KR20080036712A - Skyhook control method reflected road roughness in vehicle - Google Patents

Skyhook control method reflected road roughness in vehicle Download PDF

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KR20080036712A
KR20080036712A KR1020060103279A KR20060103279A KR20080036712A KR 20080036712 A KR20080036712 A KR 20080036712A KR 1020060103279 A KR1020060103279 A KR 1020060103279A KR 20060103279 A KR20060103279 A KR 20060103279A KR 20080036712 A KR20080036712 A KR 20080036712A
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South Korea
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road
roughness
tire
control
sky hook
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KR1020060103279A
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Korean (ko)
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박상균
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현대모비스 주식회사
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Publication of KR20080036712A publication Critical patent/KR20080036712A/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
    • 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
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
    • 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
    • B60G2600/60—Signal noise suppression; Electronic filtering means

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

Abstract

A method for controlling skyhook of a vehicle reflected road roughness is provided to prevent deterioration of grounding force of a tire and riding comfort even if road roughness is changed while driving. A method for controlling skyhook of a vehicle reflected road roughness comprises the steps: controlling the skyhook using measured value of sensors; computing load of a driving tire using acceleration value and wheel acceleration value of the vehicle, and sorting roughness of the road by filtering load of the tire; changing a control critical dimension for controlling skyhook in accordance with roughness of the road, and determining a dead band range which is an inactive control range of skyhook control; not controlling the skyhook if motion of the vehicle is in the dead band range; setting a minimum damping force critical threshold value for maintaining grounding force of the tire according to roughness of the road; not controlling the skyhook in the dead band range set according to the minimum damping force critical threshold value; detecting variation of roughness of the road, and controlling the skyhook in inactive control method via the dead band range if roughness of the road changes a little bit and changing the dead band range if roughness of the road changes a lot; and newly setting a dead band range not controlling the skyhook causing deterioration of riding comfort and grounding force.

Description

노면 거칠기를 반영한 차량의 스카이 훅 제어 방법{Skyhook control method reflected road roughness in vehicle}Skyhook control method reflected road roughness in vehicle}

도 1은 본 발명에 따른 노면 거칠기를 반영한 차량의 스카이 훅 제어 방법의 흐름도1 is a flow chart of the sky hook control method of a vehicle reflecting the road surface roughness according to the present invention

본 발명은 차량의 스카이 훅 제어 방법에 관한 것으로, 보다 상세하게는 차량이 주행중인 도로의 노면 거칠기를 반영한 차량의 스카이 훅 제어 방법에 관한 것이다.The present invention relates to a method for controlling the sky hook of a vehicle, and more particularly, to a method for controlling the sky hook of a vehicle reflecting the roughness of the road surface on which the vehicle is traveling.

일반적으로 차량의 주행 중 외부로부터 지속적으로 전달되는 외력에 대해 차량 내부의 승차감을 향상시키기 위해 보다 간단하면서도 향상된 제어 방식이 끊임없이 개발되고 있다.In general, a simpler and improved control method is constantly being developed to improve the ride comfort inside the vehicle against external force continuously transmitted from the outside while the vehicle is driving.

이러한 제어 중 스카이훅(Skyhook) 제어는 모든 상태변수를 다 고려하지 않고 단지, 현가장치 상대속도와 차체의 절대속도만으로 구현이 가능한 방식인데, 이는 가상적인 기준면에 감쇄기를 설치해 노면 외란에 의한 차체의 수직가속도를 줄 여 주는 방식 즉, 차체의 움직임을 억제하는 제어 알고리즘이다Among these controls, the Skyhook control can be implemented only by considering the relative speed of the suspension and the absolute speed of the car body without considering all the state variables. It is a control algorithm that reduces the vertical acceleration, that is, suppresses the body movement.

이와 같은 스카이훅(Skyhook)제어에 따른 감쇄력은 차체와 차축 사이에 있는 연속 가변 댐퍼를 통해 구현이 가능하며, 이러한 연속 가변 댐퍼는 전류의 인가에 따라 상대속도에 대한 감쇄력이 조절 가능하므로 물리적인 포화 또는 제어불능이 생기지 않는다면 원하는 감쇄력을 추종할 수 있게 된다.The damping force according to the skyhook control can be realized through a continuous variable damper between the vehicle body and the axle, and the continuous variable damper can adjust the damping force with respect to the relative speed according to the application of the current, thereby providing physical saturation. Or, if no control occurs, it is possible to follow the desired damping force.

