KR20070106146A - Electronic controlled suspension apparatus and anti-squat controlling method thereby - Google Patents

Abstract

An electronic controlled suspension apparatus and its anti-squat controlling method are provided to control the damping force of a front or rear wheel damper according to a control value calculated using magnitude and variation of engine torque capable of accurately predicting the pitch motion of a real vehicle. An electronic controlled suspension apparatus comprises a damper(140), an interface(110) receiving engine torque of a vehicle, and a controller(120) controlling a damping force of the damper according to a control value calculated using magnitude and variation of the received engine torque. The interface receives a speed and state of the vehicle wheel. The controller calculates the control value using a predetermined equation when the received engine torque exceeds a preset reference value and when a slip of the wheel does not occurs, and the damping force of the damper is controlled according to the calculated control value.

Description

Electronic controlled suspension apparatus and anti-squat controlling method

1 is a block diagram illustrating an electronic control suspension according to an embodiment of the present invention.

FIG. 2 is a block diagram for describing the control unit of FIG. 1 in detail. FIG.

3 is a flowchart illustrating an anti-squat control method of an electronically controlled suspension device according to an embodiment of the present invention.

4A to 4C are graphs for explaining the damping force reflected in the damper of the vehicle.

<Explanation of symbols for the main parts of the drawings>

100: electronic control suspension device 110: interface unit

120: control unit 121: determination unit

122: calculating unit 123: damper adjusting unit

140: damper 200: EMS

300: ABS / ESP / TCS

The present invention relates to an electronically controlled suspension device and an anti-squat control method, and in particular, to perform anti-squat control of a vehicle by adjusting damping force of the front and rear wheel dampers according to the control value calculated by using the magnitude and variation of engine torque. The present invention relates to an electronically controlled suspension device and an anti squat control method.

In general, the CDC (Continuous Damping Control), an electronically controlled suspension device of the vehicle, controls the damping force of the shock absorber in real time by vibrating the vehicle and manipulating the vehicle to provide optimum ride comfort and adjustment safety. System to improve.

In other words, the CDC is a control device that improves the characteristics of ride comfort, dive, squat, roll, etc. of the vehicle to meet the necessary conditions.It is basically a steering angle, a lateral acceleration, a damper. It is a system to control damping force by using input such as acceleration sensor, brake, throttle position signal, vehicle speed, etc.

Meanwhile, the conventional anti-squat control method, which predicts pitch motion and adjusts the damping force of the damper by using the Throttle Position Signal (TPS), performs anti-squat control for a certain time in order to secure ride comfort characteristics. Use the limiting method to adjust the damping force according to the speed range.

However, such an anti squat control method has a limitation in that it is impossible to accurately predict the pitch motion of an actual vehicle.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems, and to prevent the vehicle from controlling the damping force of the front and rear wheel dampers according to a control value calculated by using the magnitude and variation of the engine torque which can accurately predict the pitch motion of the actual vehicle. It allows you to perform squat control.

Electronic control suspension device according to an embodiment of the present invention for achieving the above object is a damper; An interface unit for receiving engine torque of the vehicle; And a control unit for adjusting the damping force of the damper according to a control value calculated using the magnitude and the change amount of the received engine torque.

Preferably, the interface unit receives the wheel speed and the state of the vehicle.

More preferably, when the received engine torque exceeds a preset reference value and no slip of the wheel occurs, the controller calculates a control value using the following equation and according to the calculated control value, the damping force of the damper. It characterized in that to adjust.

DF (f) = K1 * (Engine Torque) / T, DF (r) = K2 * (Engine Torque) / T

(Here, DF: Damping force, (f): Front, (r): Rear, T: Time, K1 ~ K2: constant values set for the vehicle to adjust the damping force).

Even more preferably, when the received engine torque exceeds a preset reference value and wheel slip occurs, the controller calculates and calculates a control value to be applied according to the slip amount of the wheel using the following equation. The damping force of the damper is adjusted according to a control value.

