KR102590732B1 - Active roll control apparatus and method - Google Patents

Abstract

In order to provide an active roll control device and method that can improve responsiveness, the present invention controls the posture of the vehicle by connecting a first stabilizer bar connected to one wheel of the vehicle and a second stabilizer bar connected to the other wheel of the vehicle. an actuator, a control signal generator that generates a target control signal to control the posture of the vehicle based on sensing information obtained from multiple sensors mounted on the vehicle, and a target signal that is the difference between the previous target control signal and the current target control signal. An active roll control device is provided, including a change calculation unit that calculates a control signal change amount, and a control unit that generates different actuator command values according to the speed of the vehicle and the target control signal change amount.

Description

Active roll control device and method {ACTIVE ROLL CONTROL APPARATUS AND METHOD}

The present invention relates to an active roll control device, and particularly to an active roll control device and method that can improve responsiveness.

In general, a vehicle's suspension system is a device that connects the axle and the car body and controls vibration or shock received by the axle from the road surface during driving so that it is not directly transmitted to the car body, preventing damage to the car body and cargo and improving ride comfort.

This suspension device includes a chassis spring that relieves shock from the road surface, a shock absorber that improves riding comfort by damping and controlling free vibration of the chassis spring, and a stabilizer bar that suppresses rolling of the vehicle.

Among these, both sides of the straight part of the stabilizer bar are fixed to the car body, and both ends are fixed to the lower arm or strut bar through a stabilizer link. Accordingly, the stabilizer bar does not work when the left and right wheels move up and down at the same time, but when the left and right wheels move up and down relative to each other, it twists and performs an anti-roll function that suppresses the roll of the vehicle body with torsional elastic force. do.

In other words, the stabilizer bar is twisted when the outside of the car body is tilted by centrifugal force when the car turns, or when the left and right wheels are relatively out of phase due to bumps or rebounds while driving, and uses the torsional elastic force to adjust the posture of the car body. It stabilizes.

However, the stabilizer bar has a constant stiffness value, so its own torsional elastic force alone is insufficient to ensure turning stability under various conditions. Recently, an actuator made of a motor, etc., has been connected to the tip of the stabilizer bar to enable active roll control. An Active Roll Control Unit has been developed and is being applied.

Generally, an active roll control device generates a target control signal based on sensing information obtained from various sensors mounted on the vehicle, generates an actuator command value corresponding to this target control signal, and responds to the actuator command value. The attitude of the vehicle is controlled by supplying the current to the motor provided in the actuator.

However, when the amount of change in the target control signal is relatively large, there is a problem in that the responsiveness of the active roll control device is poor when generating an actuator command value to correspond to the current target control signal.

In particular, such a decrease in the responsiveness of the active roll control device further reduces the stability of the vehicle when driving at high speeds compared to when driving at low speeds.

The purpose of the present invention is to provide an active roll control device and method that can improve responsiveness even when driving at high speeds and when the target control signal change amount is relatively large.

Another object of the present invention is to provide an active roll control device and method that can provide stability to the riding and steering feel of a vehicle.

In order to achieve the above-described object, the present invention includes an actuator that connects a first stabilizer bar connected to one wheel of the vehicle and a second stabilizer bar connected to the other wheel of the vehicle and controls the posture of the vehicle, and a plurality of devices mounted on the vehicle. A control signal generator that generates a target control signal for controlling the vehicle's attitude based on sensing information obtained from a sensor, and a change calculation unit that calculates a target control signal change amount that is the difference between the previous target control signal and the current target control signal. , an active roll control device including a control unit that generates different actuator command values according to the vehicle speed and target control signal change amount is provided.

Here, the control unit generates a first actuator command value corresponding to the current target control signal if the vehicle speed is less than the reference vehicle speed or the target control signal change amount is less than the reference change amount value, and if the vehicle speed is more than the reference vehicle speed and the target control signal is If the signal change amount is greater than or equal to the reference change amount value, a second actuator command value may be generated based on the actuator command map.

Additionally, the actuator command map may be set so that the second actuator command value changes at a constant rate according to the target control signal.

Additionally, the actuator includes a motor that rotates the first or second stabilizer bar, and the control unit may supply a current corresponding to the first or second actuator command value to the motor.