그러나, 스카이훅(Skyhook)제어는 아스팔트와 같이 상태가 양호한 노면을 주행중일 때는 차체의 움직임을 강하게 억제하더라도 승차 감이 떨어지지 않는 반면, 시멘트 노면이나 벨지안 노면같이 거친 노면을 주행할 때 지속적인 스카이훅(Skyhook)제어를 수행하는 경우 즉, 스카이훅(Skyhook)제어와 같이 강하게 차체의 움직임을 억제하게 되면 승차감 향상과는 반대로 노면 진동을 차체로 전달시켜 승차감을 오히려 떨어뜨리는 역효과가 발생되어진다. However, the skyhook control does not reduce the riding comfort even when the vehicle body is in good condition such as asphalt, even if the vehicle body movement is strongly suppressed.However, the skyhook control is continuously performed when driving rough roads such as cement or Belgian roads. In the case of performing the Skyhook control, that is, if the vehicle body is strongly suppressed like the Skyhook control, the adverse effect of lowering the riding comfort is to transmit the road vibration to the vehicle as opposed to improving the riding comfort.

이에 본 발명은 상기와 같은 점을 감안하여 발명된 것으로, 주행 노면의 거친 상태를 구별하여 거친 정도에 따라 스카이 훅 제어를 수행하는 영역과 제어를 수행하지 않는 영역을 구별하여, 주행 노면 거칠기가 변하더라도 승차감 성능 및 노면 접지력을 최적으로 유지할 수 있도록 함에 그 목적이 있다.Accordingly, the present invention has been made in view of the above, and the road surface roughness is changed by distinguishing an area for performing sky hook control and an area not performing control according to the roughness by distinguishing a rough state of the road surface. Even if the purpose is to maintain the comfort performance and road traction optimally.

상기와 같은 목적을 달성하기 위한 본 발명은, 노면 거칠기를 반영한 차량의 스카이 훅 제어 방법이 차량의 주행과 함께 각종 센서들의 측정값들을 이용해 스카이 훅 제어를 수행하는 단계;The present invention for achieving the above object, the sky hook control method of the vehicle reflecting the road roughness, the step of performing the sky hook control using the measured values of the various sensors with the running of the vehicle;

스카이 훅제어 중 차체 가속도 값과 휠 가속도 값을 이용하여 주행중인 타이어에 발생하는 타이어 동 하중을 산출하고, 산출된 타이어 동 하중 값을 필터링(Filtering)하여 노면 거칠기를 구분하는 단계;Calculating a tire dynamic load generated on the running tire by using the vehicle acceleration value and the wheel acceleration value during the sky hook control, and filtering the calculated tire dynamic load value to distinguish road roughness;

구분된 노면 거칠기에 따라 스카이 훅 제어를 계속 활성 할 것인가 비 활성화 할 것인가에 대한 스카이 훅 제어의 제어 임계치를 변경하고, 산출된 노면 거칠기 값에 의해 발생되는 차체 거동에 따른 스카이 훅 제어의 비 활성화 제어 구간인 데드밴드영역(Dead Band Range)을 선정하는 단계;Change the control threshold of the sky hook control on whether to continue to activate or deactivate the sky hook control according to the divided road roughness, and disable the control of the sky hook control according to the body behavior caused by the calculated road roughness value. Selecting a dead band range that is a section;

차체의 거동이 설정된 데드밴드영역에 포함될 때 스카이 훅 제어를 수행하지 않는 단계;Not performing sky hook control when the behavior of the vehicle body is included in the set deadband region;

타이어의 동 하중 변화에 따른 노면 접지력 저하를 방지하도록, 주행중인 노면 거칠기에 따라 타이어가 노면 접지력을 유지 할 수 있는 최소 감쇠력 임계 값을 설정하는 단계;Setting a minimum damping force threshold value at which the tire can maintain the road-holding force according to the road roughness while driving, so as to prevent a decrease in road-holding force due to the change in the dynamic load of the tire;