DF (f) = K1 * (Engine Torque) / T-K3 * Slip (f) / T,

DF (r) = K2 * (Engine Torque) / T-K4 * Slip (r) / T

(Slip: the slip amount of the wheel, K1 ~ K4: the constant value that is set according to the vehicle to adjust the damping force).

In addition, the anti-squat control method of the electronically controlled suspension device according to an embodiment of the present invention comprises the steps of receiving the engine torque of the vehicle; And adjusting the damping force of the damper according to the control value calculated by using the magnitude and the change amount of the received engine torque.

Preferably, the receiving step receives the wheel speed and the state of the vehicle, and the adjusting step, when the received engine torque exceeds a preset reference value and the wheel slip does not occur, using the following equation The control value is calculated and the damping force of the damper is adjusted according to the calculated control value.

DF (f) = K1 * (Engine Torque) / T, DF (r) = K2 * (Engine Torque) / T

(Here, DF: Damping force, (f): Front, (r): Rear, T: Time, K1 ~ K2: constant values set for the vehicle to adjust the damping force).

More preferably, the receiving step receives the wheel speed and the state of the vehicle, and the adjusting step, when the received engine torque exceeds a preset reference value and the wheel slip occurs, using the following equation The control value is applied according to the slip amount of the wheel, and the damping force of the damper is adjusted according to the calculated control value.

DF (f) = K1 * (Engine Torque) / T-K3 * Slip (f) / T,

DF (r) = K2 * (Engine Torque) / T-K4 * Slip (r) / T

(Slip: the slip amount of the wheel, K1 ~ K4: the constant value that is set according to the vehicle to adjust the damping force).

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a block diagram illustrating an electronic control suspension device according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating the control unit of FIG. 1 in detail.

Referring to FIG. 1, the electronically controlled suspension device 100 according to the present embodiment includes a controller 120 called a “suspension ECU”, various sensors 112, 114, 116, and 118, and a damping force variable damper ( 140) and the like.

The controller 120 collects various vehicle information for suspension control from the vehicle acceleration sensor 112, the wheel acceleration sensor 114, the steering angle sensor 116, the lateral acceleration sensor 118, and / or other sensors. Controlling the damping force of the damping force variable dampers 140 (hereinafter, referred to as "dampers") installed in each of the wheels performs vehicle comfort, stability (ie, steering stability), and various attitude control of the vehicle.

In addition, the electronic control suspension device 100 according to the present invention includes an engine management system (EMS) 200 or an anti-lock braking system (ABS) or an electronic stability program (ESP) or a transaction control system (TCS) 300. It is configured to enable data communication with at least one, to form one chassis integrated control system.

However, the main idea of the present invention implements the anti-squat control of the vehicle through the magnitude and the amount of change of the engine torque of the electronically controlled suspension device 100 and the EMS 200, furthermore, the wheels of the ABS / ESP / TCS (300) By implementing the anti-squat control of the vehicle according to the slip amount of the wheel through the speed, in consideration of the data communication between the electronically controlled suspension device 100 and the EMS 200 and ABS / ESP / TCS (300) of the present invention Implementation is possible.

In order to receive the engine torque determined according to the operating state of the vehicle, the electronically controlled suspension device 100 is configured to enable data communication with each other via the EMS 200 and a controller area network (CAN).

In addition, in order to receive the wheel speed of the vehicle, the electronically controlled suspension device 100 is configured to enable data communication with each other via the ABS / ESP / TCS 300 and CAN.

In the present embodiment, the EMS 200 measures the engine speed according to the operating state of the engine, and changes the internal resistance value according to the position of the throttle actuator that changes the degree of opening of the throttle valve mounted on the vehicle to change the electric resistance of the corresponding size. It outputs a signal to measure the opening degree of the throttle valve, calculates the torque of the wheel using the acceleration of the vehicle, and calculates the engine torque inversely.

At this time, the EMS 200 determines the current engine torque according to the measured engine speed and the degree of opening of the throttle valve, and provides the determined engine torque to the electronic control suspension 100 through CAN communication.

