KR20000055865A - Electronic suspension apparatus - Google Patents

Electronic suspension apparatus Download PDF

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Publication number
KR20000055865A
KR20000055865A KR1019990004721A KR19990004721A KR20000055865A KR 20000055865 A KR20000055865 A KR 20000055865A KR 1019990004721 A KR1019990004721 A KR 1019990004721A KR 19990004721 A KR19990004721 A KR 19990004721A KR 20000055865 A KR20000055865 A KR 20000055865A
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KR
South Korea
Prior art keywords
vehicle
damping force
value
response
control logic
Prior art date
Application number
KR1019990004721A
Other languages
Korean (ko)
Inventor
김학균
Original Assignee
밍 루
주식회사 만도
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Application filed by 밍 루, 주식회사 만도 filed Critical 밍 루
Priority to KR1019990004721A priority Critical patent/KR20000055865A/en
Publication of KR20000055865A publication Critical patent/KR20000055865A/en

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Classifications

    • 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
    • B60G17/018—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
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • 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
    • 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
    • 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
    • B60G2400/44—Steering speed
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/014—Pitch; Nose dive
    • 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
    • B60G2800/16—Running
    • B60G2800/164—Heaving; Squatting
    • 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
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9122—ARS - Anti-Roll System Control

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

PURPOSE: An electronic controllable suspension device is provided to control a damping force of a damper in response to a running state of a vehicle in a four wheel independent suspension device adopting a continuous damping force variable damper. CONSTITUTION: An electronic controllable suspension device comprises a ride control logic(10) for detecting a ride comfort value(Sride) to control a damping force in response to the vertical accelerations of vehicle wheels; an anti-roll control logic(20) for estimating a roll value(Sroll) to control a damping force in response to a vehicle speed of a vehicle and a steering angle; an anti-squat control logic(30) for detecting a variation of an opening angle of the vehicle and then detecting a squat value(Ssquat) for controlling a damping force in response to the variation; an anti-dive control logic(40) for detecting an anti-dive value(Sdive) for controlling a damping force to control a pitch movement of the vehicle in response to a deceleration when the vehicle is decelerated beyond a desired set deceleration; a speed dependent control logic(50) in which values(S1, S2, S3, S4, S5) of a speed dependent signal(Sspeed) for controlling a damping force to make stability of operation and ride comfort be maximum in response to a vehicle speed is saved according to every desired vehicle speeds(V1, V2, V3, V4), the speed dependent control logic linearly selecting and outputting vehicle speed dependent signals(Sspeed) among the vehicle speeds(V1, V2, V3, V4) in response to the speed dependent signals(S1, S2, S3, S4, S5) among the vehicle speeds(V1, V2, V3, V4); and a damper control circuit(60) for determining damping forces(Si) provided to dampers of individual vehicle wheels in response to the ride comfort value(Sride), the roll value(Sroll), the squat value(Ssquat), the anti-dive value(Sdive), and the speed dependent signal(Sspeed). According to the suspension, since the speed dependent signal(Sspeed) is properly varied in response to a running speed of the vehicle, the stability of operation and ride comfort of a vehicle can be satisfied.

Description

전자 제어 현가 장치{ELECTRONIC SUSPENSION APPARATUS}Electronically controlled suspension device {ELECTRONIC SUSPENSION APPARATUS}

본 발명은 차량의 현가 장치에 관한 것으로서, 더욱 상세하게는 연속 감쇠력 가변 댐퍼를 채용한 4륜 독립 현가 장치에서 차량의 주행 상태에 따라 댐퍼의 감쇠력을 조절하는 전자 제어 현가 장치에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension device for a vehicle, and more particularly, to an electronically controlled suspension device for adjusting a damping force of a damper according to a driving state of a vehicle in a four-wheel independent suspension device employing a continuous damping force variable damper.

