KR20070060852A - Suspension control system for vehicle and method thereof - Google Patents

Suspension control system for vehicle and method thereof Download PDF

Info

Publication number
KR20070060852A
KR20070060852A KR1020050120957A KR20050120957A KR20070060852A KR 20070060852 A KR20070060852 A KR 20070060852A KR 1020050120957 A KR1020050120957 A KR 1020050120957A KR 20050120957 A KR20050120957 A KR 20050120957A KR 20070060852 A KR20070060852 A KR 20070060852A
Authority
KR
South Korea
Prior art keywords
suspension
vehicle
rear wheel
amount
damping force
Prior art date
Application number
KR1020050120957A
Other languages
Korean (ko)
Inventor
김기철
Original Assignee
현대자동차주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대자동차주식회사 filed Critical 현대자동차주식회사
Priority to KR1020050120957A priority Critical patent/KR20070060852A/en
Publication of KR20070060852A publication Critical patent/KR20070060852A/en

Links

Images

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
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • 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
    • 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
    • B60G2400/50—Pressure
    • B60G2400/51—Pressure in suspension unit
    • 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

Abstract

An apparatus and a method for controlling a suspension of a vehicle are provided to control the damping force of a rear wheel suspension by predicting an impact transferred to the rear wheel suspension and the time for transferring the impact to the rear wheel suspension. An apparatus for controlling a suspension of a vehicle includes first and second pressure sensors(11,21), a speed sensor(30), an electronic control unit(40), and first and second actuators(51,62). The first and second pressure sensors detect the impact generated on a road surface. The speed sensor is mounted to an output shaft of a transmission to detect the speed of the vehicle. The electronic control unit calculates the expected time the impact generated in a front wheel is transmitted to a rear wheel and outputs a damping force control signal based on the calculated result. The first and second actuators control the damping force according to the control signal applied from the electronic control unit.

Description

차량의 서스펜션 제어장치 및 방법{SUSPENSION CONTROL SYSTEM FOR VEHICLE AND METHOD THEREOF}Suspension control system and method of vehicle {SUSPENSION CONTROL SYSTEM FOR VEHICLE AND METHOD THEREOF}

도 1은 본 발명에 따른 차량의 서스펜션 제어장치에 대한 개략적 구성도.1 is a schematic configuration diagram of a suspension control apparatus for a vehicle according to the present invention.

도 2는 본 발명에 따른 차량에서 서스펜션 제어를 수행하는 일 실시예의 흐름도.2 is a flow diagram of one embodiment for performing suspension control in a vehicle in accordance with the present invention.

도 3은 본 발명에 따른 차량의 주행중 전륜 서스펜션에서 검출되는 신호의 일 예시도.Figure 3 is an exemplary view of a signal detected in the front wheel suspension during driving of the vehicle according to the present invention.

도 4는 본 발명에 따른 차량의 주행중 전륜 서스펜션에서 검출되는 신호를 기반으로 후륜 서스펜션에 전달될 충격의 예상 신호의 일 예시도. 4 is an exemplary diagram of an expected signal of an impact to be transmitted to the rear wheel suspension based on a signal detected in the front wheel suspension while driving the vehicle according to the present invention.

도 5는 본 발명에 따른 차량에서 감쇠력 제어된 신호의 일 예시도.5 is an exemplary diagram of a damping force controlled signal in a vehicle according to the present invention.

<도면의 주요 부분에 대한 부호의 설명><Explanation of symbols for the main parts of the drawings>

10 : 전륜 우측 서스펜션 20 : 전륜 좌측 서스펜션10: front wheel right suspension 20: front wheel left suspension

30 : 전자제어 유닛 40 : 차속센서30: electronic control unit 40: vehicle speed sensor

50 : 후륜 우측 서스펜션 60 : 후륜 좌측 서스펜션50: rear wheel right suspension 60: rear wheel left suspension

본 발명은 차량에 장착되는 전자제어 서스펜션(Suspension)에 관한 것으로, 더 상세하게는 차량의 주행중 전륜 서스펜션에서 검출되는 충격량을 기반으로 후륜 서스펜션에 전달될 충격량과 시간(Timing)을 예측하여 후륜 서스펜션의 감쇠력을 제어하도록 함으로써, 쾌적한 승차감을 제공하도록 하는 차량의 서스펜션 제어장치 및 방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronically controlled suspension mounted on a vehicle, and more particularly, to predict an impact amount and a timing to be transmitted to the rear wheel suspension based on the amount of shock detected in the front wheel suspension during driving of the vehicle. A suspension control apparatus and method for a vehicle for providing a comfortable ride by controlling the damping force.