설정된 최소 감쇠력 임계 값에 따라 선정된 데드밴드영역에서 스카이 훅 제어를 수행하지 않는 단계;Not performing sky hook control in the dead band region selected according to the set minimum damping force threshold value;

주행 중 차체의 거동과 타이어 접지력 저하에 따른 데드밴드영역 선정을 변화시키는 노면 거칠기 값의 변화 여부를 판단한 후, 노면 거칠기 값의 변화가 적을 때 선정된 데드밴드영역을 통한 스카이 훅의 비 활성화 제어를 지속하고, 노면 거칠기 값의 변화가 클 때 상기 데드밴드영역을 변화시키는 과정을 수행하는 단계;After determining whether the road surface roughness value changes, which changes the deadband area selection according to the behavior of the vehicle body and the tire traction force while driving, when the road surface roughness value is small, the sky hook deactivation control is performed through the selected deadband area. Continuing and changing the dead band region when a change in road roughness value is large;

새롭게 산출된 노면 거칠기 값에 따른 차체 거동에 의한 승차감 저하와 타이어 접지력 저하를 가져오는 스카이 훅 제어를 수행하지 않는, 데드밴드영역을 새로 선정하는 단계;Newly selecting a deadband region that does not perform sky hook control resulting in a decrease in ride comfort and a decrease in tire grip force due to body behavior according to the newly calculated road surface roughness value;

로 수행되는 것을 특징으로 한다.Characterized in that performed.

이하 본 발명의 실시예를 첨부된 예시도면을 참조로 상세히 설명한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 따른 노면 거칠기를 반영한 차량의 스카이 훅 제어 방법의 흐름도를 도시한 것인바, 본 발명은 주행중인 차량에 대한 지속적인 스카이 훅(Sky Hook)제어를 수행하면서, 주행 도로의 노면 거칠기에 따라 스카이 훅(Sky Hook)제어를 수행하지 않는 비 활성화 제어 영역(Dead Band Range)을 선정하여, 노면 거칠기에 관계없는 지속적인 스카이 훅(Sky Hook)제어에 따른 승차감 저하 현상을 방지하는 특징이 있게 된다.1 is a flowchart illustrating a method for controlling a sky hook of a vehicle reflecting a road roughness according to the present invention, the present invention is a road roughness of a driving road while performing a continuous sky hook control for a running vehicle By selecting the dead band range that does not perform the sky hook control according to the characteristic, it is possible to prevent the deterioration of ride comfort caused by continuous sky hook control irrespective of road roughness. do.

즉, 도 1에 도시된 바와 같이 차량의 주행과 함께 각종 센서들의 측정 신호를 이용해 필요 시 스카이 훅 제어를 수행하게 되고, 이러한 스카이 훅(Sky Hook)제어 중 차체 가속도 값과 휠 가속도 값을 이용하여 주행중인 타이어에 발생하는 타이어 동 하중을 산출하게 된다.That is, as shown in FIG. 1, the sky hook control is performed using the measurement signals of various sensors as the vehicle travels, and the vehicle acceleration value and the wheel acceleration value are used during the sky hook control. The tire dynamic load generated on the running tire is calculated.

이때, 타이어 동 하중의 산출은 다음과 같은 운동 방정식을 이용하여 산출하는 과정을 거치게 된다.In this case, the tire dynamic load is calculated using the following equation of motion.

Figure 112006076698455-PAT00001
Figure 112006076698455-PAT00001

위 식에서 (1)+(2)를 하면 다음과 같다.(1) + (2) in the above formula is as follows.

Figure 112006076698455-PAT00002
여기서, 타이어의 댐핑은 무시할 수 있는 수준이므로 Kt≒ 0 이라 가정하면,
Figure 112006076698455-PAT00002
Here, since the damping of the tire is negligible, assuming that Kt ≒ 0,

Figure 112006076698455-PAT00003
Figure 112006076698455-PAT00003

여기서, m은 질량, K는 탄성 계수, z는 축 방향 거동 변위, Fdyn은 동하중이다. Where m is mass, K is elastic modulus, z is axial behavior displacement, and Fdyn is dynamic load.