현가 장치는 차축과 차체를 연결하여 주행중에 차축이 노면으로부터 받는 진동이나 충격이 차체에 직접 전달되지 않도록 하여 차체와 화물의 손상을 방지하고 승차감을 좋게하는 장치이다. 또한, 현가 장치는 구동 바퀴에서 발생하는 구동력이나 제동시의 각 바퀴의 제동력을 차체에 전달함과 동시에 선회시의 원심력에도 견디고 각 바퀴를 차체에 대해서 올바른 위치에 유지시키는 역할도 행한다.Suspension is a device that connects the axle and the body so that vibrations or shocks received by the axle from the road surface are not directly transmitted to the body while driving, thereby preventing damage to the body and cargo and improving ride comfort. In addition, the suspension device transmits the driving force generated in the driving wheels or the braking force of each wheel during braking to the vehicle body, and also withstands the centrifugal force during the turning and maintains each wheel in the correct position with respect to the vehicle body.

한편, 현가 장치의 기술 발전에 따라 연속 감쇠력 가변 댐퍼를 이용한 4 륜 독립 제어 현가 장치가 개발되고 있으며, 현가 장치에서는 차량내에 각종 센서를 부착하고, 센서로부터의 정보에 따라 댐퍼를 제어하므로써 승차감 및 조정 안정성을 향상시키고 있다. 그러나, 이러한 현가 장치에서는 어떠한 센서를 사용하고, 센서로부터의 정보를 어떠한 방식으로 이용하여 댐퍼를 제어하는냐에 따라 그 효율이 극히 상이하므로 현가 장치 분야에서는 가장 효율적으로 댐퍼를 제어할 수 있는 장치의 개발이 요망되고 있다.On the other hand, according to the technological development of the suspension system, a four-wheel independent control suspension system using a continuous damping force variable damper has been developed.In the suspension system, various sensors are mounted in the vehicle, and the ride comfort and adjustment are controlled by controlling the damper according to the information from the sensor. Stability is improved. However, since the efficiency is extremely different depending on which sensor is used in such a suspension system and how the information from the sensor is used to control the damper, the development of a device capable of controlling the damper most efficiently in the suspension system field is developed. This is desired.

본 발명자는 이러한 필요성에 부응하여 "전자 제어 현가 장치"(출원 번호 제 98-45753호)를 출원한 바 있다. 이 출원 발명에서 본 발명자는 차량의 주행시에 발생할 수 있는 가능한 모든 상태의 정보를 종합하여 4륜 독립 현가 장치내 댐퍼의 감쇠력을 제어하므로 승차감 및 조정성을 향상시킨 전자 제어 현가 장치를 제공하였다.In response to this need, the present inventor has filed an "electronic controlled suspension device" (Application No. 98-45753). In the present invention, the present inventors have provided an electronically controlled suspension device that improves ride comfort and maneuverability by controlling the damping force of the damper in the four-wheel independent suspension device by combining information of all possible states that can occur when the vehicle is running.

이 전자 제어 장치에서는 각 차륜에 적용되어야 할 감쇠력()을 수학식 1을 이용하여 검출하였다.In this electronic control unit, the damping force to be applied to each wheel ( ) Was detected using Equation 1.

여기서,의첨자는 네 개의 차륜을 의미하며, posneg는 도 1에 도시된 바와 같이 차량 좌우륜에 따라 변하는 부호를 의미하고,는 차체 수직 속도,은 차량의 차속 및 조향각에 대응하여 감쇠력을 조절하기 위한 롤 값,는 차륜들의 수직 가속도에 대응하여 감쇠력을 제어하기 위한 승차감 값,는 차량의 피치 운동을 제어하기 위하여 차량이 소정 설정 감속도 이상으로 감속될때에 감속에 대응하여 감쇠력을 조절하기 위한 다이브 값을, 그리고는 차량의 개도각의 변화를 감지하고, 이 변화량에 대응하여 감쇠력을 조절하기 위한 스쿼트 값,는 차속 감응 신호를 의미한다.here, of Subscript means four wheels, posneg means a sign that changes according to the left and right wheels of the vehicle, as shown in FIG. The bodywork vertical speed, Is a roll value for adjusting the damping force corresponding to the vehicle speed and steering angle of the vehicle, Is a ride comfort value for controlling the damping force in response to the vertical acceleration of the wheels, D is a dive value for adjusting the damping force in response to the deceleration when the vehicle is decelerated above a predetermined set deceleration to control the pitch movement of the vehicle, and Squat value for detecting a change in the opening angle of the vehicle and adjusting the damping force in response to the change amount, Denotes a vehicle speed sensitive signal.