일반적으로, 차량에 장착되는 서스펜션은 스프링과 스테빌라이져 및 쇽업쇼버(S/Absorber)로 구성되어 차축과 프레임에 연결되며, 노면으로부터 발생되어 차체에 인가되는 진동 및 충격을 흡수하여 쾌적한 승차감과 안정된 주행성능을 갖게 하는 장치이다.In general, the suspension mounted on the vehicle is composed of a spring, stabilizer, and shock absorber (S / Absorber), connected to the axle and the frame, and absorbs vibration and shock generated from the road surface to be applied to the vehicle body, resulting in a comfortable ride and stable driving performance. It is a device to have.

이중에서 쇽업쇼버는 주행시에 스프링이 받는 충격에 의해 발생하는 고유 진동을 흡수하여 안정성과 승차감을 향상시킨다.In particular, the shock absorber absorbs the natural vibration generated by the impact of the spring during driving, improving stability and riding comfort.

전자 제어기술의 발달에 따라 쇽업쇼버의 감쇠력 조절과 차고 조절의 기능이 추가되어 공기 및 유압 스프링이 내압 제어에 의한 차체의 흔들림을 최소화시켜 타이어의 성능을 최대로 발휘할 수 있도록 하고, 출발시에 발생하는 노즈 업과 제동시에 발생하는 노즈 다운을 제어하여 발진성의 향상과 제동의 안정성을 제공하며, 험로의 주행시에 차체의 흔들이 적은 안락한 승차감이 제공되도록 한다.With the development of electronic control technology, the damper force adjustment and the height adjustment function of shock absorbers have been added, so that air and hydraulic springs can maximize the performance of tires by minimizing the fluctuation of the vehicle body by internal pressure control and occurring at the start. By controlling the nose down and the nose down generated during braking, it provides improved oscillation performance and stability of braking, and provides a comfortable ride with less shaking of the vehicle body when driving on a rough road.

이와 같이 쇽업쇼버를 감쇠력을 부드럽게 하거나 딱딱하게 제어하여 안정되고 쾌적한 승차감을 제공할 수 있으나, 차량의 주행중 노면의 상태에 따라 전해지는 충격을 완벽하게 차단할 수 없는 단점이 있다. In this way, the shock absorber can provide a stable and comfortable ride by softening or hardening the damping force, but there is a disadvantage in that the shock transmitted according to the road surface during driving of the vehicle cannot be completely blocked.

본 발명은 상기와 같은 문제점을 해결하기 위하여 발명한 것으로, 그 목적은 차량의 주행중 전륜 서스펜션에서 검출되는 충격량을 기반으로 후륜 서스펜션에 전달될 충격량과 시간을 예측하여 후륜 서스펜션의 감쇠력을 능동적으로 제어하도록 함으로써, 쾌적한 승차감과 주행의 안전성을 제공하도록 한 것이다.The present invention has been made to solve the above problems, the object of which is to predict the amount of shock and the time to be transmitted to the rear wheel suspension based on the amount of shock detected in the front wheel suspension of the vehicle to actively control the damping force of the rear wheel suspension. As a result, a comfortable ride and driving safety are provided.

