KR100226635B1 - Fuzzy adaptive control suspension system for a vehicle - Google Patents
Fuzzy adaptive control suspension system for a vehicle Download PDFInfo
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- KR100226635B1 KR100226635B1 KR1019960063367A KR19960063367A KR100226635B1 KR 100226635 B1 KR100226635 B1 KR 100226635B1 KR 1019960063367 A KR1019960063367 A KR 1019960063367A KR 19960063367 A KR19960063367 A KR 19960063367A KR 100226635 B1 KR100226635 B1 KR 100226635B1
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- 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
- B60G17/0152—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 action on a particular type of suspension unit
- B60G17/0157—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 action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- 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
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- 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
- B60G17/0164—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 accelerating or braking
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- 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
- B60G17/0165—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 to an external condition, e.g. rough road surface, side wind
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- 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
- B60G17/0182—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 involving parameter estimation, e.g. observer, Kalman filter
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- 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
- B60G17/0185—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 for failure detection
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- 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
- B60G17/019—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 type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
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- 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
- B60G2400/204—Vehicle speed
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- 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
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
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- 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
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- 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
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/187—Digital Controller Details and Signal Treatment
- B60G2600/1879—Fuzzy Logic Control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
본 발명은 차량 댐퍼의 변위를 검출하는 차고 센서를 추가 구성하여, 이 차고 센서의 신호와 조향각 센서, TPS, 차속 센서 및 종 가속도 센서의 검출신호에 따라 가변 댐퍼의 감쇠력을 조절하여 차량의 승차감 및 조향 안정성을 향상시킬 수 있도록 한 차량용 퍼지 적응 제어 현가 장치에 관한 것으로, 차량의 조향 각속도를 검출하는 조향각 센서와, 엔진의 트로틀 개도각을 검출하는 TPS와, 차속을 검출하는 차속 센서와, 차량의 제동을 검출하는 브레이크 스위치와, 차량의 상하 방향의 가속도를 검출하는 종 가속도 센서와, 댐퍼의 변위속도를 검출하는 차고 센서와, 상기 센서 및 스위치로부터 출력되는 검출신호 및 스위칭 신호를 입력하여 각 바퀴의 가변 댐퍼의 감쇠력을 적절하게 조정하기 위한 액츄에이터 구동신호를 출력하는 전자 제어기와, 이 전자 제어기로부터 출력되는 구동신호에 따라 구동되는 액츄에이터로 구성되어, 차고 센서를 추가 구성한 전자 제어기에서 조향각 센서, TPS, 차속 센서 및 종 가속도 센서 및 차고 센서의 검출신호에 따라 액츄에이터의 구동모드를 절환하고, 전륜 액츄에이터와 후륜 액츄에이터로 분리된 정상 동작 체크 기능에 따라 차량의 승차감 및 조향 안정성을 향상시킬 수 있는 효과가 있다.The present invention further comprises a height sensor for detecting displacement of the vehicle damper, and adjusts the damping force of the variable damper according to the signal of the height sensor and the detection signals of the steering angle sensor, the TPS, the vehicle speed sensor, and the longitudinal acceleration sensor, thereby providing a ride comfort and The present invention relates to a fuzzy adaptive control suspension device for a vehicle capable of improving steering stability, comprising: a steering angle sensor for detecting a steering angular velocity of a vehicle, a TPS for detecting an engine throttle opening angle, a vehicle speed sensor for detecting a vehicle speed, and a vehicle A brake switch for detecting braking, a longitudinal acceleration sensor for detecting acceleration in the up and down direction of the vehicle, a garage sensor for detecting the displacement speed of the damper, a detection signal and a switching signal output from the sensor and the switch, and each wheel An electronic controller for outputting an actuator drive signal for appropriately adjusting the damping force of the variable damper of It consists of an actuator driven according to the drive signal output from the controller, in the electronic controller additionally configured to the height sensor, switch the drive mode of the actuator according to the detection signals of the steering angle sensor, TPS, vehicle speed sensor and longitudinal acceleration sensor and the garage sensor, According to the normal operation check function divided into the front wheel actuator and the rear wheel actuator, there is an effect of improving the riding comfort and steering stability of the vehicle.