Additionally, after supplying a current corresponding to the second actuator command value to the motor, the control unit may additionally supply a current corresponding to the difference between the second actuator command value and the actuator command value corresponding to the current target control signal.

In addition, a step of generating a target control signal for controlling the posture of the vehicle based on sensing information obtained from a plurality of sensors mounted on the vehicle, and calculating the target control signal change amount, which is the difference between the previous target control signal and the current target control signal. An active roll control method is provided including the step of generating different actuator command values according to the speed of the vehicle and the amount of change in the target control signal.

Here, the step of generating different actuator command values may include comparing the speed of the vehicle with the reference vehicle speed and comparing the target control signal change amount with the reference change value.

In addition, the step of generating different actuator command values includes, if the speed of the vehicle is less than the reference vehicle speed or the change amount of the target control signal is less than the reference change amount value, generating a first actuator command value corresponding to the current target control signal. It can be included.

In addition, the step of generating different actuator command values further includes the step of generating a second actuator command value based on the actuator command map when the speed of the vehicle is greater than or equal to the reference vehicle speed and the change amount of the target control signal is greater than or equal to the reference change amount value. can do.

According to the present invention, there is an effect of improving the responsiveness of the active roll control device by generating an actuator command value based on the actuator command map even when the amount of change in the target control signal is relatively large when the vehicle is traveling at high speed.

Additionally, according to the present invention, there is an effect of providing stability to the riding and steering feel of the vehicle.

1 is a schematic perspective view of an active roll control device according to an embodiment of the present invention.
Figure 2 is a schematic cross-sectional view of the actuator of Figure 1.
Figure 3 is a schematic block diagram of an active roll control device according to an embodiment of the present invention.
Figure 4 is a schematic flowchart of an active roll control method according to an embodiment of the present invention.
FIG. 5 is a detailed flowchart of the step of generating the actuator command value of FIG. 4 and the step of supplying current to the motor.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted, and identical or similar components are given the same reference numerals throughout the specification.

In this specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

FIG. 1 is a schematic perspective view of an active roll control device according to an embodiment of the present invention, and FIG. 2 is a schematic cross-sectional view of the actuator of FIG. 1.

As shown in FIG. 1, the active roll control device according to an embodiment of the present invention may include an actuator 1, a first stabilizer bar 6, and a second stabilizer bar 7.

The actuator 1 connects the first stabilizer bar 6 connected to one wheel of the vehicle and the second stabilizer bar 7 connected to the other wheel of the vehicle, and controls the posture of the vehicle.

Here, among the first stabilizer bar 6 and the second stabilizer bar 7, the second stabilizer bar may be a rotating type, and the first stabilizer bar 6 may be a fixed type.

Meanwhile, both the first stabilizer bar 6 and the second stabilizer bar 7 may be designed to be rotatable.

As shown in FIG. 2, the actuator 1 may include a motor (M) (2), a reduction gear unit (G) (3), and a damper (D) (4).

Here, the motor 2 may include a stator that generates magnetic force and a rotor that rotates by magnetic force. And, the second stabilizer 7 is connected to the output terminal of the reduction gear unit 4 and receives the rotational force of the motor 2 through the reduction gear unit 3. Additionally, the damper 4 is provided between the motor 2 and the reduction gear unit 3 and prevents external residual vibration and filters noise.

The above-described first stabilizer bar 6 and second stabilizer bar 7 do not act when the left and right wheels of the vehicle move up and down simultaneously, and act as a torsional restoring force when the left and right wheels of the vehicle move up and down relative to each other. It acts as an anti-roll to suppress the roll of the vehicle body.

That is, the first stabilizer bar 6 and the second stabilizer bar 7 cause the outer side of the car body to tilt due to centrifugal force when the vehicle turns, or the left and right wheels tilt due to bumps or rebounds during driving. When there is a relative phase difference, it is twisted and its restoring force stabilizes the posture of the vehicle body.

Figure 3 is a schematic block diagram of an active roll control device according to an embodiment of the present invention.

As shown in FIG. 3, the active roll control device according to an embodiment of the present invention may include an actuator 1, a control signal generator 110, a change amount calculation unit 120, and a control unit 130. .

As described above, the actuator 1 controls the posture of the vehicle by connecting the first stabilizer bar 6 connected to one wheel of the vehicle and the second stabilizer bar 7 connected to the other wheel of the vehicle.

