KR20070076263A - Method for setting damping force in electric suspension controlling system - Google Patents

Method for setting damping force in electric suspension controlling system Download PDF

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Publication number
KR20070076263A
KR20070076263A KR1020060005433A KR20060005433A KR20070076263A KR 20070076263 A KR20070076263 A KR 20070076263A KR 1020060005433 A KR1020060005433 A KR 1020060005433A KR 20060005433 A KR20060005433 A KR 20060005433A KR 20070076263 A KR20070076263 A KR 20070076263A
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South Korea
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vehicle
damping force
sensing value
control
driving
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KR1020060005433A
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Korean (ko)
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고유석
현명화
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주식회사 만도
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Publication of KR20070076263A publication Critical patent/KR20070076263A/en

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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
    • 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
    • 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
    • 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
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/056—Regulating distributors or valves for hydropneumatic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/42—Electric actuator
    • 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
    • B60G2400/05—Attitude
    • B60G2400/052—Angular rate
    • 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
    • B60G2400/05—Attitude
    • B60G2400/052—Angular rate
    • B60G2400/0523—Yaw rate
    • 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
    • B60G2400/40—Steering conditions
    • B60G2400/41—Steering angle
    • 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
    • B60G2800/24—Steering, cornering
    • B60G2800/244—Oversteer
    • 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
    • B60G2800/24—Steering, cornering
    • B60G2800/246—Understeer

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

Abstract

A method for controlling an electrically controlled suspension system is provided to control the right and left damping forces and the front and rear damping forces of a damper by considering the speed of a vehicle. A method for controlling an electrically controlled suspension system includes the steps of: driving an actuator of a vehicle after the suspension system is set to an initial valve if an engine of the vehicle is driven and a power source is connected to the suspension system(S204); distributing the damping forces of right and left dampers of the vehicle on the basis of the sensing value input as the vehicle travels(S210); and distributing the damping forces of front and rear dampers of the vehicle according to the comparison result of the sensing value and a steering reference value of the vehicle(S216).

Description

전자제어 현가장치 제어 방법{METHOD FOR SETTING DAMPING FORCE IN ELECTRIC SUSPENSION CONTROLLING SYSTEM}Electronic control suspension control method {METHOD FOR SETTING DAMPING FORCE IN ELECTRIC SUSPENSION CONTROLLING SYSTEM}

도 1은 전형적인 전자제어 현가장치의 구성 블록도,1 is a block diagram illustrating a typical electronically controlled suspension device;

도 2는 본 발명의 바람직한 실시예에 따른 전자제어 현가장치에서의 모드 제어 과정을 나타낸 흐름도.2 is a flowchart illustrating a mode control process in an electronically controlled suspension device according to a preferred embodiment of the present invention.

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

100 : 센서부 102 : 제어부100: sensor unit 102: control unit

104 : 구동부 106 : 가변 댐퍼104: driving unit 106: variable damper

108 : 모드 스위치108: mode switch

본 발명은 전자제어 현가장치를 제어하는 기술에 관한 것으로, 특히 차량의 다양한 주행 조건에 보다 능동적으로 대처할 수 있는 전자제어 현가장치 제어 방법에 관한 것이다.The present invention relates to a technique for controlling an electronically controlled suspension, and more particularly, to an electronically controlled suspension control method capable of more actively coping with various driving conditions of a vehicle.

일반적으로 현가장치(懸架裝置, suspension system)는 차체(섀시)를 제외한 프레임, 원동기, 동력전달장치 등의 유닛과 바퀴가 붙은 차축을 연결하는 장치로 서, 댐퍼 및 액추에이터를 구비하여 노면의 요철(凹凸)에서 받는 충격을 흡수하는 장치이다.In general, suspension system is a device that connects the axles with wheels and the frame, prime mover, power transmission device, etc., except for the chassis, and has dampers and actuators, It is a device to absorb the shock received in iii).