상기와 같은 목적을 실현하기 위한 본 발명은 전륜 좌우측 서스펜션에 장착되어 노면에서 발생되는 충격량을 검출하는 제1,2압력센서와; 변속기의 출력축에 장착되어 주행 차속을 검출하는 차속센서와; 차속과 차량의 축거를 이용하여 전륜에서 발생된 충격량이 후륜에서 발생되기까지의 예상시간을 연산하고, 전륜에서 발생된 충격량에 따라 후륜 서스펜션 감쇠력 제어량을 연산하여 예상시간에 연산된 감쇠력 제어신호를 출력하는 전자제어 유닛과; 후륜 좌우측 서스펜션에 장착되어 상기 전자제어 유닛에서 인가되는 제어신호에 따라 감쇠력을 조정하는 제1,2액츄에이터를 포함하는 것을 특징으로 하는 차량의 서스펜션 제어장치를 포함한다.The present invention for realizing the above object is the first and second pressure sensors for detecting the amount of impact generated on the road surface mounted on the left and right suspension; A vehicle speed sensor mounted on an output shaft of the transmission to detect a traveling vehicle speed; Using the vehicle speed and the wheelbase of the vehicle, the estimated time until the amount of impact generated from the front wheel is generated from the rear wheel is calculated, and the amount of control of the rear suspension damping force is calculated according to the amount of impact generated from the front wheel, and the damping force control signal calculated at the estimated time is output. An electronic control unit; And a first actuator and a second actuator mounted on the left and right rear suspensions to adjust the damping force according to a control signal applied from the electronic control unit.

또한, 본 발명은 차량의 현재 주행속도가 설정된 기준 차속 이상인지를 판단하는 과정과; 주행 속도 설정된 기준 차속 이상이면 전륜 좌우측 서스펜션에 각각 장착된 압력센서로부터 노면의 상태 정보를 취득하는 과정과; 주행 차속과 차량의 축거를 이용하여 전륜 서스펜션에서 발생된 충격량이 후륜 서스펜션에 발생되기까지의 예상시간을 연산하는 과정과; 상기 압력센서로부터 취득된 노면의 상태 정보에 따라 후륜 서스펜션의 감쇠력 제어량을 연산하는 과정과; 상기 연산된 예상시간에 연산된 감쇠력 제어량으로 후륜 서스펜션에 장착되는 액츄에이터를 능동적으로 제어하는 과정을 포함하는 것을 특징으로 하는 차량의 서스펜션 제어방법을 제공한다.In addition, the present invention comprises the steps of determining whether the current running speed of the vehicle is more than the set reference vehicle speed; Acquiring state information of the road surface from pressure sensors mounted on the front left and right suspensions, respectively, if the traveling speed is equal to or greater than the set reference vehicle speed; Calculating an estimated time until an impact amount generated in the front wheel suspension is generated in the rear wheel suspension using the driving vehicle speed and the wheelbase of the vehicle; Calculating a damping force control amount of the rear wheel suspension according to the state information of the road surface obtained from the pressure sensor; And a step of actively controlling an actuator mounted to the rear wheel suspension using the damping force control amount calculated at the calculated estimated time.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 일 실시예를 상세하게 설명하면 다음과 같다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 따른 차량의 서스펜션 제어장치에 대한 개략적인 구성도로, 도시된 바와 같이 전륜 우측 서스펜션(10)에 제1압력센서(11)가 장착되고, 전륜 좌측 서스펜션(20)에 제2압력센서(21)가 장착된다.1 is a schematic configuration diagram of an apparatus for controlling a suspension of a vehicle according to the present invention. As shown in FIG. 1, a first pressure sensor 11 is mounted on a front wheel right suspension 10, and a second wheel on a front wheel left suspension 20. The pressure sensor 21 is mounted.

상기 제1압력센서(11)는 주행중 노면으로부터 충격량을 발생되어 전륜 우측 서스펜션(10)에서의 감쇠력이 발생되는 경우 그에 따라 변화되는 실린더 내부의 압력을 검출하여 그에 대한 신호를 출력한다.When the first pressure sensor 11 generates an impact amount from the road surface while driving and generates a damping force in the front wheel right suspension 10, the first pressure sensor 11 detects a pressure inside the cylinder that is changed accordingly and outputs a signal thereof.

상기 제2압력센서(21)는 주행중 노면으로부터 충격량이 발생되어 전륜 좌측 서스펜션(20)에서의 감쇠력이 발생되는 경우 그에 따라 변화되는 실린더 내부의 압력을 검출하여 그에 대한 신호를 출력한다.The second pressure sensor 21 detects a pressure inside the cylinder that is changed according to the impact amount generated from the road surface while driving and a damping force is generated at the front left suspension 20, and outputs a signal thereof.