이어, 산출된 타이어 동 하중 값을 필터링(Filtering)하여 노면 거칠기에 따라 0 ~ 1(0: 매우 좋은 상태 ~ 1 : 매우 나쁜 상태)로 구분한 후, 구분된 노면 거칠기에 따라 스카이 훅 제어를 계속 활성 할 것인가 비 활성화 할 것인가를 결정한다.Subsequently, the calculated tire dynamic load value is filtered and classified into 0 to 1 (0: very good condition to 1: very bad condition) according to the roughness of the road, and then the sky hook control is continued according to the divided roughness. Decide whether to enable or disable.

이때, 상기 통 하중 값에 따른 노면 거칠기 값은 다음으로 정해진다.At this time, the road roughness value according to the cylinder load value is determined as follows.

Figure 112006076698455-PAT00004
여기서, Fstatic은 정하중이고, Pdyne은 동하중과 정하중의 비로서 노면거칠기 추정 지표이다.
Figure 112006076698455-PAT00004
Here, Fstatic is a static load, and Pdyne is a road roughness estimation index as a ratio of dynamic load and static load.

이후, 스카이 훅 제어를 비 활성 화 시키는 경우 주행중인 도로의 노면 거칠기 상태에 따른 차체 속도에 따른 스카이 훅 제어를 위한 제어 임계치를 변경하면서, 주행중인 차체의 움직임이 커지는지 여부를 판단하게 되는데, 이는 커지는 차체 거동을 억제하기 위해 스카이 훅 제어가 빈번히 작동되므로 인해 오히려 승차감을 저하시키는 역효과를 방지하기 위함이다.Subsequently, when the sky hook control is deactivated, it is determined whether the movement of the vehicle body increases while changing the control threshold value for the sky hook control according to the vehicle speed according to the road roughness state of the driving road. The sky hook control is frequently operated in order to suppress the increase in the bodywork behavior, so it is to prevent the adverse effect of lowering the ride comfort.

이어, 산출된 노면 거칠기 값에 의해 발생되는 차체 거동에 따른 스카이 훅 제어의 비 활성화 제어 구간인 데드밴드영역(Dead Band Range)을 선정하고, 차체의 거동이 상기 데드밴드영역에 포함될 때 스카이 훅 제어를 수행하지 않게 된다.Subsequently, a dead band range, which is a deactivation control section of the sky hook control according to the vehicle body behavior generated by the calculated road surface roughness value, is selected, and when the behavior of the vehicle body is included in the dead band region, the sky hook control is performed. Will not execute.

이때, 상기 데드밴드영역은 노면 거칠기에 따라 차체 움직임도 달라지므로 주행중인 차량의 노면 상태에 따라 지속적으로 변화되며, 이와 같이 스카이 훅 제어를 비 활성 화 시키는 데드밴드영역은 노면 입력에 대한 작은 차체 움직임을 갖는 영역으로 선정되어진다.At this time, the deadband area is changed continuously according to the road surface roughness according to the roughness of the road surface, and the deadband area is continuously changed according to the road surface state of the vehicle being driven. It is selected as the area having.

이어, 데드밴드영역을 선정해 스카이 훅 제어를 비 활성 화 시키는 제어를 수행하면서 타이어의 동 하중 변화에 따른 노면 접지력 저하 정도를 판단하여, 주행중인 노면 거칠기에 따라 타이어가 노면 접지력을 유지 할 수 있는 최소 감쇠력 임계 값을 설정하게 된다.Next, the dead band area is selected to deactivate the sky hook control while determining the degree of fall of road traction according to the change of the dynamic load of the tire, so that the tire can maintain the road traction according to the roughness of the road. Set the minimum damping force threshold.

이와 같이 설정된 최소 감쇠력 임계 값에 따라 데드밴드영역(Dead Band Range)을 선정하고, 타이어의 노면 접지력이 지속적으로 유지될 수 있도록 노면 접지력이 최소 감쇠력 임계 값 이하로 저하되는 구간에서는 스카이 훅 제어를 비 활성화하여, 주행 중 노면 상태가 변하더라도 노면 접지력이 지속적으로 유지될 수 있도록 한다. The dead band range is selected according to the minimum damping force threshold set in this way, and the sky hook control is disabled in the section where the road traction force falls below the minimum damping force threshold value so that the tire road traction can be maintained continuously. By activating it, road traction can be maintained continuously even when the road condition changes during driving.