The control signal generator 110 generates a target control signal for controlling the posture of the vehicle based on sensing information obtained from a plurality of sensors 10 mounted on the vehicle.

Here, the plurality of sensors 10 may include a vehicle speed sensor, a steering angle sensor, a lateral acceleration sensor, and a turning behavior sensor, and the sensing information includes vehicle speed information, steering angle information, and lateral acceleration detected by these sensors 10, respectively. Information and yaw rate information may be included.

Meanwhile, when the amount of change in the target control signal is relatively large, the responsiveness of the active roll control device may be poor in generating an actuator command value to correspond to the current target control signal.

Additionally, since controlling the vehicle's attitude is more important when the vehicle is traveling at high speeds than when traveling at low speeds, the response of the active roll control device must be faster when the vehicle is traveling at high speeds than when traveling at low speeds.

Accordingly, the change amount calculation unit 120 calculates the target control signal change amount, which is the difference between the previous target control signal and the current target control signal. Additionally, the control unit 130 generates different actuator command values depending on the vehicle speed and target control signal change amount.

Specifically, the control unit 130 generates a first actuator command value corresponding to the current target control signal when the vehicle speed is less than a preset reference vehicle speed or the target control signal change amount is less than a preset reference change amount value. Additionally, if the vehicle speed is greater than or equal to the reference vehicle speed and the target control signal change amount is greater than or equal to the reference change amount value, a second actuator command value is generated based on the actuator command map.

Here, the actuator command map may be set so that the second actuator command value changes at a constant rate according to the target control signal.

When the second actuator command value is calculated based on such an actuator command map, it is possible to prevent the second actuator command value from changing by a relatively large amount.

Through this, the responsiveness of the active roll control device can be improved by generating an actuator command value based on the actuator command map even when the target control signal change amount is relatively large when the vehicle is traveling at high speed.

Meanwhile, the above-described control signal generation unit 110, change amount calculation unit 120, and control unit 130 are provided in an electronic control unit (ECU: Electronic Control Unit) 100 as shown in FIG. 3, or Unlike, it can be manufactured as a separate module.

As described above, the actuator 1 includes a motor 2 that rotates the first stabilizer bar 6 or the second stabilizer bar 7, and the control unit 130 controls the first actuator command value or the second actuator. Current corresponding to the command value can be supplied to the motor (2).

In addition, after supplying a current corresponding to the second actuator command value to the motor 2, the control unit 130 supplies a current corresponding to the difference between the second actuator command value and the actuator command value corresponding to the current target control signal. Additional supplies can be provided. Through this, stability can be provided to the vehicle's riding and steering feel.

FIG. 4 is a schematic flowchart of an active roll control method according to an embodiment of the present invention, and FIG. 5 is a detailed flowchart of the step of generating the actuator command value of FIG. 4 and the step of supplying current to the motor.

Hereinafter, an active roll control method according to an embodiment of the present invention will be described with reference to FIGS. 4 and 5, but the same content as that of the active roll control device according to an embodiment of the present invention described above will be omitted.

As shown in FIG. 4, the active roll control method according to an embodiment of the present invention generates a target control signal for controlling the attitude of the vehicle based on sensing information obtained from a plurality of sensors 10 mounted on the vehicle. A step (S100), a step of calculating a target control signal change amount that is the difference between the previous target control signal and the current target control signal (S200), and a step of generating different actuator command values according to the vehicle speed and target control signal change amount. It may include (S300) and supplying a current corresponding to the actuator command value to the motor 2 (S400).

As shown in FIG. 5, the step of generating different actuator command values (S300) may include comparing the speed of the vehicle with the reference vehicle speed and comparing the target control signal change amount with the reference change value (S310). You can.

Here, as a result of the comparison, if the vehicle speed is less than the reference vehicle speed or the change amount of the target control signal is less than the reference change amount value, a first actuator command value corresponding to the current target control signal is generated (S320). And, if the vehicle speed is greater than or equal to the reference vehicle speed and the change amount of the target control signal is greater than or equal to the reference change amount value, a second actuator command value is generated based on the actuator command map (S330).

Here, the actuator command map may be set so that the second actuator command value changes at a constant rate according to the target control signal.