차속센서(30)는 변속기 출력축에 장착되어, 출력축의 회전수로부터 현재의 차속을 검출하여 그에 대한 신호를 출력한다.The vehicle speed sensor 30 is mounted on the transmission output shaft to detect the current vehicle speed from the rotational speed of the output shaft and output a signal thereto.

전자제어 유닛(40)은 전륜 우측 및 좌측 서스펜션(10)(20)에 장착되어 있는 제1,제2압력센서(11)(21)에서 압력이 검출되는 경우 검출되는 차속(Vspeed)과 차량의 축거(L)를 감안하여 후륜 우측 및 좌측 서스펜션(50)(60)에 영향을 미칠 예상시간을 연산하고, 그에 따른 감쇠력을 연산하여 예상 시간에 연산된 감쇠력 제어신호를 출력한다.The electronic control unit 40 includes a vehicle speed (V speed ) and a vehicle that are detected when pressure is detected by the first and second pressure sensors 11 and 21 mounted on the front right and left suspensions 10 and 20. In consideration of the wheelbase L, the estimated time to affect the rear wheel right and left suspensions 50 and 60 is calculated, and the damping force is calculated accordingly to output the damping force control signal calculated at the estimated time.

후륜 우측 서스펜션(50)에 제1액츄에이터(51)가 장착되고, 후륜 좌측 서스펜션(60)에 제2액츄에이터(62)가 각각 장착되며, 제1,제2액츄에이터(51)(62)는 전자제어 유닛(40)에서 인가되는 제어신호에 따라 감쇠력 조정하여 후륜에 미치는 충격량을 완화시킨다. The first actuator 51 is mounted to the rear wheel right suspension 50, and the second actuator 62 is mounted to the rear wheel left suspension 60, respectively, and the first and second actuators 51 and 62 are electronically controlled. The damping force is adjusted according to the control signal applied from the unit 40 to mitigate the amount of impact on the rear wheels.

전술한 바와 같은 기능을 포함하여 구성되는 본 발명의 동작에 대하여 설명하면 다음과 같다.Referring to the operation of the present invention including the function as described above are as follows.

전자제어 서스펜션이 장착되는 차량에 장착되는 전자제어 유닛(40)은 차량의 상태 정보를 검출하여(S101), 차량이 주행중에 있는지를 판단한다(S102).The electronic control unit 40 mounted on the vehicle on which the electronic control suspension is mounted detects state information of the vehicle (S101), and determines whether the vehicle is driving (S102).

차량이 주행중에 있지 않은 상태이면 대기모드를 유지하고, 주행중에 있는 상태이면 변속기 출력축에 장착되어 있는 차속센서(30)로부터 현재의 주행차속을 검출하여(S103) 설정된 기준 차속 이상으로 주행되고 있는지를 판단한다(S104).If the vehicle is not driving, the vehicle maintains the standby mode. If the vehicle is driving, the current vehicle speed is detected from the vehicle speed sensor 30 mounted on the transmission output shaft (S103). It is determined (S104).

상기 설정된 기준 차속은, 바람직하게는 10Km/h의 속도로 설정한다.The set reference vehicle speed is preferably set at a speed of 10 km / h.

상기 S104의 판단에서 설정된 기준 차속 이하의 속도로 주행되고 있는 상태이면 저속의 조건으로 판단하여 서스펜션 감쇠력 제어 모드를 수행하지 않는다.If the vehicle is traveling at a speed lower than the reference vehicle speed set in the determination of S104, it is determined as a low speed condition and the suspension damping force control mode is not performed.

그러나, 설정된 기준 차속 이상으로 주행되는 상태이면 전륜 우측 및 전륜 좌측 서스펜션(10)(20)에 각각 장착되어 있는 제1,제2압력센서(11)(21)로부터 노면의 상태정보를 취득 판단한다(S105).However, if the vehicle is traveling at a speed higher than the set reference vehicle speed, it is determined that the road surface state information is acquired from the first and second pressure sensors 11 and 21 mounted on the front wheel right and front wheel left suspensions 10 and 20, respectively. (S105).