Description
본 발명은 차량 댐퍼의 변위를 검출하는 차고 센서를 추가 구성하여, 이 차고 센서의 신호와 조향각 센서, TPS, 차속 센서 및 종 가속도 센서의 검출신호에 따라 가변 댐퍼의 감쇠력을 조절하여 차량의 승차감 및 조향 안정성을 향상시킬 수 있도록 한 차량용 퍼지 적응 제어 현가 장치에 관한 것이다.The present invention further comprises a height sensor for detecting displacement of the vehicle damper, and adjusts the damping force of the variable damper according to the signal of the height sensor and the detection signals of the steering angle sensor, the TPS, the vehicle speed sensor, and the longitudinal acceleration sensor, thereby providing a ride comfort and A vehicle fuzzy adaptive control suspension device for improving steering stability.
일반적으로 차량은 차축과 차체를 연결하는 현가 장치를 구비하여 차량이 주행할 경우에 차축이 노면에서 받는 진동이나 충격이 차체에 직접 전달되지 않도록 함으로써 차체와 화물의 손상을 방지하고, 승차감 및 안정성을 향상시키고 있다.In general, the vehicle is provided with a suspension device that connects the axle and the body so that when the vehicle travels, the axle does not directly transmit vibrations or shocks received from the road surface, thereby preventing damage to the body and cargo, and improving ride comfort and stability. It is improving.
또한 현가 장치는 바퀴에서 발생되는 구동력이나, 제동할 경우에 각각의 구동 바퀴의 제동력을 차체에 전달함과 동시에 선회할 경우에 원심력에 견디고, 구동바퀴를 차체에 대하여 올바른 위치에 유지시키는 것으로서 노면에서 받는 충격을 완화시키기 위하여 상하 방향으로 유연한 결합을 필요로 함은 물론 구동 바퀴가 발생하는 구동력, 제동력 및 선회시의 원심력 등에 견딜 수 있도록 수평 방향으로 강한 결합을 필요로 한다.In addition, the suspension system transmits the driving force generated from the wheels or the braking force of each driving wheel to the vehicle body when braking, and at the same time, it withstands centrifugal force when turning and maintains the driving wheel in the correct position with respect to the vehicle body. In order to alleviate the impact received, flexible coupling is required in the vertical direction, as well as strong coupling in the horizontal direction to withstand the driving force generated by the driving wheel, braking force and centrifugal force during turning.
이러한 현가 장치는 차량의 주행 속도, 제동 및 가속에 따라 가변식 댐퍼의 감쇠력을 가변시킴은 물론 일정한 주행 속도에서도 노면에 따라 가변식 댐퍼의 감쇠력을 조절하고 있으며, 가변식 댐퍼의 감쇠력은 액츄에이터인 스테핑 모터를 구동시켜 조절하고 있다.The suspension system not only modulates the damping force of the variable damper according to the running speed, braking and acceleration of the vehicle, but also adjusts the damping force of the variable damper according to the road even at a constant driving speed, and the damping force of the variable damper is an actuator stepping. It is controlled by driving the motor.
즉, 가변식 댐퍼는 제어 로드를 구비하고 있고 액츄에이터를 구동시켜 제어로드를 회전시킴에 따라 유로가 변환되어 감쇠력이 가변되게 되어 있다That is, the variable damper has a control rod, and the damping force is variable as the flow path is changed as the actuator is rotated by driving the actuator.