또한, min 및 max는 액튜에이터의 최소, 최대값을 의미하는 바, 감쇠력()은 중립 위치()를 기준으로 하여 액튜에이터의 최소값(min)과 최대값(max)사이의 정수값을 가짐을 알 수 있다.In addition, min and max means the minimum and maximum of the actuator, the damping force ( ) Is the neutral position ( It can be seen that it has an integer value between the minimum value (min) and the maximum value (max) of the actuator, based on).

한편, 종래 발명에서는 상기 수학식 1에서의 차속 감응 신호()는 차속을 이용하여 수학식 2를 행하므로써 검출되고, 이 값이 설정값 이상일 때에는 감쇠력을 상향 조정한다.On the other hand, in the conventional invention, the vehicle speed sensitive signal (Equation 1) ) Is detected by performing equation (2) using the vehicle speed, and the damping force is adjusted upward when this value is greater than or equal to the set value.

V : 차량 속도(≥Vlow)V: Vehicle speed (≥V low )

상기 수학식 2에서와는 소정의 설정 차속이며는 차속 감응 신호() 에 곱해지는 게인이다.In Equation 2 Wow Is a predetermined set vehicle speed Is the vehicle speed response signal ( ) Is a gain multiplied by

상술한 수학식 1, 2에서 알 수 있는 바와 같이 차속이 증가함에 따라서 감쇠력()이 증가한다. 즉, 종래의 장치에서는 차속이 증가함에 따라서 제어되는 량 즉 감쇠력()을 증가시키므로써 차량 운동을 안전성 있게 하는 것이 목적이었다. 그러나, 본 발명자의 실험 결과에 의하면 차량의 고속 주행시에 차속의 증가에 따라 감쇠력()을 증가시키면 조정 안전성은 증가하나 이와 반비례하여 승차감이 나빠진다는 문제가 있었다.As can be seen from the above equations 1 and 2, the damping force ( ) Increases. That is, in the conventional apparatus, the amount controlled as the vehicle speed increases, that is, the damping force ( The purpose was to increase vehicle safety by increasing However, according to the experimental results of the present inventors, the damping force (A Increasing) increases the adjustment safety, but inversely, the riding comfort worsens.

본 발명은 이러한 문제를 해결하기 위한 것으로서, 본 발명의 목적은 차량의 주행 속도에 따라 차속 감응 신호()를 적절히 가변시키므로써 차량의 조정 안정성 및 승차감을 만족시킬 수 있는 전자 제어 현가 장치를 제공하는데에 있다.The present invention is to solve this problem, the object of the present invention is to provide a vehicle speed response signal ( The present invention provides an electronically controlled suspension device capable of satisfying adjustment stability and ride comfort of a vehicle by appropriately varying a).

