KR100721672B1 - Apparatus for controlling damper of cars - Google Patents

Apparatus for controlling damper of cars Download PDF

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Publication number
KR100721672B1
KR100721672B1 KR1020010073916A KR20010073916A KR100721672B1 KR 100721672 B1 KR100721672 B1 KR 100721672B1 KR 1020010073916 A KR1020010073916 A KR 1020010073916A KR 20010073916 A KR20010073916 A KR 20010073916A KR 100721672 B1 KR100721672 B1 KR 100721672B1
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South Korea
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vehicle
damper
damping force
sensor
wheel
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KR1020010073916A
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Korean (ko)
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KR20030042978A (en
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고유석
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주식회사 만도
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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • 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
    • 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
    • B60G2600/60—Signal noise suppression; Electronic filtering means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/92—ABS - Brake Control

Abstract

본 발명은 차량에 이미 설치된 각 센서(sensor)로부터 제공되는 정보에 대응하여 댐퍼의 감쇠력(damping force)을 제어하는 장치에 관한 것이다. 본 발명은, 차량에 이미 설치된 ABS용 각 센서로부터 CAN 통신을 통해 제공되는 정보에 대응하여 댐퍼의 감쇠력을 제어한다. 따라서, ABS용 센서 외에 기타 장비는 필요하지 않기 때문에, 생산 단가가 절감되고 시스템이 하드웨어(hardware)적으로 간단해 진다.The present invention relates to an apparatus for controlling the damping force of a damper in response to information provided from each sensor already installed in a vehicle. The present invention controls the damping force of the damper in response to information provided through CAN communication from each sensor for ABS already installed in the vehicle. Therefore, since no equipment other than the ABS sensor is required, the production cost is reduced and the system is simplified in hardware.

Description

차량의 댐퍼 제어 장치{APPARATUS FOR CONTROLLING DAMPER OF CARS}Damper control device of vehicle {APPARATUS FOR CONTROLLING DAMPER OF CARS}

도 1은 본 발명에 따른 차량의 댐퍼 제어 장치의 일 실시예를 나타낸 블록도,1 is a block diagram showing an embodiment of a damper control apparatus for a vehicle according to the present invention;

도 2는 도 1에 도시된 차량의 댐퍼 제어 장치에서 실시되는 댐퍼 제어의 일 실시예를 단계별로 나타낸 순서도.FIG. 2 is a flow chart showing step by step an embodiment of damper control implemented in the damper control apparatus of the vehicle shown in FIG. 1. FIG.

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

10 : 제어부 12 : 전륜 댐퍼10 control unit 12 front wheel damper

14 : 후륜 댐퍼14: rear wheel damper

본 발명은 차량의 댐퍼(damper) 제어 장치에 관한 것으로서, 특히, 차량에 이미 설치된 각 센서(sensor)로부터 제공되는 정보에 대응하여 댐퍼의 감쇠력(damping force)을 제어하는 장치에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a damper control apparatus for a vehicle, and more particularly, to an apparatus for controlling a damping force of a damper in response to information provided from each sensor already installed in a vehicle.

종래에는 댐퍼의 감쇠력을 제어하기 위한 정보를 감지하는 센서를 별도로 설치하지 않고 ABS(Anti-Lock Brake System, 전자 제어 브레이크 시스템)에서 사용되는 휠(wheel) 정보를 이용하여 댐퍼의 감쇠력을 제어했다. Conventionally, the damping force of the damper is controlled by using wheel information used in an anti-lock brake system (ABS) without separately installing a sensor for sensing information for controlling the damping force of the damper.                         

그러나, ECS에 기본적으로 적용되는 가속도 센서 대신 휠 정보를 이용하여 주파수 특성을 분석해서 대체하는 경우 실제 ABS에서 사용되는 휠 정보를 다루는 로직(logic)에 대한 배경이 실용적이고 현실성 있게 반영되지 않는다. 또한, ECS에 적용될 경우 가속도 감지 정보가 없는 ECS 구현의 한계성이 반영되지 않아 실제로 적용하는데 어려움을 갖는다. 상기 ECS 구현의 한계성에 대해 보면, 무단 가변 댐퍼 및 단수가 10 단 이상인 고단형 가변 댐퍼는 차량의 수직 거동에 선형성을 반영하도록 설계되었기 때문에, 차량의 수직선형 움직임을 감지하는 가속도 센서나 차고 센서가 필요하다.However, when analyzing and replacing frequency characteristics using wheel information instead of the acceleration sensor that is basically applied to ECS, the background of logic for handling wheel information used in actual ABS is not practically and realistically reflected. In addition, when applied to the ECS does not reflect the limitation of the implementation of the ECS without the acceleration detection information has a difficult to apply in practice. As for the limitation of the ECS implementation, since the stepless variable damper and the stepless variable damper having a stage number of 10 or more stages are designed to reflect linearity in the vertical behavior of the vehicle, an acceleration sensor or a garage sensor that detects the linear linear movement of the vehicle is provided. need.