현재 반능동 현가장치(semi suspension system)는 차량에 장착된 댐퍼의 운동 특성을 연속적으로 제어, 즉 댐퍼의 감쇠력을 가변시켜서 주행안정성 및 승차감을 향상시켰다. 운전자가 과도하게 조향을 하거나 차량의 거동이 일정한 궤도를 벗어날 경우 하중차이에 의한 쏠림현상 및 조향력 상실로 차량전복이나 예측불가의 위험에 처할 수 있다. 하지만 반능동 현가장치가 장착된 차량의 경우에는 불규칙한 노면의 주행시 타이어 접지면에서의 수직하중을 적절한 수준으로 유지하여 선회, 제동, 구동시의 차량의 안정성을 확보할 수 있고, 차량의 주행중에 발생되는 노면의 불규칙한 압력을 효과적으로 차단함으로써 승객에게 안락한 승차감과 운전편의성을 제공해 준다.Semi-semi suspension systems currently control the movement characteristics of the damper mounted on the vehicle continuously, that is, by varying the damping force of the damper to improve driving stability and ride comfort. If the driver steer excessively or the vehicle's behavior is out of a constant track, the vehicle may be overturned or unpredictable due to the load difference and loss of steering power. However, in the case of a vehicle equipped with a semi-active suspension, the vertical load on the tire ground surface can be maintained at an appropriate level when driving on an irregular road surface, thereby ensuring the stability of the vehicle during turning, braking, and driving. By effectively blocking the irregular pressure on the road surface, it provides passengers with a comfortable ride and driving convenience.

한편, 반능동 현가장치의 전자제어기(ECU : Electronic Control Unit)는 차량에 장착된 여러 가지 센서들 중에서 수직 가속도 센서, 차속 센서, 조향각 센서, 브레이크 감지 센서, 트로틀 위치 감지 센서 등을 통해서 차량의 주행 상태가 바운스(bounce), 롤(roll), 다이브(dive), 스쿼트(squat) 인지를 감지하여 4륜에 각각 연결된 댐퍼 및 액추에이터를 제어하고 있다.On the other hand, the electronic control unit (ECU) of the semi-active suspension device is a vehicle of the vehicle through a vertical acceleration sensor, a vehicle speed sensor, a steering angle sensor, a brake sensor, a throttle position sensor among various sensors mounted on the vehicle. It senses whether the state is bounce, roll, dive, or squat, and controls dampers and actuators connected to each of the four wheels.

일반적으로 댐퍼의 감쇠력은 비선형적 특성을 지닌다. 즉, 전자제어기의 제어신호가 많이 변하는 영역에서 실제 댐퍼 감쇠력이 작게 변할 수 있으며 제어신호가 조금 변하는 영역에서 실제 댐퍼 감쇠력이 많이 변할 수 있다.In general, the damping force of the damper is nonlinear. That is, the actual damper damping force may change small in the region in which the control signal of the electronic controller changes a lot, and the actual damper damping force may vary in the region in which the control signal changes slightly.

그런데 종래 반능동 현가장치의 전자제어기는 차량의 주행 상태가 바운스, 롤, 다이브, 또는 스쿼트일 경우 고정된 기울기 계수를 갖는 댐퍼 감쇠력으로 댐퍼 및 액추에이터를 제어하였다. 일반적으로 차량 상태가 롤, 다이브, 스쿼트일 경우에는 댐퍼의 운동 속도가 저속인데 반하여 바운스인 경우에는 댐퍼의 운동 속도가 저속에서부터 고속까지 변화되는 특성이 있다.However, the electronic controller of the conventional semi-active suspension device controls the damper and the actuator with damper damping force having a fixed tilt coefficient when the vehicle driving state is bounce, roll, dive, or squat. In general, when the vehicle state is a roll, dive, squat, the motion speed of the damper is a low speed, while in the case of bounce, the motion speed of the damper is changed from low speed to high speed.

따라서 동일하게 고정된 댐퍼 감쇠력으로 댐퍼 및 액추에이터를 작동하는 것은 바람직하지 않으며, 최근 출시되는 차량에는 감쇠력 특성 곡선을 상이하게 유지시키기 위한 감쇠력 설정 모드 기능이 구비된다.Therefore, it is not desirable to operate the damper and the actuator with the same fixed damper damping force, and recently released vehicles are equipped with a damping force setting mode function for keeping the damping force characteristic curve different.

이러한 차량의 현가장치의 댐퍼 감쇠력 모드를 설정하기 위한 시스템은 도 1에 도시한 바와 같이 가변 댐퍼(106), 구동부(104), 센서부(100), 제어부(예를 들면, 상술한 전자제어기)(102), 모드 스위치(108)로 구성된다.As shown in FIG. 1, the system for setting the damper damping force mode of the suspension device of the vehicle includes the variable damper 106, the driving unit 104, the sensor unit 100, and the control unit (for example, the above-described electronic controller). 102, the mode switch 108.