종래 차량의 전자 제어 현가 장치(Electronic Control Suspension System)는 도 1 에 도시된 바와 같이 구성되며, 전자 제어기(7)는 차량의 조향 각속도를 검출하는 조향각 센서(1), 엔진의 트로틀 개도각 검출하는 TPS(Throttle Position Sensor)(2), 차속을 검출하는 차속 센서(3), 차량의 제동을 검출하는 브레이트 스위치(4) 및 차량의 상하 방향의 가속도를 검출하는 종 가속도 센서(5)등, 상기 센서 및 스위치(1~5)의 검출신호를 입력하여 차량의 주행 상태를 판단하고, 이 판단 결과에 따라 댐퍼 상단에 위치한 각각의 전륜 액츄에이터(7)와 후륜 액츄에이터(8)을 구동시켜 제어 로드의 회전으로 유로의 크기를 변화시킴으로써 네 개의 바퀴 댐퍼의 감쇠력을 하드 모드(Hard Mode), 미디움 모드(Medium Mode), 소프트 모드(Soft Mode)로 적절하게 조정한다.The conventional electronic control suspension system of the vehicle (Electronic Control Suspension System) is configured as shown in Figure 1, the electronic controller 7 is a steering angle sensor (1) for detecting the steering angular velocity of the vehicle, detecting the throttle opening angle of the engine Throttle Position Sensor (TPS) 2, vehicle speed sensor 3 for detecting vehicle speed, brate switch 4 for detecting braking of the vehicle, and longitudinal acceleration sensor 5 for detecting acceleration in the vertical direction of the vehicle, and the like. The driving state of the vehicle is determined by inputting the detection signals of the sensors and the switches 1 to 5, and the front wheel actuator 7 and the rear wheel actuator 8 located at the top of the damper are driven according to the determination result to control the control rod. By varying the size of the flow path by rotation, the damping force of the four wheel dampers is properly adjusted to hard mode, medium mode, and soft mode.
이러한 종래 전자 제어 현가 장치는 차량의 급 조향시 조향각 센서(1)에 의해 검출되는 조향 각속도가 설정된 각속도(80deg/sec) 이상인 경우 액츄에이터(7,8)를 하드 모드로 절환하고, 급 가속시 차속 센서(3)에 검출된 차속이 설정속도(30km/h) 이상으로 TPS(2)의 개도각이 설정치(60%) 이상인 경우 액츄에이터(7,8)를 미디움 모드로 절환하며, 종 가속도 센서(5)에서 검출된 종 가속도가 설정각도(0.32g) 이상이면 액츄에이터(7, 8)를 미디움 모드로 각각 절환한다.The conventional electronically controlled suspension device switches the actuators 7 and 8 to the hard mode when the steering angular velocity detected by the steering angle sensor 1 during the steer steering of the vehicle is equal to or higher than the set angular velocity (80 deg / sec), and the vehicle speed during rapid acceleration. If the vehicle speed detected by the sensor 3 is greater than or equal to the set speed (30 km / h) and the opening angle of the TPS 2 is greater than or equal to the set value (60%), the actuators 7 and 8 are switched to medium mode, and the longitudinal acceleration sensor ( If the longitudinal acceleration detected in 5) is greater than or equal to the set angle (0.32 g), the actuators 7 and 8 are respectively switched to medium mode.
그리고, 차속이 일정 속도(40km/h) 이상인 경우 브레이크 스위치(4)의 온으로 급 제동이 걸리면, 액츄에이터(7,8)를 하드 모드로 절환하고, 차속신호에 따라 저속시와 고속시를 구분하여 차량 주행의 안정성을 유지시키도록 한다.Then, when the vehicle speed is higher than a certain speed (40 km / h), if a sudden braking is applied when the brake switch 4 is turned on, the actuators 7 and 8 are switched to the hard mode, and the low speed and the high speed are distinguished according to the vehicle speed signal. To maintain vehicle stability.