When the second actuator command value is calculated based on such an actuator command map, it is possible to prevent the second actuator command value from changing by a relatively large amount.

Through this, the responsiveness of the active roll control device can be improved by generating an actuator command value based on the actuator command map even when the amount of change in the target control signal is relatively large when the vehicle is traveling at high speed.

Next, a current corresponding to the first actuator command value is supplied to the motor 2 (S410), or a current corresponding to the first actuator command value is supplied to the motor (S420).

Meanwhile, although not shown in FIG. 5, after supplying the current corresponding to the second actuator command value to the motor 2, the current corresponding to the difference between the second actuator command value and the actuator command value corresponding to the current target control signal can be supplied additionally. Through this, stability can be provided to the vehicle's riding and steering feel.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiment presented in the present specification, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , other embodiments can be easily proposed by change, deletion, addition, etc., but this will also be said to be within the scope of the present invention.

1: Actuator
2: motor
110: Control signal generator
120: Change calculation unit
130: control unit

Claims (13)

an actuator that connects a first stabilizer bar connected to one wheel of the vehicle and a second stabilizer bar connected to the other wheel of the vehicle and controls the posture of the vehicle;
a control signal generator that generates a target control signal for controlling the posture of the vehicle based on sensing information obtained from a plurality of sensors mounted on the vehicle;
a change calculation unit that calculates a target control signal change amount that is the difference between the previous target control signal and the current target control signal; and
A control unit that generates different actuator command values according to the speed of the vehicle and the amount of change in the target control signal,
The control unit,
If the speed of the vehicle is less than the reference vehicle speed or the target control signal change amount is less than the reference change amount value, a first actuator command value corresponding to the current target control signal is generated,
If the speed of the vehicle is greater than or equal to the reference vehicle speed and the target control signal change amount is greater than or equal to the reference change value, a second actuator command value is generated based on the actuator command map.
Active roll control.
delete According to claim 1,
The actuator command map is,
The second actuator command value is set to change at a constant rate according to the target control signal.
Active roll control.
According to claim 1,
The actuator includes a motor that rotates the first or second stabilizer bar,
The control unit supplies a current corresponding to the first or second actuator command value to the motor.
Active roll control.
According to claim 4,
The control unit,
After supplying a current corresponding to the second actuator command value to the motor,
Additional supply of current corresponding to the difference between the second actuator command value and the actuator command value corresponding to the current target control signal
Active roll control.
According to claim 1,
The plurality of sensors are
Including vehicle speed sensor, steering angle sensor, and turning behavior sensor
Active roll control.
An active roll control method comprising an actuator that connects a first stabilizer bar connected to one wheel of the vehicle and a second stabilizer bar connected to the other wheel of the vehicle and controls the posture of the vehicle,
Generating a target control signal for controlling the posture of the vehicle based on sensing information obtained from a plurality of sensors mounted on the vehicle;
calculating a target control signal change amount that is the difference between the previous target control signal and the current target control signal; and
Generating different actuator command values according to the speed of the vehicle and the amount of change in the target control signal,
The steps for generating different actuator command values are:
Comparing the speed of the vehicle with a reference vehicle speed and comparing the target control signal change amount with the reference change value.
Active roll control method.
delete According to claim 7,
The steps for generating different actuator command values are:
If the speed of the vehicle is less than the reference vehicle speed or the change amount of the target control signal is less than the reference change amount value, generating a first actuator command value corresponding to the current target control signal.
An active roll control method further comprising:
According to claim 7,
The steps for generating different actuator command values are:
If the speed of the vehicle is greater than or equal to the reference vehicle speed and the change amount of the target control signal is greater than or equal to the reference change amount value, generating a second actuator command value based on the actuator command map.
An active roll control method further comprising:
According to claim 10,
The actuator command map is,
The second actuator command value is set to change at a constant rate according to the target control signal.
Active roll control method.
According to claim 9 or 10,
The actuator includes a motor that rotates the first or second stabilizer bar,
Supplying a current corresponding to the first or second actuator command value to the motor
An active roll control method further comprising:
According to claim 12,
After supplying a current corresponding to the second actuator command value to the motor,
Additional supplying a current corresponding to the difference between the second actuator command value and the actuator command value corresponding to the current target control signal.
An active roll control method further comprising:

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