The ABS / ESP / TCS 300 provides the wheel speed to the electronically controlled suspension device 100 via CAN communication.

Then, the electronically controlled suspension device 100 calculates a control value for anti-squat control using the magnitude and the change amount of the engine torque received from the EMS 200 through CAN communication, and the damper 140 according to the calculated control value. Anti-squat control can be performed by controlling the damping force of.

Further, the electronically controlled suspension device 100 uses the engine torque by using the magnitude and variation of the engine torque received from the EMS 200 through CAN communication and the wheel speed received from the ABS / ESP / TCS 300 via CAN. If the size and the amount of change exceeds the preset reference value and the wheel slip occurs, the control value required for the anti squat control is calculated and the damping force of the damper 140 is adjusted according to the calculated control value to perform the anti squat control of the vehicle. can do.

In more detail, the electronically controlled suspension device 100 includes a damper 140, an interface unit 110 for receiving engine torque of a vehicle, and a control required for anti-squat control by using the magnitude and variation of the received engine torque. The control unit 120 calculates a value and adjusts the damping force of the damper 140 according to the calculated control value.

At this time, the interface unit 110 receives the engine torque of the vehicle from the EMS 200 through a CAN communication method, and receives the wheel speed of the vehicle from the ABS / ESP / TCS 300.

The dampers 140 on the front wheels FL and FR and rear wheels RL and RR are mounted between the wheels and the vehicle body.

The controller 120 adjusts the damping force of the front and rear wheels FL, FR, RL, and RR dampers 140 by using the magnitude and the change amount of the engine torque received from the EMS 200 through the interface unit 110.

Here, the magnitude of pitching of the actual vehicle is generated according to the change of engine torque and the road surface receiving the torque.

Therefore, the damping force can be controlled on the high friction road surface by using the magnitude and the change amount of the engine torque, and the damping force of the damper 140 is additionally controlled on the low friction road surface where slip occurs.

2, the control unit 120 includes a determination unit 121, a calculation unit 122, and a damper control unit 123.

The determination unit 121 determines whether the magnitude and the change amount of the engine torque received through the interface unit 110 exceed a preset reference value. When the determination result, the magnitude and the change amount of the engine torque exceed the reference value, It is determined whether slip has occurred.

As a result of the determination by the determination unit 121, if it is determined that the magnitude and the change amount of the engine torque do not exceed the preset reference value, the squat of the vehicle is not considered to occur significantly, and in this case, the control unit 120 is a general damper. Damping force control.

As a result of the determination by the determination unit 121, when it is determined that the magnitude and the change amount of the engine torque exceed a preset reference value and the slip of the wheel does not occur, the calculation unit 122 uses the following equation 1 to anti-squat. The control value required for the control is calculated.

DF (f) = K1 * (Engine Torque) / T, DF (r) = K2 * (Engine Torque) / T

Here, DF is a damping force, (f) is Front, (r) is Rear, T is Time, and K1 to K2: constant values determined for the vehicle to adjust the damping force.

In addition, when it is determined by the determination unit 121 that it is determined that the magnitude of the engine torque and the amount of change exceed a preset reference value and the slip of the wheel occurs, the calculation unit 122 uses the following Equation 2 to determine the anti Calculate the control value required for squat control.

DF (f) = K1 * (Engine Torque) / T-K3 * Slip (f) / T,

DF (r) = K2 * (Engine Torque) / T-K4 * Slip (r) / T

Here, Slip is a slip amount of the wheel, and K1 to K4 are constant values determined for the vehicle to adjust the damping force.

At this time, the slip amount of the wheel is calculated as (wheel speed-vehicle speed) / vehicle speed. The wheel speed is calculated using the speed received from the ABS / ESP / TCS 300, and the vehicle speed is calculated using the wheel speed filter or the like.

The damper adjusting unit 123 adjusts the damping force of the damper, in particular, the damping force of the front wheel damper according to the control value calculated by using Equation 1 or Equation 2 described above.