즉, 차속이 설정된 저속(10km/h) 이하인 경우에는 액츄에이터(7,8)를 하드 모드로, 차속이 상기 저속(10km/h) 이상으로 설정된 고속(120km/h) 이하인 경우 액츄에이터(7,8)를 미디움 모드로 절환한다.That is, the actuators 7 and 8 are in hard mode when the vehicle speed is lower than the set low speed (10 km / h), and the actuators 7 and 8 when the vehicle speed is lower than or equal to the high speed (120 km / h) set to the low speed (10 km / h) or more. ) To medium mode.
또한, 전자 제어기(7)는 상기와 같은 제어에 따른 액츄에이터(7,8)의 정상동작 유무를 체크하기 위한 점검기능을 구비하고, 이러한 기능들이 정상적으로 동작하는지를 모니터링하여 고장 진단을 할 수 있는 다이고우니시스(Diagnosis)기능도 구비한다.In addition, the electronic controller 7 has a check function for checking the normal operation of the actuators 7 and 8 according to the above control, and the Daigo can monitor the operation of these functions to diagnose the failure and diagnose the failure. It also has a diagnosis function.
그러나, 상기 종래의 전자 제어 현가 장치는 급 조향시 제어에 있어서 차속의 구분없이 동일한 값으로 제어함에 따라 챠량 안정성 확보가 미비하고, 급 가속시 제어에 있어서도 차속의 부분없이 TPS의 변화량으로만 제어함에 따라 안락성 유지가 미비하게 되며, 종 가속도 센서로부터의 안락성 유지에 있어서도 차속의 고려가 없고 급제동시의 제어에 있어서도 차속 변화의 고려가 없음에 따라 안락성 및 안정성이 부족한 문제점이 있었다.However, the conventional electronically controlled suspension device is inadequate in securing vehicle stability by controlling to the same value without discriminating the vehicle speed in the steer control, and controlling only by the change amount of the TPS without a part of the vehicle speed even in the case of rapid acceleration control. Accordingly, there is a lack of comfort, and there is a problem that lack of comfort and stability as there is no consideration of the vehicle speed in maintaining the comfort from the longitudinal acceleration sensor and there is no consideration of the change in the vehicle speed in the control at the time of braking.
또한, 액츄에이터의 정상 동작 유무를 체크하는 점검기능은 전륜 액츄에이터와 후륜 액츄에이터를 동시에 수행함으로써 고장 상황을 제대로 확인할 수 없게 되는 문제점이 있었다.In addition, the check function for checking the normal operation of the actuator has a problem that it is impossible to properly check the failure situation by simultaneously performing the front wheel actuator and the rear wheel actuator.
본 발명은 상기와 같은 문제점을 해결하기 위해 창안한 것으로서, 그 목적은 차량 댐퍼의 변위를 검출하는 차고 센서를 추가 구성하여, 이 차고 센서의 신호와 조향각 센서, TPS, 차속 센서 및 종 가속도 센서의 검출신호에 따라 액츄에이터의 구동을 제어하고, 액츄에이터의 정상 동작 체크 기능을 전륜 액츄에이터와 후륜 액츄에이터로 분리하여 각각 수행하도록 함으로써 차량의 승차감 및 조향 안정성을 향상시킬 수 있도록 한 차량용 퍼지 적응 제어 현가 장치를 제공하는 데에 있다.The present invention has been made to solve the above problems, the object of which is to further configure the height sensor for detecting the displacement of the vehicle damper, the signal of the height sensor, steering angle sensor, TPS, vehicle speed sensor and longitudinal acceleration sensor Provides a vehicle fuzzy adaptive control suspension device to improve the ride comfort and steering stability of the vehicle by controlling the driving of the actuator according to the detection signal, and separating the actuator from the front wheel actuator and the rear wheel actuator separately to perform the normal operation check function of the actuator. It's there.