본 발명은 상기 결점을 개선하기 위하여 안출한 것으로서, 차량에 이미 설치된 각 센서로부터 CAN 통신을 통해 제공되는 정보에 대응하여 댐퍼의 감쇠력을 제어하는 차량의 댐퍼 제어 장치를 제공하는 데 그 목적이 있다.An object of the present invention is to provide a damper control apparatus for a vehicle that controls damping force of a damper in response to information provided through CAN communication from each sensor already installed in the vehicle.

이와 같은 목적을 달성하기 위한 본 발명의 실시예에 따른 차량의 댐퍼 제어 장치는 ABS용 각 센서로부터 제공된 휠 스피드 신호를 밴드-패스 필터 및 로우-패스 필터를 통해 여과시켜 차체 전후 노면의 웨이브 발생 시간차와 이 웨이브 크기를 이용해서 범프 여부를 판단하거나, 브레이크 신호의 유지시간과 차속의 감속도를 이용하여 급제동 여부를 판단하거나, 트로틀 포지션 신호 또는 차속의 가속 정도를 판단하여 급발진 여부를 판단하거나, 또는 상기 휠 스피드 신호를 이용하여 횡 가속도 값을 추정해서 롤 모션(roll motion)을 기초로 급조향 여부를 판단하여 댐퍼의 감소력을 하드 감쇠력으로 결정하는 제어부; 상기 제어부의 결정에 따라 차량의 전륜 감쇠력을 조절하는 전륜 댐퍼; 및 상기 제어부의 결정에 따라 차량의 후륜 감쇠력을 조절하는 후륜 댐퍼를 포함하는 것을 특징으로 한다.In order to achieve the above object, a damper control apparatus for a vehicle according to an exemplary embodiment of the present invention filters a wheel speed signal provided from each sensor for ABS through a band-pass filter and a low-pass filter, thereby generating wave time difference between front and rear of the vehicle body. And determining whether the vehicle is bumped by using the wave size, whether to brake suddenly by using the brake signal holding time and the deceleration of the vehicle speed, or to determine whether the vehicle is suddenly started by determining the throttle position signal or the acceleration of the vehicle speed. A controller for estimating a lateral acceleration value using the wheel speed signal to determine whether to steer the steering wheel based on roll motion and to determine the damping force of the damper as a hard damping force; A front wheel damper for adjusting the front wheel damping force of the vehicle according to the determination of the controller; And a rear wheel damper for adjusting the rear wheel damping force of the vehicle according to the determination of the controller.

이하, 이와 같은 본 발명의 실시 예를 다음과 같은 도면에 의하여 상세히 설명하면 다음과 같다. Hereinafter, the embodiment of the present invention will be described in detail with reference to the following drawings.                     

도 1은 본 발명에 따른 차량의 댐퍼 제어 장치의 일 실시예를 나타낸 블록도로, 제어부(10)가 각 감지 신호에 따라 전륜 댐퍼(12)의 감쇠력 및 후륜 댐퍼(14)의 감쇠력을 각각 제어하도록 구성된다.1 is a block diagram showing an embodiment of a vehicle damper control apparatus according to the present invention, wherein the control unit 10 controls the damping force of the front wheel damper 12 and the damping force of the rear wheel damper 14 in accordance with each detection signal, respectively. It is composed.

동 도면에 있어서, ECU(Electronic Control Unit, 전자 제어 장치)로 구성되는 제어부(10)는 제공되는 가속도 신호, 조향각 속도 신호, 브레이크(brake) 신호, 트로틀 포지션(throttle position) 신호 및 차체 속도 신호에 따라 전륜 댐퍼(12)의 감쇠력 및 후륜 댐퍼(14)의 감쇠력을 각각 제어한다.In the figure, the control unit 10 composed of an ECU (Electronic Control Unit) is provided with an acceleration signal, a steering angle speed signal, a brake signal, a throttle position signal, and a vehicle speed signal. Accordingly, the damping force of the front wheel damper 12 and the damping force of the rear wheel damper 14 are respectively controlled.