In this way, anti-squat control can be achieved by adjusting the damping force of the damper according to the magnitude and amount of change of the engine torque which can accurately predict the phishing motion of the actual vehicle.

An anti-squat control method of the electronically controlled suspension device having such a configuration will be described with reference to FIG. 3 as follows.

FIG. 3 is a flowchart illustrating an anti-squat control method of an electronically controlled suspension device according to an embodiment of the present invention. Hereinafter, the anti-squat control of the electronically controlled suspension device will be described with reference to FIGS. The method will be described.

First, when the vehicle is in a driving state, the acceleration and deceleration of the vehicle is caused by the driver pressing the accelerator pedal (accel.Pedal). Thus, the damper 140 is controlled using this signal, and the speed is accelerated or decelerated. Applied to subsequent squat control.

Referring to FIG. 3, the controller 120 receives the engine torque and the speed of the wheels through the interface unit 110 (S101). At this time, the engine torque is the engine torque determined according to the engine operating state of the vehicle from the EMS 200, the speed of the wheel is used that is output from the ABS / ESP / TCS (300).

Next, the controller 120 determines whether the magnitude and the amount of change of the engine torque received through the interface unit 110 exceed a preset reference value (S103).

As a result of the determination in step S103, when the magnitude and the change amount of the engine torque received through the interface unit 110 do not exceed a preset reference value, the controller 120 determines whether the driving of the vehicle is terminated (S104). .

As a result of the determination in step S104, when the driving of the vehicle is finished, the controller 120 ends the process.

As a result of the determination in step S104, when the driving of the vehicle is not finished, the control unit 120 moves the process to the above-described step S101 to receive the engine torque and the wheel speed of the vehicle. In this case, the squat of the vehicle does not occur significantly, and the control unit 120 performs damping force control of the general damper 140.

As a result of the determination in step S103, when the magnitude and the change amount of the engine torque received through the interface unit 110 exceed a preset reference value, the controller 120 determines whether slippage of the wheel has occurred (S105).

As a result of the determination in step S105, when the slip of the wheel does not occur, the control unit 120 calculates a control value required for the anti-squat control by using Equation 1 (S108). In this case, Equation 1 is as described above.

Next, the control unit 120 adjusts the damping force of the damper 30 according to the calculated control value (S111). That is, when the magnitude and the change amount of the engine torque exceed the reference value, the controller 120 performs anti-squat control of the vehicle by adjusting the damping force of the damper 140 according to the control value.

As a result of the determination in step S105, when the slip of the wheel occurs, the control unit 120 calculates the slip amount of the wheel (S107).

Next, the control unit 120 calculates a control value required for anti-squat control by using Equation 2 (S109). In this case, Equation 2 is as described above.

Next, the controller 120 adjusts the damping force of the damper according to the calculated control value. That is, when the magnitude and the change amount of the engine torque exceed the reference value and the wheel slip occurs, the control unit 120 adjusts the damping force of the damper 140 according to the control value calculated by applying the slip amount of the wheel to prevent the anti squat. Control will be performed.

In this way, anti-squat control can be performed by adjusting damper damping force of the front and rear wheels according to the magnitude and the amount of change of engine torque determined according to the engine operating state of the vehicle.

4A to 4C are graphs for explaining the damping force reflected in the damper of the vehicle.

4A is a graph showing that when starting from a high friction road such as dry asphalt, wheel damping does not occur and the damping force of the damper 30 is increased due to the large magnitude and variation of engine torque.

The graph (c) of FIG. 4A shows the damping force control value when the control is performed using the magnitude of the engine torque and the engine torque change amount.

4B shows that when starting from a low friction road such as snow road or ice road, wheel slip occurs and the magnitude and change of engine torque are relatively smaller than that of FIG. 4A, thereby increasing the damping force of the damper 140, but the increase width thereof is increased. It is a graph which shows the smallness compared with this FIG. 4A.

Graph (a) of Figure 4b is the portion where the slip of the wheel is generated, graph (b) is the damping force control value when the control is performed using only the throttle position, graph (c) shows the magnitude and the amount of change of the engine torque This is the damping force control value in the case of control by using.