이후, 전자제어 유닛(40)은 취득 판단된 노면의 상태 정보와 차량의 축거(L) 및 차속의 조건을 감안하여 후륜 우측 서스펜션(50) 및 후륜 좌측 서스펜션(60)의 감쇠력 제어 타이밍을 계산한다(S106).Thereafter, the electronic control unit 40 calculates the damping force control timing of the rear wheel right suspension 50 and the rear wheel left suspension 60 in consideration of the state information of the road surface determined and the condition of the wheelbase L and the vehicle speed of the vehicle. (S106).

상기와 같이 후륜 우측 및 좌측 서스펜션(50)(60)의 감쇠력 제어 타이밍이 계산되면 충격을 완화시키기 위한 감쇠력 제어량을 계산하여(S107), 계산된 감쇠력 제어량으로 후륜 우측 서스펜션(50) 및 후륜 좌측 서스펜션(60)에 장착되는 제1,제2 액츄에이터(51)(62)를 능동적으로 제어하여(S108) 후륜으로부터 전달되는 충격량이 최소가 되도록 한다.As described above, when the damping force control timing of the rear wheel right and left suspensions 50 and 60 is calculated (S107), the damping force control amount for mitigating an impact is calculated (S107), and the rear wheel right suspension 50 and the rear wheel left suspension are calculated using the calculated damping force control amount. The first and second actuators 51 and 62 mounted on the 60 are actively controlled (S108) to minimize the amount of impact transmitted from the rear wheels.

일 예를 들어 전륜 우측 및 좌측 서스펜션(10)(20)에 장착되어 있는 제1, 제2압력센서(11)(21)로부터 도 3에 도시된 바와 같은 충격량이 전자제어 유닛(40)에 검출되면 전자제어 유닛(40)은 차량의 속도와 차량의 축거를 기반으로 전륜에서 발생된 충격량이 후륜에 발생되기까지의 예상시간을 연산하여 도 4와 같이 추출한다.For example, the impact amount as shown in FIG. 3 is detected by the electronic control unit 40 from the first and second pressure sensors 11 and 21 mounted on the front wheel right and left suspensions 10 and 20. Then, the electronic control unit 40 calculates the estimated time until the impact amount generated in the front wheel is generated in the rear wheel based on the speed of the vehicle and the wheelbase of the vehicle, and extracts it as shown in FIG. 4.

상기 예상시간의 연산은 하기의 수학식 1을 적용하여 산출한다.The calculation of the estimated time is calculated by applying Equation 1 below.

TL = L / Vspeed T L = L / V speed

상기의 수학식 1에서 TL 은 전륜에서 발생된 충격이 후륜에 전달되기까지의 예상 시간이고, L 은 차량의 전륜과 후륜간의 거리인 축거이며, Vspeed는 차량의 속도이다.In the above Equation 1, T L is the estimated time until the shock generated from the front wheel is transmitted to the rear wheel, L is the wheelbase which is the distance between the front wheel and the rear wheel of the vehicle, V speed is the speed of the vehicle.

현재 차량에서는 차속센서(30)는 홀 타입(Hall Type)의 차속센서를 적용하므로, 차속센서(30)에서 출력되는 신호는 한 바퀴 회전할 때마다 4개의 구형파 펄스를 출력한다.In the current vehicle, since the vehicle speed sensor 30 applies a hall type vehicle speed sensor, the signal output from the vehicle speed sensor 30 outputs four square wave pulses each time one revolution is made.

따라서, 이 신호는 차량 조건에서 펄스 한 개당 주행한 거리로 환산이 가능하기 때문에 차량의 속도에 관계없이 펄스의 개수를 카운트함으로써 정확한 예상시간을 계산할 수 있게 된다.Therefore, since this signal can be converted into the distance traveled per pulse under vehicle conditions, accurate prediction time can be calculated by counting the number of pulses regardless of the vehicle speed.