이어, 주행 중 차체의 거동과 타이어 접지력 저하에 따른 데드밴드영역 선정을 변화시키는 노면 거칠기 값의 변화 여부를 판단한 후, 노면 거칠기 값의 변화가 적을 때 선정된 데드밴드영역을 통한 스카이 훅의 비 활성화 제어를 지속하고, 만약 노면 거칠기 값의 변화가 커 스카이 훅 제어를 비 활성화하는 데드밴드영역을 변화시킬 경우, 도로의 노면 거칠기 상태에 따른 차체 속도에 따른 스카이 훅 제어를 위한 제어 임계치를 변경하게 된다.Subsequently, after determining whether the road surface roughness value changes, which changes the deadband area selection according to the behavior of the vehicle body and the reduction of tire traction while driving, deactivation of the sky hook through the selected deadband area when the road surface roughness value is small is changed. If the control continues, and if the deadband area for disabling the sky hook control is changed due to the large change in the road roughness value, the control threshold for sky hook control according to the vehicle speed according to the road roughness condition of the road is changed. .

이후, 새롭게 산출된 노면 거칠기 값에 따른 차체 거동과 타이어 접지력 저하에 대해, 스카이 훅의 비 활성화 제어 구간인 데드밴드영역(Dead Band Range)을 새로 선정해 스카이 훅 제어를 활성화하거나 비 활성화하는 제어를 수행하게 된다.Subsequently, the dead band range, which is the deactivation control section of the sky hook, is newly selected for the body behavior and the tire deterioration according to the newly calculated road roughness value, and the control to activate or deactivate the sky hook control is performed. Will be performed.

이상 설명한 바와 같이 본 발명에 의하면, 주행중인 도로의 노면 거칠기를 측정해 스카이 훅 제어 시, 승차감을 저하시키는 역효과를 가져오는 작은 차체 거동영역에 대한 스카이 훅 제어 비활성화 구간과 활성화 구간으로 구별하면서 제어를 수행하게 되므로, 노면에 상관없이 최적의 승차감 성능을 나타내는 스카이 훅 제어를 수행할 수 있는 효과가 있게 된다.As described above, according to the present invention, it is possible to measure the road roughness of a running road and control the sky hook control by deactivating and activating the sky hook control area for a small body behavior area that has an adverse effect of lowering the ride comfort when controlling the sky hook. Since it is performed, there is an effect that can perform the sky hook control showing the optimum ride comfort performance regardless of the road surface.

또한 본 발명은 노면의 거칠기에 따른 최소 감쇠력을 선정하여 스카이 훅 제어 비활성화 구간과 활성화 구간으로 구별하면서 제어를 수행하게 되므로, 노면이 변하더라도 타이어 접지력을 약화시키지 않고 항상 타이어와 노면간 접지력이 유지될 수 있는 효과가 있게 된다.In addition, the present invention is to perform the control by selecting the minimum damping force according to the roughness of the road to distinguish between the sky hook control deactivation section and the activation section, so that even if the road surface changes, the traction force between the tire and the road surface will always be maintained. It can be effective.

Claims (3)