상기와 같은 목적을 달성하기 위한 본 발명의 차량용 퍼지 적응 제어 현가 장치는, 챠량 댐퍼의 변위를 검출하는 차고 센서를 추가 구성하여, 차량의 급 조향시 차속 센서와 조향각 센서의 신호로 액츄에이터를 제어하고, 차량의 급 가속시 차속 센서와 TPS의 신호로 액츄에이터를 제어하며, 승차감 향상시 차속 센서와 종 가속도 센서의 신호로 제어하도록 한다.Fuzzy adaptive control suspension device for a vehicle of the present invention for achieving the above object, further comprises a garage sensor for detecting the displacement of the vehicle damper, to control the actuator by the signal of the vehicle speed sensor and the steering angle sensor during steer steering of the vehicle In the case of rapid acceleration of the vehicle, the actuator is controlled by the signals of the vehicle speed sensor and the TPS, and by the signals of the vehicle speed sensor and the longitudinal acceleration sensor when the ride comfort is improved.
또한, 차량의 급 제동시 차속 센서와 브레이크 스위치의 신호로 액츄에이터를 제어하고, 주행 안정성 향상시 차속 센서의 차속에 따라 액츄에이터를 제어하며, 퍼지 이론에 의한 제어시 종 가속도 센서와 차고 센서의 신호로 액츄에이터를 제어하며, 액츄에이터의 정상 동작 유무 체크는 전류 액츄에이터와 후륜 액츄에이터를 분리하여 수행하도록 한다.In addition, the actuator is controlled by signals of the vehicle speed sensor and the brake switch during braking of the vehicle, and the actuator is controlled according to the vehicle speed of the vehicle speed sensor when the driving stability is improved, and the signals of the longitudinal acceleration sensor and the garage sensor are controlled by the fuzzy theory. It controls the actuator, and checks whether the actuator is normally operated by separating the current actuator from the rear wheel actuator.
제1도는 종래 전자 제어 현가 장치의 블록 구성도.1 is a block diagram of a conventional electronic control suspension.
제2도는 본 발명에 의한 차량용 퍼지 적응 제어 현가 장치의 블록 구성도.2 is a block diagram of a vehicle fuzzy adaptive control suspension apparatus according to the present invention.
제3도는 본 발명에 의한 급 조향시 제어 흐름도.3 is a flow chart of a rapid steering according to the present invention.
제4도는 본 발명에 의한 급 가속시 제어 흐름도.4 is a rapid acceleration control flowchart according to the present invention.
제5도는 본 발명에 의한 종 가속도에 따른 제어 흐름도.5 is a control flowchart according to the longitudinal acceleration according to the present invention.
제6도는 본 발명에 의한 급 제동시 제어 흐름도.6 is a flowchart illustrating a rapid braking control according to the present invention.
제7도는 본 발명에 의한 차속에 따른 제어 흐름도.7 is a control flowchart according to the vehicle speed according to the present invention.
제8도는 본 발명에 의한 퍼지 이론에 따른 제어 흐름도.8 is a control flowchart according to the fuzzy theory according to the present invention.
제9도는 본 발명에 의한 액츄에이터 상태에 따른 제어 흐름도.9 is a control flowchart according to the actuator state according to the present invention.
