KR20170025779A - Electronic control suspension apparatus and method for determining damping force thereof - Google Patents
Electronic control suspension apparatus and method for determining damping force thereof Download PDFInfo
- Publication number
- KR20170025779A KR20170025779A KR1020150122725A KR20150122725A KR20170025779A KR 20170025779 A KR20170025779 A KR 20170025779A KR 1020150122725 A KR1020150122725 A KR 1020150122725A KR 20150122725 A KR20150122725 A KR 20150122725A KR 20170025779 A KR20170025779 A KR 20170025779A
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- South Korea
- Prior art keywords
- damping force
- damper
- condition
- turning
- entry
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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
- B60G17/019—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
- B60G17/015—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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an electronically controlled suspension device and a method of determining a damping force thereof, and more particularly to an electronically controlled suspension device capable of controlling the behavior of a vehicle with a damping force of a damper corresponding to a turning entry / And a method of determining its damping force.
Generally, an electronically controlled suspension device is a shock absorber between a shaft and a frame of a vehicle, or a shock absorber composed of a spring, so as to soften the vertical direction of the vehicle and to mitigate impact and vibration received from the road surface so as not to be transmitted to the vehicle body.
When the vehicle turns at a corner, an inertial force is generated at the center point of the vehicle, and this inertial force causes a roll phenomenon of the vehicle. A number of techniques have been studied to control the roll phenomenon of such vehicles.
An electronically controlled suspension device for controlling the roll phenomenon of a vehicle has been filed in a number of applications other than Korean Patent Publication No. 2009-24019.
The electronically controlled suspension device including the patent compares the lateral acceleration detected at the time of turning of the vehicle with the limit value of the rollover model, and maintains a stable posture by controlling the engine output and the vehicle speed when there is a risk of rollover of the vehicle.
However, the conventional electronically controlled suspension device including the above-described patent only controls the engine output and the vehicle speed when there is a risk of rollover when the vehicle is turning, and is capable of controlling the engine output and the vehicle speed only when the vehicle enters or exits from a road environment such as intersection rotation, curve road, The damping force of the damper is determined according to the turning maintenance state after entering or after turning, and the behavior of the vehicle can not be controlled.
Meanwhile, the conventional electronically controlled suspension device can roughly be divided into ride control according to the road surface change and adaptive control according to the driver input. Adaptive control currently being applied includes anti-squat (rapid acceleration control), anti- Control) and Anti_Roll (high-rotation control).
In the case of a sedan or a sports car, rapid acceleration control, sudden braking control and sudden braking control may be sufficient. However, in the case of vehicles with high garages such as SUVs, buses, and trucks, turning of road environments such as intersection turns, curve roads, The handling of the vehicle is slow, but the rolling of the vehicle greatly occurs, so that the behavior of the vehicle body is unstable.
An object of the present invention is to provide an electronically controlled suspension device capable of controlling the behavior of a vehicle with damping force of a damper in accordance with a turning entry / entry situation or a turning holding state of a vehicle, and a damping force determination method thereof.
According to an aspect of the present invention, there is provided an electronically controlled suspension device for controlling a damping force of a damper installed on a vehicle, the electronically controlled suspension device comprising: a steering angle sensor for sensing a steering angle, ; A determination unit for determining whether the steering angle, the steering speed, and the lateral acceleration are compared with a preset reference threshold value to determine whether the steering angle, the steering speed, and the lateral acceleration are turning entry / entry conditions or turning conditions; And a control unit for determining a control value at the time of turning entry / advancement in advance as a damping force of the damper when a determination is made by the determination unit that the vehicle is in a turning entry / exit condition of the vehicle, And a damping force determiner configured to determine a damping force of the damper as a damping force of the damper.
The damping force determiner receives the velocity of the damper calculated from the outside or receives the velocity of the damper detected from the sensor installed in the vehicle and senses the velocity of the damper, Or the compression motion, and determine the damping force of the damper by reflecting the determination result.
The damping force determiner may determine the damping force of the damper by reflecting the control amount in proportion to the magnitude of the lateral acceleration or the roll rate to the control value at the time of the turning entry / .
The turning entry / entry condition is a condition that the steering angle, the steering speed and the lateral acceleration are greater than a predetermined steering angle reference threshold value, a steering speed reference threshold value, and a lateral acceleration reference threshold value, and the turning entry / Wherein the turning maintenance condition is a condition that the lateral acceleration is equal to or greater than a predetermined reference determination threshold for maintenance, and the termination condition of the turning maintenance condition is a condition in which the lateral acceleration May be a condition less than a threshold value.