이러한 목적을 달성하기 위하여 본 발명은 연속 감쇠력 가변 댐퍼를 채용한 4 륜 독립 현가 장치에서 댐퍼들의 감쇠력을 결정하는 장치로서, 차륜들의 수직 가속도에 대응하여 감쇠력을 제어하기 위한 승차감 값을 검출하는 승차감 제어 로직과; 차량의 차속 및 조향각에 대응하여 감쇠력을 조절하기 위한 롤 값을 산출하는 안티 롤 제어 로직과; 차량의 개도각의 변화를 감지하고, 이 변화량에 대응하여 감쇠력을 조절하기 위한 스쿼트 값을 검출하는 안티 스쿼트 제어 로직과; 차량의 피치 운동을 제어하기 위하여 차량이 소정 설정 감속도 이상으로 감속될때의 감속에 대응하여 감쇠력을 조절하기 위한 다이브 값을 검출하는 안티 다이브 제어 로직과; 차속에 따라 조정 안전성 및 승차감이 최대가 되도록 감쇠력을 조절하기 위한 차속 감응 신호의 값을 소정 차속별로 저장하고 있으며, 차속들간의 상기 차속 감응 신호는 차속들간의 차속 감응 신호에 따라 선형적으로 선택하여 출력하는 차속 감응 제어 로직과; 승차감 값, 롤 값), 스쿼트 값, 다이브 값및 차속 감응 신호에 대응하여 각 차륜의 댐퍼들에 제공되는 감쇠력을 결정하는 댐퍼 제어 회로를 구비한다.In order to achieve the above object, the present invention is a device for determining the damping force of the dampers in a four-wheel independent suspension device employing a continuous damping force variable damper, the ride comfort control for detecting a ride comfort value for controlling the damping force corresponding to the vertical acceleration of the wheels Logic; Anti-roll control logic for calculating a roll value for adjusting the damping force corresponding to the vehicle speed and the steering angle of the vehicle; Anti-squat control logic for detecting a change in the opening angle of the vehicle and detecting a squat value for adjusting the damping force in response to the change amount; Anti-dive control logic for detecting a dive value for adjusting the damping force in response to the deceleration when the vehicle is decelerated above the predetermined deceleration to control the pitch movement of the vehicle; Adjust the vehicle speed sensitive signal for adjusting the damping force to maximize the adjustment safety and ride comfort according to the vehicle speed for each predetermined vehicle speed, and the vehicle speed sensitive signal between the vehicle speeds are selected linearly according to the vehicle speed sensitive signal between the vehicle speeds. A vehicle speed sensitive control logic for outputting; A damper control circuit for determining a damping force provided to dampers of each wheel in response to a ride comfort value, a roll value), a squat value, a dive value, and a vehicle speed sensitive signal.

도 1은 본 발명에 따른 전자 제어 현가 장치내 댐퍼 제어 회로에서 posneg의 설정 상태를 도시한 도면,1 is a view showing a setting state of posneg in the damper control circuit in the electronically controlled suspension device according to the present invention;

도 2는 본 발명에 따른 전자 제어 현가 장치의 개략 블럭도,2 is a schematic block diagram of an electronically controlled suspension device according to the present invention;

도 3은 본 발명에 따른 전자 제어 현가 장치에서 차속 감응 신호를 차량 속도에 따라 결정하는 방법을 도시한 도면.3 is a diagram illustrating a method of determining a vehicle speed sensitive signal according to a vehicle speed in an electronically controlled suspension device according to the present invention.

〈도면의 주요부분에 대한 부호의 설명〉<Explanation of symbols for main parts of drawing>

10 : 승차감 제어 로직 20 : 안티롤 제어 로직10: ride comfort control logic 20: anti-roll control logic

30 : 안티 스쿼트 제어 로직 40 : 안티 다이브 제어 로직30: anti squat control logic 40: anti dive control logic

50 : 차속 감응 제어 로직 60 : 댐퍼 제어 회로50: vehicle speed sensitive control logic 60: damper control circuit

이하, 본 발명의 일실시예를 첨부된 도면을 참조하여 상세히 설명한다.Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명에 전자 제어 현가 장치의 개략 블럭도이다. 본 발명은 도시된 바와 같이 승차감 제어 로직(Ride Control Logic)(10), 안티 롤 제어 로직(Anti-Roll Control Logic)(20), 안트 스쿼트 제어 로직(Anti-Squat Controll Logic)(30), 안티 다이브 제어 로직(Anti-Dive Control Logic)(40), 차속 감응 제어 로직(Speed Depedent Control Logic)(50) 및 댐퍼 제어 회로(60) 그리고, 각종 센서(S1-S8)들로 구성되어 있다.2 is a schematic block diagram of an electronically controlled suspension device according to the present invention. According to the present invention, as shown, ride control logic 10, anti-roll control logic 20, anti-squat control logic 30, anti It is composed of a dive control logic (Anti-Dive Control Logic) 40, a vehicle speed sensitive control logic (Speed Depedent Control Logic) 50, a damper control circuit 60, and a variety of sensors (S1-S8).