가변 댐퍼(106)는 차체(body)와 차축 사이 복수 지점에 위치하고 두 개 이상의 감쇠력 특성 곡선(soft, hard)을 지니면서 가변 솔레노이드 밸브나 스텝 모터와 같은 액추에이터의 작동에 의해 연속 또는 다단으로 변화된다.The variable damper 106 is located at a plurality of points between the body and the axle, and has two or more damping force characteristic curves (soft, hard) and is changed continuously or in multiple stages by the operation of an actuator such as a variable solenoid valve or a step motor. .

구동부(104)는 가변 댐퍼(106)의 감쇠력을 조정하는 액추에이터 등으로 구성되며, 제어부(102)의 제어하에 차량의 감쇠력 특성을 조절하는 역할을 수행한다.The driving unit 104 includes an actuator for adjusting the damping force of the variable damper 106 and serves to adjust the damping force characteristic of the vehicle under the control of the controller 102.

센서부(100)는 횡가속도 센서, 조향각(steering angle) 센서, 요 레이트(yaw rate) 센서, 휠 스피드 센서, 차속 센서(이상 도시 생략됨) 등으로 이루어지며, 이 센서부(100)에는 횡가속도 센서로 측정된 가속도를 미분하여 횡가속도 미분치를 산출하는 횡가속도 미분치 측정 수단이 더 구비된다.The sensor unit 100 includes a lateral acceleration sensor, a steering angle sensor, a yaw rate sensor, a wheel speed sensor, a vehicle speed sensor (not shown above), and the like. Lateral acceleration differential value measuring means for differentiating the acceleration measured by the acceleration sensor to calculate the lateral acceleration differential value is further provided.

제어부(102)는 횡가속도 및 횡가속도 미분치를 기초로 액추에이터의 제어량 을 산출하고, 이 제어량에 따라 액추에이터를 통해 댐퍼(106)를 제어한다.The control unit 102 calculates a control amount of the actuator based on the lateral acceleration and the lateral acceleration derivative value, and controls the damper 106 through the actuator according to the control amount.

그리고 이 경우에 제어부(102)는 횡가속도에 비례하는 액추에이터의 제어량과 횡가속도 미분치에 비례하는 액추에이터의 제어량을 각각 산출하고 이 제어량을 더하여 총제어량을 구하며, 이 총제어량을 기초로 액추에이터를 구동시킨다.In this case, the control unit 102 calculates the control amount of the actuator proportional to the lateral acceleration and the control amount of the actuator proportional to the lateral acceleration derivative and adds the control amount to obtain the total control amount, and drives the actuator based on the total control amount. Let's do it.

한편, 제어부(102)는 각각의 센서로부터 차체의 주행정보, 노면특성, 운전자의 의도 등을 입력받아 내부 제어 알고리즘에 의해 감쇠력 제어 신호를 출력하는데, 제어부(102)내에는 선택 모드에 따른 변수 데이터를 저장하는 메모리가 구비될 수 있다.On the other hand, the control unit 102 receives the driving information, the road surface characteristics, the driver's intention, and the like from each sensor, and outputs a damping force control signal by the internal control algorithm, the variable data according to the selection mode in the control unit 102 Memory may be provided for storing.

이때, 운전자의 의도를 반영하는 모드 선택 신호는 모드 스위치(108)의 스위칭 동작에 의해 구현되는데, 통상적으로 노말(Normal) 모드(또는 오토(Auto) 모드)와 스포츠(Sport) 모드로 구분되며, 모드에 따라 감쇠력 제어 특성을 달리하여 차량의 주행 상태에 탄력적으로 대처할 수 있도록 한다.At this time, the mode selection signal reflecting the driver's intention is implemented by the switching operation of the mode switch 108, typically divided into a normal mode (or an auto mode) and a sport mode, The damping force control characteristic is changed depending on the mode to flexibly cope with the driving state of the vehicle.

그런데, 종래의 이러한 모드 제어 기술은 운전자가 각각의 모드를 선택할 수 있다는 이점에도 불구하고, 보다 다양한 운행 조건에 대한 능동적인 대처가 어렵다는 한계가 있다.However, the conventional mode control technique, despite the advantage that the driver can select each mode, there is a limit that it is difficult to actively cope with a variety of driving conditions.