상기와 같이 전륜에서 발생된 충격이 후륜에 발생되기까지의 예상시간이 계산되어지면, 충격을 완화시키기 위한 감쇠력 제어량을 하기의 수학식 2를 적용하여 계산한다.When the estimated time until the shock generated in the front wheel is generated in the rear wheel as described above is calculated, the damping force control amount for mitigating the impact is calculated by applying the following equation (2).

C(t) = P'(t) = ｜dP(t) / dt｜C (t) = P '(t) = | dP (t) / dt |

상기에서 P(t)는 후륜에 전달될 시간에 대한 압력 함수이고, C(t)는 액츄에이터 제어를 위한 시간함수를 의미한다.In the above, P (t) is a pressure function for the time to be delivered to the rear wheel, C (t) means a time function for the actuator control.

상기 액츄에이터 제어함수는 후륜에 전달된 압력함수의 미분 방정식의 절대값으로 충격량의 변동폭이 작을 때는 액츄에이터의 열림량을 작게 하여 감쇠력을 높여준다.The actuator control function is an absolute value of the differential equation of the pressure function transmitted to the rear wheel, and the damping force is increased by reducing the opening amount of the actuator when the fluctuation amount of the impact amount is small.

상기와 같이 전륜에서 발생된 충격량이 후륜에서 발생되기까지의 예상 시간과 감쇠력 제어량이 연산되면 이를 바탕으로 후륜 서스펜션에 장착되는 액츄에이터를 능동적으로 제어하여, 후륜에서의 충격이 도 5와 같이 유지되도록 함으로써 안정된 승차감을 제공하여 준다.As described above, when the estimated time until the amount of shock generated from the front wheel and the amount of damping force control amount is calculated from the rear wheel is calculated, the actuator mounted on the rear wheel suspension is actively controlled to maintain the impact on the rear wheel as shown in FIG. 5. Provides a stable ride.

이때, 전륜 좌우측 서스펜션에서 검출되는 충격량에 따라 후륜 좌우측 서스펜션 액츄에이터를 독립적으로 제어한다.At this time, the rear wheel left and right suspension actuators are independently controlled in accordance with the amount of impact detected by the front wheel left and right suspension.

본 발명은 도면에 도시된 일 실시예를 참고로 설명되었으나 이는 예시적인 것에 불과하며, 당해 기술분야에서 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 실시예가 가능하다는 점을 이해할 것이다.Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent embodiments are possible.

이상에서 설명한 바와 같이 본 발명은 차량의 주행중에 전륜에서 발생되는 충격량으로부터 노면의 상태를 판단하여 후륜 서스펜션의 감쇠력을 능동적으로 제어함으로써, 서스펜션의 성능을 향상시키고 쾌적한 승차감을 제공한다.As described above, the present invention determines the state of the road surface from the amount of impact generated at the front wheel while the vehicle is running, and actively controls the damping force of the rear wheel suspension, thereby improving the performance of the suspension and providing a comfortable ride.

Claims (8)