상기 가속도 신호, 조향각 속도 신호, 브레이크 신호, 트로틀 포지션 신호 및 차체 속도 신호는 차량에 이미 설치된 각 센서로부터 각각의 ECU의 정보를 공유시키는 CAN을 통해 제공된다.The acceleration signal, steering angle speed signal, brake signal, throttle position signal and body speed signal are provided via a CAN which shares information of each ECU from each sensor already installed in the vehicle.

현재 양상되어 적용되고 있는 ABS 및 TCS(Tracking Control System)에서 사용하는 신호로는 4륜의 휠 속도 신호, 4륜의 휠 가속도 신호, 브레이크 신호, 좌우의 휠 속도 차에 의한 횡 가속도 신호 및 트로틀 포지션 신호가 있는데, 이는 각 소정의 센서로부터 추출된다.The signals used in ABS and TCS (Tracking Control System), which are currently applied and applied, are four wheel speed signals, four wheel acceleration signals, brake signals, lateral acceleration signals due to left and right wheel speed differences, and throttle position. There is a signal, which is extracted from each given sensor.

도 2는 도 1에 도시된 차량의 댐퍼 제어 장치에서 실시되는 댐퍼 제어의 일 실시예를 단계별로 나타낸 순서도이다.FIG. 2 is a flowchart illustrating an exemplary embodiment of damper control performed in the damper control apparatus of the vehicle illustrated in FIG. 1.

먼저, 제어부(10)는 가속도 신호, 조향각 속도 신호, 브레이크 신호, 트로틀 포지션 신호 및 차체 속도 신호를 CAN을 통해 제공받는다(단계 20).First, the controller 10 receives an acceleration signal, a steering angle speed signal, a brake signal, a throttle position signal, and a vehicle body speed signal through CAN (step 20).

제어부(10)는 제공받은 각 신호를 선택적으로 사용하여 각 상태를 판단해서 이에 대응하여 감쇠력을 결정한다(단계 22). 예로, 전후륜의 휠 스피드 센서(wheel speed sensor)로부터 제공되는 휠 스피드 정보를 밴드-패스 필터(band-pass filter) 및 로우-패스 필터(low-pass filter)를 차례로 통해 여과시켜 차체 전후 노면의 웨이브(wave) 발생 시간차와 이 웨이브 크기를 이용해서 범프(bump) 여부를 실시간(real time)으로 판단한다. 브레이크 신호의 유지 시간과 차속의 감속도를 이용하여 급제동 여부를 판단한다. TPS(Throttle Position Sensor, 트로틀 포지션 센서)를 사용하는 TCS 경우 TPS 신호와 차속을 사용하여 급발진 여부를 판단하고, TCS 신호를 사용하지 않는 ABS인 경우 차속의 가속 정도를 판단하여 급발진 여부를 판단한다. 좌우를 휠 스피드 센서 값을 이용하여 횡 가속도 값을 추정해서 롤 모션(roll motion)을 판단하여 급조향 여부를 판단한다. 이때, 제어부(10)는 상술한 모든 경우에 전류 댐퍼(12)의 감쇠력 및 후륜 댐퍼(14)의 감쇠력을 하드 감쇠력으로 결정한다.The controller 10 selectively uses each of the provided signals to determine each state and determines the damping force correspondingly (step 22). For example, the wheel speed information provided from the wheel speed sensor of the front and rear wheels is filtered through a band-pass filter and a low-pass filter, and then the road surface front and rear road surfaces can be filtered. Using the wave generation time difference and the wave size, it is determined whether the bump is real time. It is determined whether the braking is suddenly performed using the brake signal holding time and the deceleration of the vehicle speed. In case of TCS using Throttle Position Sensor (TPS), it is determined whether the vehicle is suddenly started using the TPS signal and the vehicle speed, and in the case of ABS which does not use the TCS signal, the acceleration of the vehicle speed is used to determine whether the vehicle is suddenly started. Lateral acceleration values are estimated using left and right wheel speed sensor values to determine roll motion to determine steep steering. At this time, the controller 10 determines the damping force of the current damper 12 and the damping force of the rear wheel damper 14 as the hard damping force in all the cases described above.

제어부(10)는 결정된 감쇠력에 따라 전륜 댐퍼(12)의 감쇠력 및 후륜 댐퍼(14)의 감쇠력을 제어한다(단계 24).The control unit 10 controls the damping force of the front wheel damper 12 and the damping force of the rear wheel damper 14 according to the determined damping force (step 24).

