described below. The attitude control calculation unit 39 is calculated by the target inverted pendulum mass lateral movement amount Pb_diff_y_cmd, the target inverted pendulum mass lateral velocity Vby_cmd, and the inverted pendulum mass point lateral movement amount estimation value calculation unit 31 determined by the target attitude state determination unit 34. Inverted pendulum mass lateral movement estimated value Pb_diff_y_act, inverted pendulum mass lateral velocity estimated value Vby_act calculated by the inverted pendulum mass lateral velocity estimation value calculation unit 32, and gains K1, K2, determined by the control gain determination unit 35. K3, K4, K5 and the standard steering moment Mstr determined by the standard steering moment determination unit 38 are input.

Then, the attitude control calculation unit 39 uses the above input values to execute the processing shown in the block diagram of FIG. 12, so that the target front wheel steering angle δf_cmd, the target front wheel steering angular velocity δf_dot_cmd, and the target front wheel steering angle Determine the acceleration δf_dot2_cmd.

In FIG. 12, the processing unit 39-1 is a processing unit that obtains the deviation between the input Pb_diff_y_cmd and Pb_diff_y_act, and the processing unit 39-2 is a processing unit that multiplies the output of the processing unit 39-1 by the gain K1. -3 is a processing unit that obtains the deviation between the input Vby_cmd and Vby_act, processing unit 39-4 is a processing unit that multiplies the output of processing unit 39-3 by the gain K2, and processing unit 39-5 is the previous control. The processing unit and processing unit 39-6 for multiplying the previous target front wheel steering angle δf_cmd_p by the gain K3, which is the value of the target front wheel steering angle δf_cmd in the processing cycle, are the values of the target front wheel steering angular velocity δf_dot_cmd in the previous control processing cycle. The processing unit that multiplies the target front wheel steering angular velocity δf_dot_cmd_p by the gain K4, the processing unit 39-7 is the processing unit that multiplies the input standard steering moment Mstr by the gain K5, and the processing units 39-8 are the processing units 39-2, 39. Processing to calculate the target front wheel steering angular acceleration δf_dot2_cmd by adding the respective outputs of -4, 39-7 and the values of (-1) times the respective outputs of the processing units 39-5 and 39-6. Represents a part.

Further, the processing unit 39-9 obtains the target front wheel steering angle velocity δf_dot_cmd by integrating the output of the processing unit 39-8, and the processing unit 39-10 is the processing unit 39-9 in the previous control processing cycle. (That is, the previous target front wheel steering angle velocity δf_dot_cmd_p) is output to the processing unit 39-6. The processing unit 39-11 obtains the target front wheel steering angle δf_cmd by integrating the output of the processing unit 39-9. The processing unit and the processing unit 39-12 represent a delay element that outputs the output of the processing unit 39-11 in the previous control processing cycle (that is, the previous target front wheel steering angle δf_cmd_p) to the processing unit 39-5.

Therefore, in the present embodiment, the attitude control calculation unit 39 calculates the target front wheel steering angular acceleration δf_dot2_cmd by the following equation (10).

δf_dot2_cmd = K1 * (Pb_diff_y_cmd-Pb_diff_y_act)
+ K2 * (Vby_cmd-Vby_act)
-K3 * δf_cmd_p-K4 * δf_dot_cmd_p) + K5 * Mstr_nml
…… (10)

In this equation (10), K1 * (Pb_diff_y_cmd-Pb_diff_y_act) is a feedback operation amount having a function of bringing the deviation (Pb_diff_y_cmd-Pb_diff_y_act) closer to "0", and K2 * (Vby_cmd-Vby_act) is the deviation (Vby_cmd-Vby_act). The feedback operation amount that has the function of bringing δf_cmd closer to “0”, -K3 * δf_cmd_p is the feedback operation amount that has the function of bringing δf_cmd closer to “0”, and -K4 * δf_dot_cmd_p is the feedback that has the function of bringing δf_dot_cmd closer to “0”. The operation amount, K5 * Mstr_nml, is a feedback operation amount having a function of bringing the steering moment Mstr_act generated by the steering control of the front wheels 3f according to δf_dot2_cmd, δf_dot_cmd, and δf_cmd closer to the standard steering moment Mstr_nml.

Then, the attitude control calculation unit 39 determines the target front wheel steering angular velocity δf_dot_cmd by integrating the δf_dot2_cmd determined by the above equation (10). Further, the attitude control calculation unit 39 determines the target front wheel steering angle δf_cmd by integrating the δf_dot_cmd.

