KR100733675B1 - A method for control motor driving of active geometry controlled suspension system - Google Patents

A method for control motor driving of active geometry controlled suspension system Download PDF

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KR100733675B1
KR100733675B1 KR1020050111701A KR20050111701A KR100733675B1 KR 100733675 B1 KR100733675 B1 KR 100733675B1 KR 1020050111701 A KR1020050111701 A KR 1020050111701A KR 20050111701 A KR20050111701 A KR 20050111701A KR 100733675 B1 KR100733675 B1 KR 100733675B1
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South Korea
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motor
home position
return
returned
agcs
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KR1020050111701A
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Korean (ko)
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KR20070053895A (en
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안광호
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현대모비스 주식회사
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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
    • 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
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B60G2500/106—Damping action or damper duty rate
    • 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
    • B60G2600/182—Active control means

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

본 발명은 차량용 후륜현가능동제어(AGCS) 시스템의 액츄에이터 구동을 위한 모터 구동 제어방법으로서, 각 단계는 AGCS 시스템의 모터 구동 온 단계; 상기 모터 구동이 이루어진 후 액츄에이터의 복귀를 위한 모터의 홈 위치 복귀 여부 판단 단계; 상기 모터가 홈 위치로 복귀되어야 하는 경우 기설정된 제1 설정값만큼 복귀되었는지 여부 판단 단계; 상기 제1 설정값만큼 모터의 홈 위치 복귀가 이루어진 경우 기설정된 제2 설정값으로 모터의 홈 위치 복귀 제어 단계; 및 모터의 홈 위치 복귀 완료 단계로 이루어지는 것을 특징으로 한다. The present invention relates to a motor drive control method for driving an actuator of an AGCS system for a vehicle, each step comprising: a motor driving on step of an AGCS system; Determining whether the motor returns to the home position for the return of the actuator after the motor is driven; Determining whether the motor has been returned by a first predetermined value when the motor is to be returned to a home position; Controlling the home position return of the motor to the second preset value when the home position of the motor has been restored by the first set value; And it is characterized in that it comprises a step of completing the return to the home position of the motor.

AGCS, 모터, 액츄에이터, 홈(home) AGCS, motors, actuators, home

Description

후륜현가능동제어시스템의 모터 구동 제어 방법 {A method for control motor driving of active geometry controlled suspension system} A method for control motor driving of active geometry controlled suspension system

도 1은 본 발명에 따른 AGCS 시스템의 모터 구동제어 방법 흐름도. 1 is a flow chart of a motor drive control method of an AGCS system according to the present invention;

도 2는 본 발명에 따른 모터 구동제어 방법을 통한 실험결과 그래프. Figure 2 is a graph of the experimental results through the motor drive control method according to the present invention.

본 발명은 후륜현가능동제어시스템의 모터 구동 제어 방법에 관한 것으로서, 보다 구체적으로는 차량의 선회시 AGCS 시스템을 통한 선회특성에 따라 좌,우측 후륜의 액츄에이터 구동에 따른 토우각을 선택적으로 제어할 수 있도록 하기 위한 후륜현가능동제어시스템의 모터 구동 제어 방법에 관한 것이다. The present invention relates to a motor drive control method for a rear wheel drive dynamic control system. More specifically, the toe angle according to the actuator driving of the left and right rear wheels can be selectively controlled according to the turning characteristic through the AGCS system when the vehicle is turning. The present invention relates to a motor drive control method of a rear wheel drive dynamic control system.

일반적으로, 차량의 현가장치는 차체와 휠을 연결하는 장치로서, 상.하 방향으로는 스프링과 쇽업소버 등에 의해 지지되고, 기타 다른 방향으로는 높은 강성과 유연성을 적절히 조화시킴으로써 차체와 휠 사이의 상대 운동을 기계적으로 적절히 조화시키는 기능을 수행한다. In general, the suspension of a vehicle is a device that connects the vehicle body and the wheel, and is supported by a spring and a shock absorber in the up and down directions, and in the other direction, the suspension between the vehicle body and the wheel is properly balanced. It performs the function of harmonizing the relative movement mechanically.

한편, 최근에는 차량의 선회시 토우 아웃(Toe Out)현상으로 인해 조정성이 저하되는 문제점을 해결하기 위해 차량의 선회시 능동적으로 후륜의 토우각을 변화 시키는 방식을 통해 최적의 휠 얼라이먼트를 구현시켜 보다 안정된 주행 성능을 확보할 수 있도록 하는 후륜현가능동제어시스템 즉, AGCS(Active Geometry Controlled Suspension) 시스템이 개발되어 적용 중이다.On the other hand, in order to solve the problem of poor control due to the Toe Out phenomenon during the turning of the vehicle, an optimal wheel alignment is realized by actively changing the toe angle of the rear wheel during the turning of the vehicle. A rear wheel capable dynamic control system, that is, an AGCS (Active Geometry Controlled Suspension) system, is being developed and applied to secure more stable driving performance.