상술한 본 발명은 지능형 차량 시스템에 있어서, 감쇠력 제어 단계가 4 단 이하인 저단형 ECS를 기본으로 한 원가 절감 및 추가적인 부품 사용 없는 새로운 시스템의 로직에 응용할 수 있다.The present invention described above can be applied to the logic of the new system without the cost savings and the use of additional components based on the low stage ECS in which the damping force control step is 4 stages or less in the intelligent vehicle system.

이상에서 설명한 바와 같이 본 발명은, 차량에 이미 설치된 ABS용 각 센서로부터 CAN 통신을 통해 제공되는 정보에 대응하여 댐퍼의 감쇠력을 제어한다. 따라서, ABS용 센서 외에 기타 장비는 필요하지 않기 때문에, 생산 단가가 절감되고 시 스템이 하드웨어(hardware)적으로 간단해 진다.As described above, the present invention controls the damping force of the damper in response to information provided through CAN communication from each sensor for ABS already installed in the vehicle. Therefore, other equipment other than the ABS sensor is not required, which reduces production costs and simplifies the hardware.

또한, 전후륜의 휠 스피드 센서로부터 제공되는 휠 스피드 정보를 밴드-패스 필터 및 로우-패스 필터를 차례로 통해 여과시켜 차체 전후 노면의 웨이브 발생 시간차와 이 웨이브 크기를 이용하여 범프 여부를 실시간(real time)으로 판단한다. 따라서, 노면의 상태를 실시간으로 반영시켜 댐퍼의 감쇠력을 제어할 수 있다.In addition, the wheel speed information provided from the wheel speed sensor of the front and rear wheels is filtered through the band-pass filter and the low-pass filter in order, thereby realizing whether the difference between the wave generation time on the road surface before and after the vehicle body and the bump size is used in real time. Judging by). Therefore, the damping force of the damper can be controlled by reflecting the state of the road surface in real time.

Claims (2)

차량에 설치된 댐퍼의 감쇠력을 제어하는 장치에 있어서:In a device for controlling the damping force of a damper installed in a vehicle: ABS용 각 센서로부터 제공된 휠 스피드 신호를 밴드-패스 필터 및 로우-패스 필터를 통해 여과시켜 차체 전후 노면의 웨이브 발생 시간차와 이 웨이브 크기를 이용해서 범프 여부를 판단하거나, 브레이크 신호의 유지시간과 차속의 감속도를 이용하여 급제동 여부를 판단하거나, 트로틀 포지션 신호 또는 차속의 가속 정도를 판단하여 급발진 여부를 판단하거나, 또는 상기 휠 스피드 신호를 이용하여 횡 가속도 값을 추정해서 롤 모션(roll motion)을 기초로 급조향 여부를 판단하여 댐퍼의 감소력을 하드 감쇠력으로 결정하는 제어부; The wheel speed signal provided from each sensor for ABS is filtered through a band-pass filter and a low-pass filter to determine whether the bump occurs using the wave generation time difference between the front and rear of the vehicle body and the wave size, or the brake signal holding time and vehicle speed. Determining whether or not sudden braking by using the deceleration of the vehicle, or by determining the acceleration of the throttle position signal or the speed of the vehicle to determine whether or not the sudden start, or roll motion by estimating the lateral acceleration value using the wheel speed signal A control unit for determining whether or not the steep steering based on the damping force of the damper as a hard damping force; 상기 제어부의 결정에 따라 차량의 전륜 감쇠력을 조절하는 전륜 댐퍼; 및A front wheel damper for adjusting the front wheel damping force of the vehicle according to the determination of the controller; And 상기 제어부의 결정에 따라 차량의 후륜 감쇠력을 조절하는 후륜 댐퍼를 포함하는 것을 특징으로 하는 차량의 댐퍼 제어 장치.And a rear damper for adjusting the rear damping force of the vehicle according to the determination of the controller. 삭제delete
KR1020010073916A 2001-11-26 2001-11-26 Apparatus for controlling damper of cars KR100721672B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180069344A (en) 2016-12-15 2018-06-25 현대자동차주식회사 Method of controlling quick-braking for vehicle

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19980084126A (en) * 1997-05-21 1998-12-05 박문규 Semi-active suspension device for automobiles and control method thereof

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19980084126A (en) * 1997-05-21 1998-12-05 박문규 Semi-active suspension device for automobiles and control method thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180069344A (en) 2016-12-15 2018-06-25 현대자동차주식회사 Method of controlling quick-braking for vehicle

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