Note that δf_cmd_p and δf_dot_cmd_p used in the calculation of the equation (10) have meanings as pseudo-estimated values of the actual steering angle and steering angular velocity of the front wheels 3f at the current time, respectively. Therefore, instead of δf_cmd_p, the detected value of the front wheel steering angle δf_act at the current time may be used. Further, instead of δf_dot_cmd_p, the detected value of the front wheel steering angular velocity δf_dot_act at the current time may be used.

The gains K1 to K5 used in the processing of the attitude control calculation unit 39 are determined by the control gain determination unit 35. In this case, the control gain determination unit 35 sets the target values of the gains K1 to K5 as the vehicle speed estimated value Vox_act, the previous target front wheel steering angle δf_cmd_p (or the detected value of the front wheel steering angle δf_act at the current time), and the trail. Depending on the detected value of the long t_act, it is determined to change the tendency as shown in the graphs of FIGS. 13A to 13C.

In this case, the respective target values of the gains K1 to K5 are determined so as to decrease (approach to zero) as the vehicle speed Vox (vehicle speed estimated value Vox_act) increases. In particular, at the vehicle speed Vox in the high-speed range (vehicle speed larger than the predetermined vehicle speed Vox5 in FIG. 13A), the respective target values of the gains K1 to K5 are determined to match or almost match zero.

Further, the target values of the gains K1 to K4 among the gains K1 to K5 are, for example, as shown in the graph of FIG. 13B, the front wheel steering angle δf (previous front wheel steering angle δf_cmd_p or front wheel steering angle δf_act detection value). It is determined so that as the size (absolute value) increases, it tends to decrease to zero.

Further, as for the target values of the gains K1 to K4 among the gains K1 to K5, for example, as shown in the graph of FIG. 13C, the trail length t (detected value of the trail length t_act) is on the positive side from the negative side value. It is determined by the tendency that it increases as the value of. The process of determining the target values of the gains K1 to K5 as described above is performed based on, for example, a map or an arithmetic expression created in advance.

Then, the control gain determination unit 35 gradually converges each value of the gains K1 to K5 used in the arithmetic processing of the equation (10) to the target value determined as described above (for example, the response characteristic of the first-order delay). (Converge with). The attitude control calculation unit 39 executes the calculation process of the above equation (10) using the values of the gains K1 to K5 determined in this way, so that the target front wheel steering angular acceleration δf_dot2_cmd, the target front wheel steering angular velocity δf_dot_cmd, and the target Calculate the front wheel steering angle δf_cmd. It is preferable that the gain K5 to be multiplied by the standard steering moment Mstr is determined so as to follow the target value at a slower response speed than the other gains K1 to K5 used for the processing for attitude control of the vehicle body 2.

Next, the operation control of the steering actuator 8, the trail length changing actuator 15, and the traveling actuator 27 by the control device 50 will be described. The control device 50 controls the operation of the traveling actuator 27 according to the target vehicle speed Vox_cmd determined by the target vehicle speed determination unit 36 and the vehicle speed estimate value Vox_act calculated by the vehicle speed estimation value calculation unit 33. For example, the control device 50 controls the traveling actuator 27 according to the feedback control law so that the target vehicle speed Vox_cmd follows the vehicle speed estimated value Vox_act.

For example, instead of using the vehicle speed estimation value Vox_act, the target rotation speed of the traveling actuator 27 may be determined from the target vehicle speed Vox_cmd, and the traveling actuator 27 may be controlled according to the target rotation speed.

Further, for example, it is also possible to determine the target driving force to be output from the traveling actuator 27 according to the detected value of the accelerator operation amount, and to control the traveling actuator 27 according to the target driving force. In this case, the target vehicle speed determination unit 36 can be omitted.

Further, the control device 50 controls the operation of the trail length changing actuator 15 according to the target trail length t_cmd determined by the target trail length determining unit 37. Specifically, when the target trail length t_cmd is switched from the lower limit trail length tn to the upper limit trail length tp (standard trail length t_nml), the control device 50 operates the lock mechanism 15a in the off state (). In the state where the trail length t is unlocked by the lock mechanism 15a), the trail length t_act is from tn to tp within a predetermined time width Tacc, as illustrated by the broken line graph in the lower part of FIG. The trail length changing actuator 15 is controlled so as to change monotonically. In this case, the change pattern of the trail length t_act from tn to tp is not limited to a linear pattern, and various patterns can be adopted.

Then, in the present embodiment, when the target trail length t_cmd is set to the upper limit trail length tp and the detected value of the trail length t_act reaches the state corresponding to the upper limit trail length tp (= t_cmd) (t_cmd = t_act). (When = tp), the control device 50 locks the trail length t_act to the upper limit trail length tp by operating the lock mechanism 15a in the on state, and turns off the trail length changing actuator 15 (energization cutoff state). ).