여기서, 승차감 제어 로직(10)은 차량내 4개 차륜들의 수직 가속도를 각각 검출하는 수직 가속도 센서(S1-S4)로부터의 수직 가속도 정보에 응하여 감쇠력을 제어하기 위한 승차감 값() 및 차체 수직 속도()를 검출, 출력한다.Here, the ride comfort control logic 10 is a ride comfort value for controlling the damping force in response to the vertical acceleration information from the vertical acceleration sensors (S1-S4) for detecting the vertical acceleration of the four wheels in the vehicle, respectively ( ) And bodywork vertical speed ( ) Is detected and output.

안티 롤 제어 로직(20)은 차속 센서(S5) 및 조향각 센서(S6)에서 검출된 차량의 차속 및 조향각에 대응하여 감쇠력()을 조절하기 위한 롤 값()을 산출하여 출력한다.The anti-roll control logic 20 corresponds to a damping force corresponding to the vehicle speed and the steering angle of the vehicle detected by the vehicle speed sensor S5 and the steering angle sensor S6. Roll value to adjust ) And output.

안티 스쿼트 제어 로직(30)은 드로틀 위치 감지 센서(S7)에 의하여 차량의 개도각의 변화를 감지하고, 이 변화량에 대응하여 감쇠력을 조절하기 위한 스쿼트 값()을 검출하여 출력한다.The anti-squat control logic 30 detects a change in the opening angle of the vehicle by the throttle position sensor S7, and corresponds to a squat value for adjusting the damping force in response to the change amount. ) Is detected and output.

안티 다이브 제어 로직(40)은 차속 센서(S5) 및 브레이크 온 오프 감지 센서(S8)로부터의 정보에 의하여 차량의 피치 운동을 제어하기 위하여 차량이 소정 설정 감속도 이상으로 감속될때의 감속에 대응하여 감쇠력을 조절하기 위한 다이브 값()을 검출, 출력하며, 차속 감응 제어 로직(50)은 차속 센서(S5)의 정보에 따라 차속에 대응한 감쇠력을 조절하기 위한 차속 감응 신호()를 검출, 출력한다.The anti-dive control logic 40 responds to the deceleration when the vehicle is decelerated above a predetermined set deceleration to control the pitch movement of the vehicle by the information from the vehicle speed sensor S5 and the brake on off detection sensor S8. Dive value for adjusting the damping force ( Vehicle speed sensitive control logic 50 detects and outputs a vehicle speed sensitive signal for adjusting a damping force corresponding to the vehicle speed according to the information of the vehicle speed sensor S5. ) Is detected and output.

여기서, 본 발명의 차속 감응 제어 로직(50)은 종래와 같이 수학식 2에 의하여 차속 감응 신호()를 검출, 출력하는 것이 아니라 도 3에 도시된 바와 같이 차량의 속도에 따라 가변, 설정한다.Here, the vehicle speed sensitive control logic 50 of the present invention is a vehicle speed sensitive signal ( ) Is not detected and output, but is variable and set according to the speed of the vehicle as shown in FIG. 3.