도면의 주요부분에 대한 부호의 설명Explanation of symbols for main parts of the drawings
10 : 조향각 센서 20 : TPS10: steering angle sensor 20: TPS
30 : 차속센서 40 : 브레이크 스위치30: vehicle speed sensor 40: brake switch
50 : 종 가속도 센서 60 : 차고 센서50: longitudinal acceleration sensor 60: garage sensor
70 : 전자 제어기 80 : 전륜 액츄에이터70 electronic controller 80 front wheel actuator
90 : 후륜 액츄에이터90: rear wheel actuator
도 2 는 본 발명에 의한 차량용 퍼지 적응 제어 현가 장치의 블록 구성도로서 차량의 조향 각속도를 검출하는 조향각 센서(10)와, 엔진의 트로틀 개도각을 검출하는 TPS(2)와, 차속을 검출하는 차속 센서(30)와, 차량의 제동을 검출하는 브레이크 스위치(40)와, 차량의 상하 방향의 가속도를 검출하는 종 가속도 센서(50)와, 댐퍼의 변위속도를 검출하는 차고 센서(60)와, 상기 센서 및 스위치(10~60)로부터 출력되는 검출신호 및 스위칭 신호를 입력하여 각 바퀴의 가변 댐퍼의 감쇠력을 적절하게 조정하기 위한 액츄에이터 구동신호를 출력하는 전자 제어기(70)와, 이 전자 제어기(70)로부터 출력되는 구동신호에 따라 구동되는 전륜 액츄에이터(80) 및 후륜 액츄에이터(90)로 구성된다.2 is a block diagram of a vehicle fuzzy adaptive control suspension device according to the present invention, a steering angle sensor 10 for detecting a steering angular velocity of a vehicle, a TPS 2 for detecting a throttle opening angle of an engine, and a vehicle speed for detecting a vehicle speed The vehicle speed sensor 30, the brake switch 40 for detecting the braking of the vehicle, the longitudinal acceleration sensor 50 for detecting the acceleration in the vertical direction of the vehicle, the garage sensor 60 for detecting the displacement speed of the damper, And an electronic controller 70 for inputting a detection signal and a switching signal output from the sensors and switches 10 to 60 to output an actuator driving signal for appropriately adjusting the damping force of the variable damper of each wheel, and the electronic controller 70. A front wheel actuator 80 and a rear wheel actuator 90 which are driven in accordance with a drive signal output from 70 are configured.
상기 전자 제어기 (70)는 상기 전륜 액츄에이터(80)와 후륜 액츄에이터(90)의 정상 동작 유무를 분리하여 체크하고, 상기와 같은 제어 기능이 정상으로 동작하는지를 모니터링하여 고장 진단을 수행한다.The electronic controller 70 separates and checks whether the front wheel actuator 80 and the rear wheel actuator 90 operate normally, and monitors whether the control function operates normally to perform a diagnosis of failure.
상기와 같이 구성된 본 발명의 퍼지 적응 제어 현가 장치의 동작을 도 3 내지 도 9 를 참조하여 설명하면 다음과 같다.The operation of the fuzzy adaptive control suspension device of the present invention configured as described above will be described with reference to FIGS. 3 to 9.
도 3 은 본 발명에 의한 급 조향시 제어 흐름도로서, 차량의 급 조향시 차량의 안정성을 유지하기 위해 전자 제어기(70)는 차속센서(30)에서 검출된 차속이 설정 속도(30km/h) 이하이거나, 설정 속도 이상으로 조향각 센서(10)에서 검출된 조향각과 차속에 의한 각속도가 일정 각속도(4950) 이상이면 각각 액츄에이터(80, 90)를 하드 모드로 절환하도록 한다.3 is a flow chart of a rapid steering according to the present invention, in order to maintain the stability of the vehicle during rapid steering of the vehicle, the electronic controller 70 detects that the vehicle speed detected by the vehicle speed sensor 30 is less than or equal to a set speed (30 km / h). Alternatively, when the steering angle detected by the steering angle sensor 10 and the vehicle speed by the vehicle speed are equal to or greater than a predetermined speed, the actuators 80 and 90 are switched to the hard mode, respectively.
즉, 차속과 조향 각속도를 서로 유기시킴으로써 차량의 안정성을 확보하도록 한다.That is, by inducing the vehicle speed and the steering angular velocity to each other to ensure the stability of the vehicle.
그리고, 도 4는 본 발명에 의한 급 가속시 제어 흐름도로서, 차량의 급 가속기 승차 안락성을 유지하기 위해 전자 제어기(70)는 차속 센서(30)에서 검출된 차속이 설정 속도(80km/h) 이하인 경우 TPS(20)에서 검출된 트로틀 개도각을 미분한 다음, 이 미분값이 설정 값 이상인 경우에 각각 액츄에이터(80, 90)를 소프트나 하드 또는 미디움 모드로 절환하도록 한다.And, Figure 4 is a rapid acceleration control flow chart according to the present invention, in order to maintain the rapid accelerator riding comfort of the vehicle, the electronic controller 70 is the vehicle speed detected by the vehicle speed sensor 30 is less than the set speed (80km / h) In this case, after the derivative of the throttle opening angle detected by the TPS 20, the actuators 80 and 90 are switched to the soft, hard or medium mode, respectively, when the derivative value is greater than or equal to the set value.