전륜 좌우측 서스펜션에 장착되어 노면에서 발생되는 충격량을 검출하는 제1,2압력센서와;First and second pressure sensors mounted on the front left and right suspensions and detecting an impact amount generated on the road surface; 변속기의 출력축에 장착되어 주행 차속을 검출하는 차속센서와;A vehicle speed sensor mounted on an output shaft of the transmission to detect a traveling vehicle speed; 차속과 차량의 축거를 이용하여 전륜에서 발생된 충격량이 후륜에서 발생되기까지의 예상시간을 연산하고, 전륜에서 발생된 충격량에 따라 후륜 서스펜션 감쇠력 제어량을 연산하여 예상시간에 연산된 감쇠력 제어신호를 출력하는 전자제어 유닛과;Using the vehicle speed and the wheelbase of the vehicle, the estimated time until the amount of impact generated from the front wheel is generated from the rear wheel is calculated, and the amount of control of the rear suspension damping force is calculated according to the amount of impact generated from the front wheel, and the damping force control signal calculated at the estimated time is output. An electronic control unit; 후륜 좌우측 서스펜션에 장착되어 상기 전자제어 유닛에서 인가되는 제어신호에 따라 감쇠력을 조정하는 제1,2액츄에이터를 포함하는 것을 특징으로 하는 차량의 서스펜션 제어장치.Suspension control device for a vehicle, characterized in that the first and second actuators mounted on the left and right rear suspension to adjust the damping force according to the control signal applied from the electronic control unit. 제1항에 있어서,The method of claim 1, 상기 전자제어 유닛은 하기의 수학식 3을 적용하여 전륜에서 발생된 충격량이 후륜에서 발생되기까지의 예상시간을 연산하는 것을 특징으로 하는 차량의 서스펜션 제어장치.The electronic control unit is a suspension control apparatus for a vehicle, characterized in that to calculate the estimated time until the impact amount generated in the front wheel generated in the rear wheel by applying the following equation (3). TL = L / Vspeed T L = L / V speed 여기서 TL 은 전륜에서 발생된 충격이 후륜에 전달되기까지의 예상시간이고, L은 전륜과 후륜간의 거리인 축거이며, Vspeed는 차량의 속도이다.Where T L is the estimated time until the shock from the front wheels is transmitted to the rear wheels, L is the wheelbase, the distance between the front wheels and the rear wheels, and V speed is the speed of the vehicle. 제1항에 있어서,The method of claim 1, 상기 전자제어 유닛은 하기의 수학식 4를 적용하여 후륜 서스펜션의 감쇠력 제어량을 연산하는 것을 특징으로 하는 차량의 서스펜션 제어장치.The electronic control unit is applied to the following equation 4 to calculate the damping force control amount of the rear wheel suspension vehicle control apparatus, characterized in that. C(t) = P'(t) = ｜dP(t) / dt｜C (t) = P '(t) = | dP (t) / dt | 여기에서 P(t)는 후륜에 전달될 시간에 대한 압력 함수이고, C(t)는 액츄에이터 제어를 위한 시간함수를 의미한다.Where P (t) is the pressure function versus the time to be delivered to the rear wheel, and C (t) means the time function for actuator control. 제1항에 있어서,The method of claim 1, 상기 전자제어 유닛은 전륜 좌우측 서스펜션에서 검출되는 충격량에 따라 후륜 좌우측 서스펜션을 독립적으로 제어하는 것을 특징으로 하는 차량의 서스펜션 제어장치.The electronic control unit is a suspension control device for a vehicle, characterized in that to independently control the rear wheel left and right suspension according to the amount of impact detected in the front left and right suspension. 제1항에 있어서,The method of claim 1, 상기 전자제어 유닛은 설정된 속도 이상의 조건에서만 전륜 좌우측 서스펜션에서 검출되는 충격량에 따라 후륜 좌우측 서스펜션을 제어하는 것을 특징으로 하 는 차량의 서스펜션 제어장치.And the electronic control unit controls the rear wheel left and right suspensions according to the amount of impact detected by the front wheel left and right suspensions only under a predetermined speed or more. 차량의 현재 주행속도가 설정된 기준 차속 이상인지를 판단하는 과정과;Determining whether the current traveling speed of the vehicle is equal to or greater than the set reference vehicle speed; 주행 속도 설정된 기준 차속 이상이면 전륜 좌우측 서스펜션에 각각 장착된 압력센서로부터 노면의 상태 정보를 취득하는 과정과;Acquiring state information of the road surface from pressure sensors mounted on the front left and right suspensions, respectively, if the traveling speed is equal to or greater than the set reference vehicle speed; 주행 차속과 차량의 축거를 이용하여 전륜 서스펜션에서 발생된 충격량이 후륜 서스펜션에 발생되기까지의 예상시간을 연산하는 과정과;Calculating an estimated time until an impact amount generated in the front wheel suspension is generated in the rear wheel suspension using the driving vehicle speed and the wheelbase of the vehicle; 상기 압력센서로부터 취득된 노면의 상태 정보에 따라 후륜 서스펜션의 감쇠력 제어량을 연산하는 과정과;Calculating a damping force control amount of the rear wheel suspension according to the state information of the road surface obtained from the pressure sensor; 상기 연산된 예상시간에 연산된 감쇠력 제어량으로 후륜 서스펜션에 장착되는 액츄에이터를 능동적으로 제어하는 과정을 포함하는 것을 특징으로 하는 차량의 서스펜션 제어방법.And actively controlling an actuator mounted to the rear wheel suspension using the damping force control amount calculated at the calculated estimated time. 제6항에 있어서,The method of claim 6, 상기 설정된 기준 차속은 10Km/h로 설정하는 것을 특징으로 하는 차량의 서스펜션 제어방법.The set reference vehicle speed is set to 10Km / h suspension control method of a vehicle. 제6항에 있어서,The method of claim 6, 상기 후륜 서스펜션에 대한 감쇠력 제어는 전륜 좌우측에서 발생되는 충격량에 따라 대응되는 차륜에서 독립적으로 제어되는 것을 특징으로 하는 차량의 서스 펜션 제어방법. The damping force control for the rear wheel suspension is controlled independently of the wheel corresponding to the amount of impact generated from the left and right front wheels.
KR1020050120957A 2005-12-09 2005-12-09 Suspension control system for vehicle and method thereof KR20070060852A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020050120957A KR20070060852A (en) 2005-12-09 2005-12-09 Suspension control system for vehicle and method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020050120957A KR20070060852A (en) 2005-12-09 2005-12-09 Suspension control system for vehicle and method thereof