도 3에서 차량의 속도가 (V1, V2, V3, V4)일 때의 차속 감응 신호()의 값은 각각 (s1, s2, s3, s4, s5)임을 알 수 있다. 이러한 차속 감응 신호()의 값(s1, s2, s3, s4, s5)은 실험에 의하여 검출된다. 그러나, 도 3에서 차량의 속도(V)가 V〈 V1일 때, V1〈V〈V2 일 때, V2〈V〈V3 일 때, V3〈V〈V4 일 때, 그리고, V4〈V 일 때의 차속 감응 신호() 역시 검출하여야 할 것이다.In FIG. 3, the vehicle speed sensitive signal when the vehicle speed is (V1, V2, V3, V4) ) Can be seen that (s 1 , s 2 , s 3 , s 4 , s 5 ), respectively. This vehicle speed sensitive signal ( Values of s 1 , s 2 , s 3 , s 4 , s 5 are detected by experiment. However, in Fig. 3, when the speed V of the vehicle is V &lt; V1, V1 &lt; V &lt; V2, V2 &lt; V &lt; V3, V3 &lt; V &lt; V4, and V4 &lt; Vehicle speed response signal ) Should also be detected.

이러한 값들은 수학식 3에 의하여 용이하게 검출할 수 있다.These values can be easily detected by equation (3).

즉, 본 발명에서이 차속 감응 신호()는 소정의 차속(V1, V2, V3, V4)에 대하여 이상적인 값(s1, s2, s3, s4, s5)을 산출하고 이들 차속(V1, V2, V3, V4)들간의 차속 감응 신호()의 값은 수학식 3에 의하여 검출하는 것이다.That is, in the present invention, this vehicle speed sensitive signal ) Calculates the ideal values s 1 , s 2 , s 3 , s 4 , s 5 for a given vehicle speed V1, V2, V3, V4 and between these vehicle speeds V1, V2, V3, V4. Vehicle speed response signal ) Is detected by the equation (3).

댐퍼 제어 회로(60)는 상술한 승차감 값(), 롤 값(), 스쿼트 값(), 다이브 값()및 차속 감응 신호()에 대응하여 각 차륜의 댐퍼들에 제공되는 감쇠력()을 결정한다.The damper control circuit 60 has the above-mentioned ride comfort value ( ), Roll value ( ), The squat value ( ), Dive value ( ) And vehicle speed sensitive signal ( Damping force provided to the dampers of each wheel in response to Is determined.

즉, 댐퍼 제어 회로(60)는 상술한 각 로직(20,30,40,50)으로부터의 신호들을 종합하여 상술한 수학식 1을 행하므로써 각 차륜에 적용되어야 할 감쇠력()을 결정하여 댐퍼의 구동을 제어하는 것이다.That is, the damper control circuit 60 synthesizes the signals from each of the above-described logics 20, 30, 40, and 50, and performs the above-described equation (1), so that the damping force to be applied to each wheel ( ) To control the damper drive.

이와 같이 본 발명에서는 차량의 주행 속도에 따라 차속 감응 신호()를 적절히 가변시키므로써 차량의 조정 안정성 및 승차감을 만족시킬 수 있다는 효과가 있다.As described above, according to the present invention, the vehicle speed sensitive signal ( By appropriately varying), the steering stability and ride comfort of the vehicle can be satisfied.

Claims (1)