Further, when the target trail length t_cmd is switched from the upper limit trail length tp to the lower limit trail length, the control device 50 is in the state where the lock mechanism 15a is operated in the off state, and the broken line in the lower part of FIG. As illustrated in the graph of, the trail length changing actuator 15 is controlled so that the trail length t_act changes monotonically from tp to tn within a predetermined time width Tdec. In this case, the change pattern of the trail length t_act from tp to tn is not limited to a linear pattern, and various patterns can be adopted.

The time widths Tacc and Tdec may be either the same time width or different time widths from each other. Further, when the trail length t_act changes from one of the lower limit trail length tn and the upper limit trail length tp to the other, the trail length changing actuator 15 may be operated with a constant driving force.

Supplementally, the target trail length t_cmd is set to the upper limit trail length tp, and the target trail length is not limited to the case where the detected value of the trail length t_act matches the upper limit trail length tp (= t_cmd). When t_cmd is set to the lower limit trail length tn and the detected value of the trail length t_act reaches a state corresponding to the lower limit trail length tn (= t_cmd), the lock mechanism 15a is operated in the ON state. At the same time, the trail length changing actuator 15 may be turned off (energization cutoff state).

Further, the control device 50 controls the operation of the steering actuator 8 according to the target front wheel steering angular acceleration δf_dot2_cmd, the target front wheel steering angular velocity δf_dot_cmd, and the target front wheel steering angle δf_cmd determined by the attitude control calculation unit 39.

For example, the control device 50 uses the following equation (11) from the detection values of δf_dot2_cmd, δf_dot_cmd and δf_cmd, the front wheel steering angle δf_act, and the detection value of the front wheel steering angular velocity δf_dot_act as the temporal change rate of the front wheel steering angle δf_act. Therefore, the current command value I_δf_cmd, which is the target value of the energizing current of the steering actuator 8, is determined. Here, the steering actuator 8 is an electric motor.

I_δf_cmd = Kδf_p * (δf_cmd−δf_act)
＋ Kδf_v * (δf_dot_cmd−δf_dot_act)
＋ Kδf_a ＊ δf_dot2_cmd …… (11)

Here, δf_act and δf_dot_act in the equation (11) are the detection values indicated by the outputs of the front wheel steering angle detector 52, respectively, and Kδf_p, Kδf_v, and Kδf_a are gains of predetermined values, respectively.

Then, the control device 50 controls the actual energizing current of the steering actuator 8 to a current that matches the current command value I_δf_cmd by a current control unit (not shown) composed of a motor driver or the like. As a result, the actual steering angle δf_act of the front wheels 3f is controlled so as to follow the target front wheel steering angle δf_cmd. The operation control method of the steering actuator 8 may be a method different from the above as long as the steering angle δf_act of the front wheel 3f can be controlled to the target steering angle δf_cmd.

In the present embodiment, when the mode for steering control of the front wheels 3f is selected, the control process of the control device 50 is executed as described above when the motorcycle 1A is stopped and running.

When the mode for steering control of the front wheels 3f is selected, the control device 50 operates in a state in which the steering clutch 8a is turned off (a state in which power transmission from the steering actuator 8 to the steering rotating portion 12 is cut off). At the same time, the steering actuator 8 is turned off (energization cutoff state). Further, the control device 50 locks the trail length t_act to the upper limit trail length tp (= standard trail length t_nml) by the lock mechanism 15a.

According to the embodiment described above, in the arithmetic processing (Equation (10)) for determining the target front wheel steering angular acceleration δf_dot2_cmd by the attitude control calculation unit 39, the component corresponding to the standard steering moment Mstr_nml (Mstr_nml is multiplied by the gain K5). Component) is added. Then, the steering actuator 8 is controlled according to the target front wheel steering angular acceleration δf_dot2_cmd, the target front wheel steering angular velocity δf_dot_cmd obtained by integrating the target front wheel steering angular acceleration δf_dot2_cmd, and the target front wheel steering angle δf_cmd.

Therefore, the steering actuator 8 operates so as to stabilize the posture of the vehicle body 2 in the roll direction, and applies a steering torque in the same direction as the standard steering moment Mstr_nml around the steering axis Csf with respect to the steering handle 7. It operates so as to be given regardless of the length t_act. Further, in this case, since the standard steering moment Mstr_nml is determined according to the detected value of the front wheel steering angle δf_act, the steering torque applied to the steering handle 7 also corresponds to the actual front wheel steering angle δf_act. Become.