즉, 차속에 따른 TPS의 미분값 적용을 가변시켜 최적의 상태로 제어하도록 한다.That is, the differential value of the TPS according to the vehicle speed is varied to control the optimum state.
도 5는 본 발명에 의한 종 가속도에 따른 제어 흐름도로서, 승차 안락성 유지를 위해 전자 제어기(70)는 차속 센서(30)에서 검출된 차속이 설정된 저속(20km/h) 이하인 경우 종 가속도 센서(50)에서 검출된 종 가속도가 설정값(0.6g)이상이거나, 차속이 저속(20km/h) 이상이면서 고속(100km/h) 이하인 경우 종 가속도가 설정값((차속/80)+0.5g) 이상 또는 상기 차속이 고속(100km/h) 이상으로 종 가속도가 설정값(1g) 이상인 경우에 액츄에이터의 동작시간 지연을 설정한 후, 각각의 액츄에이터(80, 90)를 하드 모드로 절환하도록 한다.5 is a control flowchart according to the longitudinal acceleration according to the present invention. In order to maintain the riding comfort, the electronic controller 70 uses the longitudinal acceleration sensor 50 when the vehicle speed detected by the vehicle speed sensor 30 is lower than the set low speed (20 km / h). ) If the longitudinal acceleration detected in the) is higher than the set value (0.6g) or if the vehicle speed is lower than the low speed (20km / h) and below the high speed (100km / h), the longitudinal acceleration is higher than the set value ((vehicle speed / 80) + 0.5g) Alternatively, when the vehicle speed is high speed (100 km / h) or more and the longitudinal acceleration is equal to or greater than the set value (1 g), after setting the operating time delay of the actuator, the respective actuators 80 and 90 are switched to the hard mode.
도 6은 본 발명에 의한 급 제동시 제어 흐름도로서, 차량의 급 제동시 승차 안락성 유지를 위해 전자 제어기(70)는 차속이 일정 속도(45km/h) 이상인 경우 브레이크 스위치(40)의 온 신호가 일정 시간(200msec) 유지되면서 설정치(0.2g) 이상의 감속이 발생하면 각각의 액츄에이터(80, 90)를 하드 모드로 절환하도록 한다.FIG. 6 is a flowchart illustrating a sudden braking control according to an exemplary embodiment of the present invention. In order to maintain riding comfort during sudden braking of a vehicle, the electronic controller 70 may turn on the brake signal 40 when the vehicle speed exceeds a predetermined speed (45 km / h). If a deceleration occurs over a set value (0.2 g) while maintaining a predetermined time (200 msec), the respective actuators 80 and 90 are switched to the hard mode.
즉, 제동 상태와 그에 따른 감속비에 비례하여 액츄에이터의 절환을 제어하도록 한다.That is, the switching of the actuator is controlled in proportion to the braking state and the reduction ratio.
도 7은 본 발명에 의한 차속에 따른 제어 흐름도로서, 전자 제어기(70)는 차속 센서(30)에서 검출된 차속이 설정된 저속(10km/h)이하인 경우 각각의 액츄에이터(80, 90)를 하드 모드로 절환하고, 상기 감출된 차속이 저속(10km/h) 이상이면서 설정된 고속(150km/h) 이하인 경우에는 각각의 액츄에이터(80, 90)를 미디움 모드로 절환하도록 한다.7 is a control flowchart according to the vehicle speed according to the present invention, the electronic controller 70 is a hard mode for each actuator (80, 90) when the vehicle speed detected by the vehicle speed sensor 30 is less than the set low speed (10km / h) When the detected vehicle speed is lower than the low speed (10 km / h) and lower than the set high speed (150 km / h), the respective actuators 80 and 90 are switched to the medium mode.