Publications (1)

Publication Number Publication Date
KR20070060852A true KR20070060852A (en) 2007-06-13

Family

ID=38356819

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020050120957A KR20070060852A (en) 2005-12-09 2005-12-09 Suspension control system for vehicle and method thereof

Country Status (1)

Country Link
KR (1) KR20070060852A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010013019A3 (en) * 2008-08-01 2010-04-01 Haldex Brake Products Limited Method of monitoring a vehicle and apparatus therefor
CN113183709A (en) * 2021-06-04 2021-07-30 合肥工业大学 Automobile electric control suspension pre-aiming control method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010013019A3 (en) * 2008-08-01 2010-04-01 Haldex Brake Products Limited Method of monitoring a vehicle and apparatus therefor
CN113183709A (en) * 2021-06-04 2021-07-30 合肥工业大学 Automobile electric control suspension pre-aiming control method
CN113183709B (en) * 2021-06-04 2022-09-27 合肥工业大学 Preview control method for automobile electric control suspension

Similar Documents

Publication Publication Date Title
JP4972440B2 (en) Control device for damping force variable damper
KR101198227B1 (en) Method and apparatus for controlling a semi-active suspension system for motorcycles
US5638275A (en) Apparatus and method for controlling damping force characteristic of vehicular shock absorber
US7083172B2 (en) Method for controlling anti-roll/anti-yaw of vehicles
US8108102B2 (en) Sprung mass velocity estimating apparatus
KR20070060852A (en) Suspension control system for vehicle and method thereof
CN111361381A (en) Self-adaptive damping device for commercial vehicle, suspension system for commercial vehicle and vehicle damping method
JP5193629B2 (en) Control device for damping force variable damper
JP4486979B2 (en) Control device for damping force variable damper
JP4960715B2 (en) Vehicle equipped with damper with variable damping force
KR100895703B1 (en) Vehicular suspension for detecting sensor fault
JP2009078761A (en) Suspension controller
JP2009137342A (en) Control device for attenuation force variable damper
US20230211642A1 (en) Controller, vehicle, and control method
KR100820412B1 (en) control method of electronic control system for suspension system of an automotive vehicle
JP2886264B2 (en) Vehicle suspension device
KR20000055865A (en) Electronic suspension apparatus
JP5090977B2 (en) Control device for damping force variable damper
KR19990057517A (en) Vehicle Electronic Control Suspension
JP2566128Y2 (en) Vehicle suspension
JPH08175146A (en) Suspension prediction control device
KR100648811B1 (en) Control method for active geometry controlled suspension system
JP2997311B2 (en) Vehicle suspension device
JP2009179089A (en) Control device for damping-force variable damper
KR20230122136A (en) Slip state detection device and suspension control device

Legal Events

Date Code Title Description
WITN Withdrawal due to no request for examination