상기 AGCS 시스템에서는 모터 구동제어가 이루어진 후 원 위치로 복귀시 정확한 복귀가 이루어지도록 하기 위한 제어가 필요하다. 따라서, 복귀 제어시 모터의 제어 듀티를 구동 제어시와 비슷한 수준으로 제어하게 되는데, 이때 후륜이 빠르게 복귀되면서 차량의 후미가 좌,우로 요동치게 되어 승차감이 떨어질 수 있는 문제점(이를, 통상 이질감이라 칭함)을 갖고 있다. In the AGCS system, a control is required to make an accurate return upon returning to the original position after the motor drive control is performed. Accordingly, the control duty of the motor is controlled to a level similar to that of the driving control during the return control, in which the rear wheel is quickly returned and the rear of the vehicle swings left and right, resulting in a drop in riding comfort (this is commonly referred to as heterogeneity). )

본 발명은 상기 종래기술의 문제점을 해결하기 위해 안출된 것으로서, 본 발명의 목적은 차량의 선회시 AGCS 시스템을 통한 선회특성에 따라 좌,우측 후륜의 액츄에이터 구동에 따른 토우각을 선택적으로 제어할 수 있도록 하기 위한 후륜현가능동제어시스템의 모터 구동 제어 방법을 제공하는 것이다. The present invention has been made to solve the problems of the prior art, an object of the present invention can selectively control the toe angle according to the actuator drive of the left and right rear wheels according to the turning characteristics through the AGCS system when turning the vehicle. It is to provide a motor drive control method of the rear wheel drive dynamic control system to make.

상기 목적을 이루기 위한, 본 발명에 따른 AGCS 시스템의 모터 구동 제어는 AGCS 시스템의 모터 구동 온 단계; 상기 모터 구동이 이루어진 후 액츄에이터의 복귀를 위한 모터의 홈 위치 복귀 여부 판단 단계; 상기 모터가 홈 위치로 복귀되어야 하는 경우 기설정된 제1 설정값만큼 복귀되었는지 여부 판단 단계; 상기 제1 설정값만큼 모터의 홈 위치 복귀가 이루어진 경우 기설정된 제2 설정값으로 모터의 홈 위치 복귀 제어 단계; 및 모터의 홈 위치 복귀 완료 단계로 이루어지는 것을 특징으로 한다. In order to achieve the above object, the motor drive control of the AGCS system according to the present invention comprises the steps of motor drive on the AGCS system; Determining whether the motor returns to the home position for the return of the actuator after the motor is driven; Determining whether the motor has been returned by a first predetermined value when the motor is to be returned to a home position; Controlling the home position return of the motor to the second preset value when the home position of the motor has been restored by the first set value; And it is characterized in that it comprises a step of completing the return to the home position of the motor.

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이하, 도면을 참조하여 본 발명에 따른 바람직한 실시예를 설명한다. Hereinafter, with reference to the drawings will be described a preferred embodiment according to the present invention.

본 실시예에 따른 차량용 AGCS 시스템의 모터 구동 제어방법을 흐름도인 도 1을 참조하여 설명한다. A motor driving control method of the vehicle AGCS system according to the present embodiment will be described with reference to FIG.

도 1에서 보는 바와 같이, 본 실시예에서는 후륜현가능동제어(AGCS) 시스템의 동작으로 모터 구동이 온으로 이루어진 후[S10], 액츄에이터의 복귀를 위한 모터의 홈(Home) 위치 복귀 여부를 판단한다[S20]. As shown in FIG. 1, in the present embodiment, after the motor driving is turned on by the operation of the rear wheel movement dynamic control (AGCS) system [S10], it is determined whether to return the home position of the motor for the return of the actuator. [S20].

상기 S20 단계에서 판단 결과, 모터가 홈 위치로 복귀되어야 하는 경우 기설정된 제1 설정값(본 실시예에서는 모터의 홈 위치 복귀가 90%로 이루어졌을 때를 의미함)만큼 복귀되었는지 여부를 판단한 후 그에 따른 제어를 수행한다[S30]. As a result of the determination in step S20, when it is determined whether the motor is to be returned to the home position, it is determined whether or not it is returned by a predetermined first set value (which means when the motor is returned to the home position of 90%). The control accordingly is performed [S30].