도 8은 본 발명에 의한 퍼지 이론에 따른 제어 흐름도로서, 전자 제어기(70)는 종 가속도 센서(50)에서 검출된 종 가속도 값을 필터링하여 노면의 주파수 성분(Waviness)을 계산하고, 차고 센서(60)에서 검출된 댐퍼의 변위속도 값을 필터링하여 노면의 변위값을 퍼지(Fuzzy) 이론을 적용한 추정값으로 변환하여 이 변환된 추정값에 따라 각각의 액츄에이터(80,90)를 소프트나 하드 또는 미디움 모드로 절환하도록 한다.8 is a control flowchart according to the fuzzy theory according to the present invention, the electronic controller 70 filters the longitudinal acceleration value detected by the longitudinal acceleration sensor 50 to calculate the frequency component (Waviness) of the road surface, and the height sensor ( 60) filter the displacement velocity value of the damper detected in the damper, and convert the displacement value of the road surface into an estimate using the fuzzy theory. Then, the actuators 80 and 90 are in soft, hard or medium mode according to the converted estimate. Switch to.
마지막으로 도 9는 본 발명에 의한 액츄에이터 상태에 따른 제어 흐름도로서, 전자 제어기(70)는 전륜 액츄에이터(80)나 후륜 액츄에이터(90)로부터 단선 또는 단락 등으로 비정상 동작신호가 검출되는지를 체크하여 비정상 동작신호가 검출되면 전자 제어기의 동작을 정지시키도록 한다.9 is a control flowchart according to an actuator state according to the present invention, wherein the electronic controller 70 checks whether an abnormal operation signal is detected from the front wheel actuator 80 or the rear wheel actuator 90 due to disconnection or short circuit or the like. When the operation signal is detected, the operation of the electronic controller is stopped.
이상, 상기에서 설명한 바와 같아 본 발명은 차고 센서를 추가 구성한 전자 제어기에서 조향각 센서, TPS, 차속 센서 및 종 가속도 센서 및 차고 센서의 검출신호에 따라 액츄에이터의 구동모드를 절환하고, 전륜 액츄에이터와 후륜 액츄에이터로 분리된 정상 동작 체크 기능에 따라 차량의 승차감 및 조향 안정성을 향상시킬 수 있는 효과가 있다.As described above, the present invention is to change the drive mode of the actuator in accordance with the detection signal of the steering angle sensor, TPS, vehicle speed sensor and longitudinal acceleration sensor and the garage sensor in the electronic controller additionally configured with the garage sensor, the front wheel actuator and the rear wheel actuator According to the normal operation check function separated by the has the effect of improving the riding comfort and steering stability of the vehicle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960063367A KR100226635B1 (en) | 1996-12-10 | 1996-12-10 | Fuzzy adaptive control suspension system for a vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960063367A KR100226635B1 (en) | 1996-12-10 | 1996-12-10 | Fuzzy adaptive control suspension system for a vehicle |
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| KR19980045202A KR19980045202A (en) | 1998-09-15 |
| KR100226635B1 true KR100226635B1 (en) | 1999-10-15 |
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| JP4493066B2 (en) * | 2001-04-06 | 2010-06-30 | 本田技研工業株式会社 | Steering damper device for motorcycles |
| KR100709011B1 (en) * | 2001-09-12 | 2007-04-18 | 주식회사 만도 | Method for controlling damper of cars |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0752627A (en) * | 1994-07-11 | 1995-02-28 | Kayaba Ind Co Ltd | Damping force adjusting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0752627A (en) * | 1994-07-11 | 1995-02-28 | Kayaba Ind Co Ltd | Damping force adjusting method |
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