연속 감쇠력 가변 댐퍼를 채용한 4 륜 독립 현가 장치에서 댐퍼들의 감쇠력을 결정하는 장치로서,A device for determining the damping force of dampers in a four-wheel independent suspension system employing a continuous damping force variable damper, 차륜들의 수직 가속도에 대응하여 감쇠력을 제어하기 위한 승차감 값()을 검출하는 승차감 제어 로직(10)과;Riding comfort value for controlling damping force corresponding to the vertical acceleration of the wheels Ride comfort control logic (10) for detecting; 차량의 차속 및 조향각에 대응하여 감쇠력을 조절하기 위한 롤 값()을 산출하는 안티 롤 제어 로직(20)과;Roll value for adjusting the damping force corresponding to the vehicle speed and steering angle of the vehicle ( Anti roll control logic 20 for calculating; 차량의 개도각의 변화를 감지하고, 이 변화량에 대응하여 감쇠력을 조절하기 위한 스쿼트 값()을 검출하는 안티 스쿼트 제어 로직(30)과;A squat value for detecting a change in the opening angle of the vehicle and adjusting the damping force in response to the change amount ( Anti-squat control logic (30) to detect; 차량의 피치 운동을 제어하기 위하여 차량이 소정 설정 감속도 이상으로 감속될때의 감속에 대응하여 감쇠력을 조절하기 위한 다이브 값()을 검출하는 안티 다이브 제어 로직(40)과;Dive value for adjusting the damping force in response to the deceleration when the vehicle is decelerated above the predetermined deceleration to control the pitch movement of the vehicle ( Anti-dive control logic 40 for detecting; 차속에 따라 조정 안전성 및 승차감이 최대가 되도록 감쇠력을 조절하기 위한 차속 감응 신호()의 값(s1, s2, s3, s4, s5)을 소정 차속별(V1, V2, V3, V4) 로 저장하고 있으며, 상기 차속들(V1, V2, V3, V4)간의 상기 차속 감응 신호()는 차속(V1, V2, V3, V4)들간의 값(s1, s2, s3, s4, s5)에 따라 선형적으로 선택, 출력하는 차속 감응 제어 로직(50)과;Vehicle speed response signal for adjusting damping force to maximize adjustment safety and ride comfort according to vehicle speed ( ) Values s 1 , s 2 , s 3 , s 4 , and s 5 are stored at predetermined vehicle speeds (V1, V2, V3, V4), and between the vehicle speeds (V1, V2, V3, V4). The vehicle speed sensitive signal ( ) Is a vehicle speed sensitive control logic 50 that linearly selects and outputs according to values s 1 , s 2 , s 3 , s 4 , and s 5 between the vehicle speeds V1, V2, V3, and V4; 상기 승차감 값(), 롤 값(), 스쿼트 값(), 다이브 값()및 차속 감응 신호()에 대응하여 각 차륜의 댐퍼들에 제공되는 감쇠력()을 결정하는 댐퍼 제어 회로(60)를 구비하는 전자 제어 현가 장치.The ride comfort value ( ), Roll value ( ), The squat value ( ), Dive value ( ) And vehicle speed sensitive signal ( Damping force provided to the dampers of each wheel in response to Electronically controlled suspension comprising a damper control circuit (60) to determine
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020045771A (en) * 2000-12-11 2002-06-20 밍 루 Ride control apparatus and method, semi-active suspension system for automobile using it
KR20020049826A (en) * 2000-12-20 2002-06-26 밍 루 Electronic control semi-active suspension
KR20020053589A (en) * 2000-12-27 2002-07-05 밍 루 Semi-active suspension system of the car
KR100507758B1 (en) * 2002-08-27 2005-08-17 주식회사 만도 Electronic control suspension for adopting reverse damper

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07186663A (en) * 1993-12-28 1995-07-25 Nissan Motor Co Ltd Active type suspension
KR19980059813A (en) * 1996-12-31 1998-10-07 박문규 Semi-active suspension of vehicle and control method
KR19980075986A (en) * 1997-04-03 1998-11-16 오상수 Control Method of Vehicle Suspension
KR20000027739A (en) * 1998-10-29 2000-05-15 밍 루 Electro control suspension apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07186663A (en) * 1993-12-28 1995-07-25 Nissan Motor Co Ltd Active type suspension
KR19980059813A (en) * 1996-12-31 1998-10-07 박문규 Semi-active suspension of vehicle and control method
KR19980075986A (en) * 1997-04-03 1998-11-16 오상수 Control Method of Vehicle Suspension
KR20000027739A (en) * 1998-10-29 2000-05-15 밍 루 Electro control suspension apparatus

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020045771A (en) * 2000-12-11 2002-06-20 밍 루 Ride control apparatus and method, semi-active suspension system for automobile using it
KR20020049826A (en) * 2000-12-20 2002-06-26 밍 루 Electronic control semi-active suspension
KR20020053589A (en) * 2000-12-27 2002-07-05 밍 루 Semi-active suspension system of the car
KR100507758B1 (en) * 2002-08-27 2005-08-17 주식회사 만도 Electronic control suspension for adopting reverse damper

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