즉, 상기 S30 단계에서, 모터의 홈 위치 복귀가 제1 설정값만큼 완료되지 않은 경우 설정된 속도로 PID 제어를 통해 모터의 홈 위치 복귀를 이루지만[S40], 상기에서 모터의 홈 위치 복귀가 제1 설정값만큼 이루어진 경우에는 기설정된 제2 설정값(본 실시예에서는 모터의 홈 위치 복귀가 90% 완료된 상태에서 완전 복귀를 이루기 위해 당업자에 의해 설정되는 듀티(duty) 값을 의미함)으로 모터의 홈 위치 복귀를 완료시킨다[S50, S60]. That is, in step S30, when the home position return of the motor is not completed by the first set value, the home position return of the motor is achieved through PID control at the set speed [S40], but the home position return of the motor is In the case of one set value, the motor is set to a second predetermined value (in this embodiment, a duty value set by a person skilled in the art in order to achieve a full recovery in a state where the home position return of the motor is completed by 90%). Completes the return to the home position [S50, S60].

상기에서와 같이, 본 실시예에서는 이질감 즉, AGCS 시스템에서 후륜의 빠른 복귀로 인해 차량의 후미가 좌,우로 요동치게 되어 승차감이 떨어지는 문제점을 개선하기 위해, 일정 시점까지는 PID 제어를 통해 원하는 설정된 속도로 모터의 홈 위치 복귀를 이루고 해당 시점 이후부터는 사용자에 의해 설정된 일정 듀티(duty)로 모터의 홈 위치 복귀가 이루어지도록 함으로써 승차감 향상을 이루도록 한 것이다. As described above, in the present embodiment, in order to improve the problem that the rear end of the vehicle swings left and right due to the heterogeneous feeling, that is, the rear wheel is quickly returned from the AGCS system, the desired speed is controlled through PID control until a certain point. The motor is to return to the home position of the motor, and from this point onwards, the motor is returned to the home position with a certain duty set by the user, thereby improving the riding comfort.

한편, 본 실시예에 따른 모터 구동제어 방법을 통한 실험결과를 도 2의 그래프를 참조하여 설명한다. 상기 도 2는 AGCS 시스템의 장착 차량에서 모터의 홈 위치 복귀시의 명령값과 추종값을 그래프로 도시한 도면으로서, X축은 time[sec]를 의미하고 Y축은 command[mm]를 의미한다. On the other hand, the experimental results through the motor drive control method according to the present embodiment will be described with reference to the graph of FIG. 2 is a graph illustrating a command value and a tracking value at the time of returning a home position of a motor in a vehicle equipped with an AGCS system. The X axis means time [sec] and the Y axis means command [mm].

도 2에서 보는 바와 같이, 모터의 홈 위치 복귀시 듀티 값이 큰 경우 A와 같이 홈 위치 복귀가 빠르게 일어난다. 이때, 차량의 후미가 좌,우로 요동치게 되어 이질감이 발생하는 것이다. As shown in FIG. 2, when the duty value is large when returning to the home position of the motor, as shown in FIG. At this time, the rear of the vehicle is tossed left and right, resulting in a heterogeneity.

한편, 듀티 값이 작은 경우 B와 같이 모터의 홈 위치 복귀는 서서히 이루어져 이질감은 많이 감소되나 C부분과 같이 모터의 홈 위치가 완료되지 않을 수 있다. 즉, 본 실시예에서는 상기 B와 같이 모터의 홈 위치 복귀를 서서히 이루어 이질감이 제거되도록 하는 것이 주 목적이나 이와 동시에 홈 위치로의 복귀가 완료되도록 하는 것이다. On the other hand, when the duty value is small, as shown in B, the return of the home position of the motor is gradually made, and the heterogeneity is greatly reduced, but the home position of the motor may not be completed as in the C part. That is, in this embodiment, the main purpose is to gradually remove the sense of heterogeneity by gradually returning to the home position of the motor as in B, but at the same time, the return to the home position is completed.

이는, 최종 튜닝결과 곡선인 D와 같이 모터의 홈 위치 복귀시 80~90% 까지는 원하는 속도로 PID 제어를 이루고, 나머지 10% 는 사용자에 의해 설정된 일정 듀티값으로 제어하여 모터의 홈 위치 복귀가 완료되도록 한 것이다. As shown in the final tuning result curve D, PID control is performed at the desired speed up to 80 ~ 90% when the motor home position is returned, and the remaining 10% is controlled by a certain duty value set by the user to complete the home position return of the motor. It was made possible.

이와 같이, 본 발명에서는 AGCS 시스템의 장착 차량에서 액츄에이터 구동을 위한 모터의 홈 위치 복귀시 제어량을 감소시켜 워하는 속도로 복귀되도록 함으로써, 이질감을 저감시켜 차량의 승차감 향상을 이룰 수 있도록 한 것이다. As described above, the present invention reduces the amount of control when the motor position for the actuator drive returns to the home position in the vehicle equipped with the AGCS system to return to the woken speed, thereby reducing the heterogeneity and improving the ride comfort of the vehicle.