예컨대, 핸들링을 인지하는 수단으로 차속, 조향각 센싱값, 조향 각속도 센싱값, 횡 가속도 센싱값 등의 변수로부터 차량의 급조향을 판단한 후 차량의 횡 동작을 제어하는 경우, 안정된 롤 동작(roll motion) 구현을 위해 조향 정도와 차속에 비례하여 통상 하드(hard)한 댐핑이 되도록 감쇠력을 조절하기 때문에 전/후/좌/우 댐퍼에 대한 개별 특성을 충분히 반영하지 못한다는 문제가 있다.For example, a stable roll motion when controlling the lateral motion of the vehicle after determining the sudden steering of the vehicle from the variables such as the vehicle speed, the steering angle sensing value, the steering angular velocity sensing value, the lateral acceleration sensing value, and the like as a means for recognizing the handling. For the implementation, the damping force is adjusted to be generally hard damping in proportion to the steering degree and the vehicle speed, and thus there is a problem in that it does not sufficiently reflect the individual characteristics of the front / rear / left / right dampers.

즉, 감쇠력을 일방적으로 하드하게 해 줄 경우 좌/우 댐퍼의 거동 특성과 전/후 댐퍼에 대한 하중 분배에 따른 요(yaw) 거동에 대한 명확한 방안이 제시되지 못하고 있는 실정이다.In other words, when the damping force is unilaterally hardened, there is no clear method for the yaw behavior according to the load characteristics of the front and rear dampers and the behavior of the left and right dampers.

본 발명은 상술한 종래 기술의 한계를 극복하기 위해 안출한 것으로, 댐퍼의 좌/우 감쇠력과 전/후 감쇠력을 별도의 연산 과정을 통해 개별 제어하여 전/후, 좌/우 댐퍼에 대한 감쇠력 배분이 이루어지도록 한 전자제어 현가장치 제어 방법을 제공하는데 그 목적이 있다.The present invention has been made to overcome the limitations of the prior art described above, by separately controlling the left / right damping force and the front / rear damping force of the damper through a separate calculation process to distribute the damping force to the front / rear, left / right dampers It is an object of the present invention to provide an electronically controlled suspension control method.

이러한 목적을 달성하기 위한 본 발명의 바람직한 실시예에 따르면, 전자제어 현가장치에서 댐퍼의 감쇠력을 제어하는 방법에 있어서, 차량의 엔진이 구동되어 현가장치에 전원이 접속되면 현가장치를 초기값으로 설정하는 단계와, 소정의 제어 주기가 경과했는지를 판단하고, 소정의 제어 주기가 경과하였으면 이전 제어 주기에서 산출된 제어 신호에 기초하여 차량의 액추에이터를 구동시키는 단계와, 차량의 주행에 따른 제 1 센싱값이 입력되는지를 판단하고, 제 1 센싱값이 입력되면 제 1 센싱값을 연산하고 연산 결과에 따라 차량의 좌/우 댐퍼의 감쇠력을 배분하는 단계와, 차량의 주행에 따른 제 2 센싱값이 입력되면, 차량의 오버 스티어링(over_steering) 기준치와 언더 스티어링(under_steering) 기준치를 제 2 센싱값과 각각 비교하는 단계와, 비교 결과에 따라 차량의 전/후 댐퍼의 감쇠력을 배분하는 단계를 포함하는 전자제어 현가장치 제어 방법을 제공한다.According to a preferred embodiment of the present invention for achieving the above object, in the electronically controlled suspension device in the method of controlling the damping force of the damper, when the engine of the vehicle is driven and the power supply is connected to the suspension device is set to the initial value Determining whether a predetermined control period has elapsed, and if the predetermined control period has elapsed, driving the actuator of the vehicle based on the control signal calculated in the previous control period, and first sensing according to the driving of the vehicle. Determining whether a value is input, calculating a first sensing value when the first sensing value is input, and distributing the damping force of the left / right damper of the vehicle according to a result of the calculation; and a second sensing value according to the driving of the vehicle. If it is input, comparing the over_steering reference value and the under_steering reference value of the vehicle with the second sensing value, respectively, and the comparison result Depending provides an electronic control suspension system control method comprising the step of dispensing the damping force of the front / rear dampers of the vehicle.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 실시예에 대하여 상세하게 설명한다.Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

설명에 앞서, 본 발명에 따른 전자제어 현가장치의 모드 제어 기술은 도 1의 전자제어 현가장치를 기반으로 구현되는 것인 바, 중복을 피하기 위해 도 1의 전반적인 설명은 생략하기로 한다.Prior to the description, the mode control technique of the electronically controlled suspension device according to the present invention is implemented based on the electronically controlled suspension device of FIG. 1, and thus the general description of FIG. 1 will be omitted to avoid duplication.