4C illustrates that when starting from a low friction road such as snow or ice, ABS / ESP / TCS 300 is operated to reduce the engine torque to generate a pitching motion. In this case, it is a graph showing that the pitching of the vehicle can be effectively reduced by using the engine torque and the slip amount of the wheel to control the damping force of the damper 140.

Graph (a) of Figure 4c is the portion where the slip of the wheel is generated, graph (b) is the damping force control value when performing control using only the throttle position, graph (c) is the size and change amount of the engine torque and the wheel This is the damping force control value when controlled using the slip amount of.

The present invention is not limited to the embodiments described above, and various modifications and changes can be made by those skilled in the art, which are included in the spirit and scope of the present invention as defined in the appended claims.

According to the present invention as described above it is possible to perform the anti-squat control of the vehicle by adjusting the damping force of the damper by using the control value calculated according to the magnitude and amount of change of the engine torque that can accurately predict the phishing motion of the actual vehicle have.

In addition, according to the present invention as described above, according to the control value required for the anti-squat control obtained according to the engine torque and the slip of the wheel, there is also an effect that can quickly perform anti-squat control even in snow and / or rain.

Claims (7)

Damper; An interface unit for receiving engine torque of the vehicle; And And a control unit for adjusting the damping force of the damper according to a control value calculated using the magnitude and the change amount of the received engine torque. The method of claim 1, wherein the interface unit And electronically suspend the wheel speed and state of the vehicle. The method of claim 2, wherein the control unit When the received engine torque exceeds a preset reference value and wheel slip does not occur, a control value is calculated using the following equation and the damping force of the damper is adjusted according to the calculated control value. Electronically controlled suspension device. DF (f) = K1 * (Engine Torque) / T, DF (r) = K2 * (Engine Torque) / T (Here, DF: Damping force, (f): Front, (r): Rear, T: Time, K1 ~ K2: constant values set for the vehicle to adjust the damping force). The method of claim 2, wherein the control unit When the received engine torque exceeds a preset reference value and wheel slip occurs, a control value to be applied is calculated according to the slip amount of the wheel using the following equation, and the damping force of the damper according to the calculated control value Electronically controlled suspension device, characterized in that for adjusting the. DF (f) = K1 * (Engine Torque) / T-K3 * Slip (f) / T, DF (r) = K2 * (Engine Torque) / T-K4 * Slip (r) / T (Slip: the slip amount of the wheel, K1 ~ K4: the constant value that is set according to the vehicle to adjust the damping force). Anti-squat control method of the electronically controlled suspension device including a damper, Receiving engine torque of the vehicle; And And adjusting the damping force of the damper according to the control value calculated by using the magnitude and the change amount of the received engine torque. The method of claim 5, wherein the receiving step Receive the wheel speed and status of the vehicle, The adjusting step When the received engine torque exceeds a preset reference value and wheel slip does not occur, a control value is calculated using the following equation and the damping force of the damper is adjusted according to the calculated control value. The anti-squat control method of the electronically controlled suspension device. DF (f) = K1 * (Engine Torque) / T, DF (r) = K2 * (Engine Torque) / T (Here, DF: Damping force, (f): Front, (r): Rear, T: Time, K1 ~ K2: constant values set for the vehicle to adjust the damping force). The method of claim 5, wherein the receiving step Receive the wheel speed and status of the vehicle, The adjusting step When the received engine torque exceeds a preset reference value and wheel slip occurs, a control value to be applied is calculated according to the slip amount of the wheel using the following equation, and the damping force of the damper according to the calculated control value Anti-squat control method of the electronically controlled suspension device, characterized in that for adjusting the. DF (f) = K1 * (Engine Torque) / T-K3 * Slip (f) / T, DF (r) = K2 * (Engine Torque) / T-K4 * Slip (r) / T (Slip: the slip amount of the wheel, K1 ~ K4: the constant value that is set according to the vehicle to adjust the damping force).

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