차량의 주행과 함께 각종 센서들의 측정값들을 이용해 스카이 훅 제어를 수행하는 단계;Performing sky hook control using the measured values of various sensors along with driving of the vehicle; 스카이 훅제어 중 차체 가속도 값과 휠 가속도 값을 이용하여 주행중인 타이어에 발생하는 타이어 동 하중을 산출하고, 산출된 타이어 동 하중 값을 필터링(Filtering)하여 노면 거칠기를 구분하는 단계;Calculating a tire dynamic load generated on the running tire by using the vehicle acceleration value and the wheel acceleration value during the sky hook control, and filtering the calculated tire dynamic load value to distinguish road roughness; 구분된 노면 거칠기에 따라 스카이 훅 제어를 계속 활성 할 것인가 비 활성화 할 것인가에 대한 스카이 훅 제어의 제어 임계치를 변경하고, 산출된 노면 거칠기 값에 의해 발생되는 차체 거동에 따른 스카이 훅 제어의 비 활성화 제어 구간인 데드밴드영역(Dead Band Range)을 선정하는 단계;Change the control threshold of the sky hook control on whether to continue to activate or deactivate the sky hook control according to the divided road roughness, and disable the control of the sky hook control according to the body behavior caused by the calculated road roughness value. Selecting a dead band range that is a section; 차체의 거동이 설정된 데드밴드영역에 포함될 때 스카이 훅 제어를 수행하지 않는 단계;Not performing sky hook control when the behavior of the vehicle body is included in the set deadband region; 타이어의 동 하중 변화에 따른 노면 접지력 저하를 방지하도록, 주행중인 노면 거칠기에 따라 타이어가 노면 접지력을 유지 할 수 있는 최소 감쇠력 임계 값을 설정하는 단계;Setting a minimum damping force threshold value at which the tire can maintain the road-holding force according to the road roughness while driving, so as to prevent a decrease in road-holding force due to the change in the dynamic load of the tire; 설정된 최소 감쇠력 임계 값에 따라 선정된 데드밴드영역에서 스카이 훅 제어를 수행하지 않는 단계;Not performing sky hook control in the dead band region selected according to the set minimum damping force threshold value; 주행 중 차체의 거동과 타이어 접지력 저하에 따른 데드밴드영역 선정을 변화시키는 노면 거칠기 값의 변화 여부를 판단한 후, 노면 거칠기 값의 변화가 적을 때 선정된 데드밴드영역을 통한 스카이 훅의 비 활성화 제어를 지속하고, 노면 거칠기 값의 변화가 클 때 상기 데드밴드영역을 변화시키는 과정을 수행하는 단계;After determining whether the road surface roughness value changes, which changes the deadband area selection according to the behavior of the vehicle body and the tire traction force while driving, when the road surface roughness value is small, the sky hook deactivation control is performed through the selected deadband area. Continuing and changing the dead band region when a change in road roughness value is large; 새롭게 산출된 노면 거칠기 값에 따른 차체 거동에 의한 승차감 저하와 타이어 접지력 저하를 가져오는 스카이 훅 제어를 수행하지 않는, 데드밴드영역을 새로 선정하는 단계;Newly selecting a deadband region that does not perform sky hook control resulting in a decrease in ride comfort and a decrease in tire grip force due to body behavior according to the newly calculated road surface roughness value; 로 수행되는 노면 거칠기를 반영한 차량의 스카이 훅 제어 방법.Sky hook control method of the vehicle reflecting the road roughness performed by. 청구항 1에 있어서, 상기 노면 거칠기는 0 ~ 1(0: 매우 좋은 상태 ~ 1 : 매우 나쁜 상태)로 구분하는 것을 특징으로 하는 노면 거칠기를 반영한 차량의 스카이 훅 제어 방법.The method of claim 1, wherein the road roughness is divided into 0 to 1 (0: very good condition to 1: very bad condition). 청구항 1에 있어서, 상기 차체 거동에 따라 선정되는 데드밴드영역은 , 노면 입력에 대한 차체 움직임이 작게 이루어지는 영역으로 선정되는 것을 특징으로 하는 노면 거칠기를 반영한 차량의 스카이 훅 제어 방법.The method of claim 1, wherein the deadband region selected according to the vehicle body behavior is selected as a region in which the vehicle body movement with respect to the road surface input is small.
KR1020060103279A 2006-10-24 2006-10-24 Skyhook control method reflected road roughness in vehicle KR20080036712A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108860152A (en) * 2018-06-21 2018-11-23 江苏大学 One kind being based on the modified road roughness identification system of damped coefficient and method
CN110901326A (en) * 2019-12-03 2020-03-24 辽宁工业大学 Control method of active suspension system with state constraint and dead zone input
KR20210006573A (en) * 2019-07-08 2021-01-19 현대자동차주식회사 Rough road detection and damper control system and method thereof

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108860152A (en) * 2018-06-21 2018-11-23 江苏大学 One kind being based on the modified road roughness identification system of damped coefficient and method
KR20210006573A (en) * 2019-07-08 2021-01-19 현대자동차주식회사 Rough road detection and damper control system and method thereof
CN110901326A (en) * 2019-12-03 2020-03-24 辽宁工业大学 Control method of active suspension system with state constraint and dead zone input

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