이하, 도 1의 구성과 함께, 본 발명의 바람직한 실시예에 따른 전자제어 현가장치에서의 모드 제어 과정을 첨부한 도 2의 흐름도를 참조하여 상세히 설명하기로 한다.Hereinafter, the mode control process in the electronically controlled suspension device according to the preferred embodiment of the present invention will be described in detail with reference to the flowchart of FIG. 2.

먼저, 단계(S200)에서는 차량의 엔진이 구동되어 제어부(102)에 전원이 접속되면 제어부(102)는 초기 설정을 행한다.First, in step S200, when the engine of the vehicle is driven and the power is connected to the control unit 102, the control unit 102 performs initial setting.

이후, 제어부(102)는 단계(S202)로 진행하여 소정의 제어 주기가 경과했는지를 판단하고, 소정의 제어 주기가 경과하였으면 제어부(102)는 단계(S204)로 진행한다.Thereafter, the control unit 102 proceeds to step S202 to determine whether a predetermined control period has elapsed. If the predetermined control period has elapsed, the control unit 102 proceeds to step S204.

단계(S204)에서 제어부(102)는 이전 제어 주기에서 산출된 제어 신호에 기초하여 구동부(104)내의 액추에이터를 구동한다.In step S204, the control unit 102 drives the actuator in the driving unit 104 based on the control signal calculated in the previous control period.

다음 단계(S206)에서 제어부(102)는 센서부(100)로부터 조향각, 조향 각속도, 차속에 대한 센싱값이 입력되는지를 판단하고, 이들 값들이 입력되면 단계(S208) 및 단계(S210)로 진행한다.In the next step S206, the control unit 102 determines whether sensing values for steering angle, steering angular velocity, and vehicle speed are input from the sensor unit 100, and when these values are input, the process proceeds to step S208 and step S210. do.

단계(S208)(S210)에서 제어부(102)는 조향각, 조향 각속도, 차속에 대한 센싱값을 연산하고 그 결과에 따라 좌/우 댐퍼의 감쇠력을 배분한다.In step S208 and S210, the control unit 102 calculates a sensing value for the steering angle, the steering angular velocity, and the vehicle speed, and distributes the damping force of the left and right dampers according to the result.

만일, 단계(S212)에서와 같이 요(yaw) 센싱값이 제어부(102)로 입력되면, 제어부(102)는 단계(S214)로 진행하여 오버 스티어링(over_steering) 기준치와 언더 스티어링(under_steering) 기준치를 입력된 요 센싱값과 각각 비교한다.If the yaw sensing value is input to the control unit 102 as in step S212, the control unit 102 proceeds to step S214 to indicate an over_steering reference value and an under_steering reference value. Compare the yaw sensing value with each input.

그리고 단계(S216)에서 제어부(102)는 이러한 비교 결과에 따라 전/후 댐퍼의 감쇠력을 배분한다.In step S216, the control unit 102 distributes the damping force of the front and rear dampers according to the comparison result.

즉, 본 발명은 차속을 고려하여 댐퍼의 좌/우 감쇠력과 전/후 감쇠력을 적절히 배분함으로써 좌/우 거동에 따른 특성과 전/후 댐퍼에 대한 하중 분배에 따른 요 거동에 대해 능동적으로 대처하도록 구현한 것이다.That is, the present invention actively distributes the left / right damping force and the front / rear damping force of the damper in consideration of the vehicle speed so as to proactively cope with the characteristic according to the left / right behavior and the yaw behavior according to the load distribution for the front / rear damper. It is an implementation.

본 발명에 의하면, 차속을 고려하여 댐퍼의 좌/우 감쇠력과 전/후 감쇠력을 제어함으로써, 차량의 전자제어 현가장치에서 주행 안정성을 높이고 승차감을 향상시킬 수 있다.According to the present invention, by controlling the left / right damping force and the front / rear damping force of the damper in consideration of the vehicle speed, it is possible to increase the running stability and improve the riding comfort in the electronically controlled suspension of the vehicle.