Therefore, the driver of the motorcycle 1A has a trail with a positive trail length t_act even when the trail length t_act is a negative trail length (in the present embodiment, when the estimated vehicle speed Vox_act is the vehicle speed on the low speed side). The steering wheel 7 can be operated while receiving a reaction force in the same direction as the long state from the steering wheel 7.

Further, the target value of the gain K5 to be multiplied by the vehicle speed Vox on the low speed side in which the standard steering moment trail length t_act is set to the negative trail length in the arithmetic processing of the above equation (10) becomes smaller as the vehicle speed estimated value Vox_act increases. Therefore, in the vehicle speed Vox on the low speed side where the trail length t_act is set to the negative trail length, the target front wheel steering angular acceleration δf_dot2_cmd is included in the vehicle speed Vox on the high speed side where the trail length t_act is set to the positive trail length. The component (= K5 * Mstr_nml) corresponding to the standard steering moment Mstr_nml is increased. As a result, it is possible to suppress the torque applied to the steering handle 7 from fluctuating according to the trail length t_act.

In the embodiment described above, the trail length variable mechanism may have a structure different from that illustrated in FIGS. 5 and 6. The trail length variable mechanism for making the trail length of the front wheel 3f changeable may have any structure as long as it is a mechanism that can change the trail length of the front wheel 3f by an actuator.

For example, the trail length variable mechanism may be configured to move the front wheel 3f linearly with respect to the steering rotating portion 12 in the front-rear direction by using a ball screw mechanism or the like. Further, the trail length variable mechanism may have a structure proposed in, for example, Japanese Patent Application Laid-Open No. 2014-184934 or US Pat. No. 9,302,730.

Further, in the above-described embodiment, the motorcycle 1A is exemplified as the moving body of the present invention. However, if the moving body of the present invention has a structure capable of tilting the vehicle body in the roll direction according to the weight movement of the driver, for example, the front wheels or the rear wheels are composed of a plurality of wheels parallel to each other in the vehicle width direction. It may have been done. Further, the moving body of the present invention may have a structure capable of inclining the vehicle body and the front wheels in the roll direction with respect to the rear wheels, for example.

Further, in the above-described embodiment, the lateral movement amount Pb_diff_y and the lateral velocity Vby of the inverted pendulum mass point 123 are used as the state quantities indicating the inclined state of the vehicle body 2, and the roll of the vehicle body 2 is converged to the target value of the state quantities. The one that controls the attitude of the direction is shown. However, for example, it is also possible to control the attitude of the vehicle body 2 in the roll direction by using only the lateral movement amount Pb_diff_y of the inverted pendulum mass point 123 as the state quantity to be controlled. Alternatively, the tilt angle of the vehicle body 2 in the roll direction is used as the state quantity of the control target, or the tilt angle of the vehicle body 2 in the roll direction and the tilt angular velocity which is the temporal change rate thereof are used as the state quantity of the control target. Therefore, it is also possible to control the attitude of the vehicle body 2 in the roll direction.

Claims (5)

A vehicle body and front wheels and rear wheels arranged at intervals in the front-rear direction of the vehicle body are provided, and the front wheels are steering wheels that can be steered around the steering axis, so that the driver steers the front wheels. It is a moving body equipped with a steering operation unit of
A front wheel support mechanism having a trail length variable mechanism for changing the trail length of the front wheels and being configured to steerably support the front wheels around the steering axis.
A steering actuator that generates a driving force for steering the front wheels,
An actuator for changing the trail length that generates a driving force that changes the trail length of the front wheels,
It is equipped with a control device for controlling the steering actuator and the trail length changing actuator.
The control device is a moving body that is configured to control the steering actuator so as to apply steering torque in the same direction as the steering direction of the front wheels to the steering operation unit. In the moving body according to claim 1,
The trail length variable mechanism is configured so that the trail length of the front wheels can be varied between a positive upper limit trail length and a negative lower limit trail length.
The control device is configured to control the steering actuator so as to apply the steering torque to the steering operation unit at least in a state where the trail length of the front wheels is a negative trail length. A moving body characterized by. In the moving body according to claim 2,
The control device is configured to control the trail length changing actuator so as to change the trail length of the front wheels from a negative trail length to a positive trail length as the traveling speed of the moving body increases. At the same time, the moving body is configured to control the steering actuator so as to weaken the steering torque as the traveling speed increases. In the moving body according to claim 1,
The control device is a moving body characterized in that the steering torque is determined according to an observed value of a steering angle of the front wheels. In the moving body according to claim 4,
The control device stores and holds correlation data representing the relationship between the steering angle of the front wheels when the trail length of the front wheels is a positive predetermined value and the torque acting on the steering operation unit according to the steering angle. The moving body is characterized in that the steering torque is determined based on the correlation data from the observed values of the steering angles of the front wheels.