본 발명의 기술적 범위를 해석함에 있어서는, 상기에서 설명된 실시예에 한정하여 해석되어서는 아니 되며, 본 발명의 기술적 범위는 특허청구범위에 기재된 사항의 합리적 해석에 의해 결정되어져야 한다. In interpreting the technical scope of the present invention, it should not be construed as being limited to the embodiments described above, and the technical scope of the present invention should be determined by reasonable interpretation of the matters described in the claims.

본 발명의 후륜현가능동제어시스템의 모터 구동 제어 방법에 따르면, AGCS 시스템에서 좌,우 후륜의 복귀시 모터의 구동 제어를 통해 후륜 복귀시 차량의 후미가 좌,우로 요동치는 이질감을 없애 차량의 승차감을 향상시키는 효과가 있다. According to the motor drive control method of the rear wheel drive motion control system of the present invention, through the drive control of the motor when the left and right rear wheels return in the AGCS system, the rear end of the vehicle to the left and right when moving back to eliminate the heterogeneity of the left and right swinging comfort of the vehicle Has the effect of improving.

Claims (4)

차량용 후륜현가능동제어(AGCS) 시스템의 액츄에이터 구동을 위한 모터 구동 제어방법에 있어서, In a motor drive control method for driving an actuator of a vehicle rear wheel drive dynamic control (AGCS) system, AGCS 시스템의 모터 구동 온 단계; Motor driving on of the AGCS system; 상기 모터 구동이 이루어진 후 액츄에이터의 복귀를 위한 상기 모터의 홈 위치 복귀 여부 판단 단계; Determining whether to return the home position of the motor for the return of the actuator after the motor is driven; 상기 모터가 홈 위치로 복귀되어야 하는 경우, 상기 모터가 상기 모터의 홈 위치 복귀 완료상태가 90%인 제1 설정값만큼 복귀되었는지 여부 판단 단계; Determining whether the motor has returned to the home position by a first set value in which the home position return completion state of the motor is 90% when the motor should be returned to the home position; 상기 제1 설정값만큼 상기 모터의 홈 위치 복귀가 이루어진 경우, 기설정된 제2 설정값으로 상기 모터의 홈 위치 복귀 제어 단계; 및 When the home position of the motor is returned by the first set value, controlling the home position return of the motor to a second preset value; And 상기 모터의 홈 위치 복귀 완료 단계로 이루어지는 것을 특징으로 하는 후륜현가능동제어시스템의 모터 구동 제어 방법. A motor drive control method for a rear wheel drive dynamic control system comprising the step of completing the return to the home position of the motor. 삭제delete 제 1항에 있어서, The method of claim 1, 상기 제2 설정값은 상기 모터의 홈 위치 복귀가 90% 완료된 상태에서 완전 복귀를 이루기 위해 설정되는 듀티(duty) 값인 것을 특징으로 하는 후륜현가능동제어시스템의 모터 구동 제어 방법. And said second set value is a duty value set to achieve a complete return in a state where the home position return of the motor is completed by 90%. 제 1항에 있어서, The method of claim 1, 상기 모터의 홈 위치 복귀가 상기 제1 설정값만큼 완료되지 않은 경우, 설정된 속도로 PID 제어를 통해 상기 모터의 홈 위치 복귀를 이루는 단계를 추가로 포함하는 것을 특징으로 하는 후륜현가능동제어시스템의 모터 구동 제어 방법. And if the home position return of the motor is not completed by the first set value, further comprising the step of performing a home position return of the motor through PID control at a set speed. Drive control method.
KR1020050111701A 2005-11-22 2005-11-22 A method for control motor driving of active geometry controlled suspension system KR100733675B1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5931268A (en) * 1996-02-15 1999-08-03 Kelsey-Hayes Company Electrical actuation mechanism suitable for a disc brake assembly
KR20030014971A (en) * 2001-08-14 2003-02-20 가부시키가이샤 고이토 세이사꾸쇼 Motor- controlling circuit for an optical-axis-adjusting unit of a vehicle illuminating device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5931268A (en) * 1996-02-15 1999-08-03 Kelsey-Hayes Company Electrical actuation mechanism suitable for a disc brake assembly
KR20030014971A (en) * 2001-08-14 2003-02-20 가부시키가이샤 고이토 세이사꾸쇼 Motor- controlling circuit for an optical-axis-adjusting unit of a vehicle illuminating device
KR100437538B1 (en) 2001-08-14 2004-06-30 가부시키가이샤 고이토 세이사꾸쇼 Motor- controlling circuit for an optical-axis-adjusting unit of a vehicle illuminating device

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