이상, 본 발명을 실시예에 근거하여 구체적으로 설명하였지만, 본 발명은 이러한 실시예에 한정되는 것이 아니라, 후술하는 특허청구범위의 기술적 사상과 범주 내에서 여러 가지 변형이 가능한 것은 물론이다.As mentioned above, although this invention was demonstrated concretely based on the Example, this invention is not limited to such an Example, Of course, various deformation | transformation are possible for it within the technical idea and the scope of a claim mentioned later.

Claims (4)

전자제어 현가장치에서 댐퍼의 감쇠력을 제어하는 방법으로서,A method of controlling the damping force of a damper in an electronically controlled suspension device, 차량의 엔진이 구동되어 상기 현가장치에 전원이 접속되면 상기 현가장치를 초기값으로 설정한 후 상기 차량의 액추에이터를 구동시키는 단계와,Setting the suspension to an initial value and driving the actuator of the vehicle when the engine of the vehicle is driven to connect power to the suspension; 상기 차량이 주행함에 따라 입력되는 센싱값을 기반으로 상기 차량의 좌/우 댐퍼의 감쇠력을 배분하는 단계와,Distributing the damping force of the left and right dampers of the vehicle based on a sensing value input as the vehicle travels; 상기 차량이 주행함에 따라 입력되는 센싱값과 상기 차량의 스티어링 기준치의 비교 결과에 따라 상기 차량의 전/후 댐퍼의 감쇠력을 배분하는 단계Allocating the damping force of the front and rear dampers of the vehicle according to a result of comparing the sensing value input as the vehicle travels with the steering reference value of the vehicle 를 포함하는 전자제어 현가장치 제어 방법.Electronic control suspension control method comprising a. 제 1 항에 있어서,The method of claim 1, 상기 방법은,The method, 상기 현가장치를 초기값으로 설정한 후 기설정 시간의 제어 주기가 경과했는지를 판단하는 단계와,Determining whether a control period of a preset time has elapsed after setting the suspension to an initial value; 상기 제어 주기가 경과하였으면 이전 제어 주기에서 산출된 제어 신호에 기초하여 상기 차량의 액추에이터를 구동시키는 단계와,If the control period has elapsed, driving the actuator of the vehicle based on the control signal calculated in the previous control period; 상기 차량의 주행에 따른 제 1 센싱값이 입력되면 상기 제 1 센싱값을 연산하고 연산 결과에 따라 상기 차량의 좌/우 댐퍼의 감쇠력을 배분하는 단계와,Calculating a first sensing value according to the driving of the vehicle and distributing damping force of the left / right dampers of the vehicle according to a calculation result; 상기 차량의 주행에 따른 제 2 센싱값이 입력되면 상기 차량의 오버 스티어 링 기준치와 언더 스티어링 기준치를 상기 제 2 센싱값과 각각 비교하는 단계와,Comparing the oversteering reference value and the under steering reference value of the vehicle with the second sensing value, respectively, when a second sensing value according to driving of the vehicle is input; 상기 비교 결과에 따라 상기 차량의 전/후 댐퍼의 감쇠력을 배분하는 단계Allocating the damping force of the front and rear dampers of the vehicle according to the comparison result 를 더 포함하는 전자제어 현가장치 제어 방법.Electronic control suspension control method further comprising. 제 2 항에 있어서,The method of claim 2, 상기 제 1 센싱값은 조향각, 조향 각속도, 차속에 대한 센싱값인 것을 특징으로 하는 전자제어 현가장치 제어 방법.And the first sensing value is a sensing value for a steering angle, a steering angular velocity, and a vehicle speed. 제 2 항에 있어서,The method of claim 2, 상기 제 2 센싱값은 요(yaw) 센싱값인 것을 특징으로 하는 전자제어 현가장치 제어 방법.And the second sensing value is a yaw sensing value.
KR1020060005433A 2006-01-18 2006-01-18 Method for setting damping force in electric suspension controlling system KR20070076263A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9421842B2 (en) 2014-10-15 2016-08-23 Hyundai Motor Company Method for controlling suspension system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9421842B2 (en) 2014-10-15 2016-08-23 Hyundai Motor Company Method for controlling suspension system

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