According to another embodiment of the present invention, there is provided a method of determining a damping force of an electronically controlled suspension device that controls a damping force of a damper installed in a vehicle, the method comprising: receiving a steering angle, a steering velocity, and a lateral acceleration sensed by a sensing portion ; A determination is made as to whether or not the turning entry / entry condition of the vehicle is satisfied through comparison between the received steering angle, steering speed and lateral acceleration, and a predetermined steering angle reference threshold value, a steering speed reference threshold value, and a lateral acceleration reference threshold value step; Determining as a damping force of the damper a control value at the time of entering / advancing in a predetermined direction when the turning entry / entry condition of the vehicle is satisfied as a result of the determining step; Determining whether or not the turning maintenance condition of the vehicle is satisfied by comparing the lateral acceleration with a preset reference threshold for maintenance when the determination holding time satisfying the turning entry / entry condition has elapsed; And determining a damping force of the damper as a control value at the time of maintaining a predetermined swivel when the swivel maintaining condition of the vehicle is satisfied as a result of the determination of the determining step Method is provided.
According to the embodiment of the present invention, there is an effect that the roll phenomenon can be reduced and the vehicle body can be stably controlled by controlling the behavior of the vehicle by the damping force of the damper corresponding to the turning entry / entry state or the turning holding state of the vehicle.
1 is a block diagram for explaining an electronically controlled suspension according to an embodiment of the present invention;
Fig. 2 is a block diagram for explaining the electronic control unit shown in Fig. 1,
3 is a flowchart illustrating a method of determining a damping force at the time of turning in / out of an electronically controlled suspension according to another embodiment of the present invention.
FIG. 4 is a flowchart illustrating a method of determining a damping force when the electronic control unit is swiveled according to another embodiment of the present invention, and FIG.
5 is a view showing a road environment showing a turning entry / exit and turning maintenance situation;
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 shows a block diagram for explaining an electronically controlled suspension according to an embodiment of the present invention, and Fig. 2 shows a block diagram for explaining the electronic control unit shown in Fig.
Referring to FIG. 1, an electronic control unit according to an embodiment of the present invention includes a sensing unit 10 installed in a vehicle, a
The sensing unit 10 includes a steering angle sensor 11 for measuring an angle at which the driver operates the steering wheel to steer the vehicle, a steering speed sensor 13 for measuring how fast the steering angle changes the angle, And a lateral acceleration sensor 15 for measuring a directional acceleration, that is, a lateral acceleration.
Furthermore, the sensing unit 10 may further include a sensor capable of sensing the speed of the
The
The
2, the
The
The
The turning entry / exit condition is a condition in which the steering angle, the steering speed and the lateral acceleration are larger than the predetermined steering angle reference threshold value, the steering speed reference threshold value and the lateral acceleration reference threshold value, the steering angle is larger than the steering angle reference threshold value, If the lateral acceleration is greater than the reference threshold value and the lateral acceleration is greater than the reference threshold value, it is determined that the turning entrance / entry condition is satisfied. If the lateral acceleration is greater than the reference threshold value Or more and the lateral acceleration is equal to or greater than the reference value for maintenance judgment, it is judged that the turning maintenance condition is satisfied.
In particular, since steering is essential for turning entry / exit conditions, steering speed with a clearer characteristic among steers is set as a main determination factor, and steering angle and lateral acceleration are set as additional determination factors. Since the turning entry / exit condition requires only a short time control when entering / exiting the turn, the turning entry / exit condition can be implemented as a condition exceeding the predetermined time after satisfying the turning entry / entry condition.
The turning maintenance condition is a driving condition in which the steering characteristics are hardly generated. When the lateral acceleration, which is a main control factor, is equal to or greater than the reference threshold value for maintenance judgment, the turning maintenance control is performed and the application time may be very long depending on the road characteristics. The condition can be implemented when the lateral acceleration is less than the reference threshold value for determining the termination.
Further, the
Also, the
When the speed of the damper is a positive value, it is judged as a tensile motion of the damper, and when the speed of the damper is a negative value, it is judged as a compression motion of the damper.
The speed of the damper is obtained by integrating the vehicle acceleration and the wheel acceleration sensed by the vehicle acceleration sensor and the wheel acceleration sensor to determine the vehicle speed and the wheel speed, and then subtracting the wheel speed from the vehicle speed or the garage sensed by the height sensor May be calculated.
The damping force determiner 33 detects a predetermined control value at the time of entering / advancing the swing from the
The damping force determiner 33 determines the damping force of the damper to a preset control value for each of the turning entry / exit condition or the turning holding condition. If the velocity of the damper is further reflected to reflect the velocity of the damper (A control value at the time of turning in / out or a control value at the time of turning) is determined as a control value at the time of pulling, .
The
For example, when the swing entry / exit condition is satisfied, the front wheel control value is set to a during compression, the front wheel control value during braking is set to b, the rear wheel control value during compression is set to c, Can be set to d. In the case of satisfying the turning holding condition, the front wheel control value is set to e at compression, the front wheel control value at the time of tension is set to f, the rear wheel control value at the time of compression is set to g, have. The control value thus set is stored in the
Furthermore, the damping force determiner 33 can determine the damping force of the damper by reflecting the control amount proportional to the lateral acceleration or the roll rate to the control value at the time of turning in / out.
The
The damping force determination method of the electronically controlled suspension having such a structure will be described with reference to FIGS. 3 and 4. FIG.
FIG. 3 is a flowchart illustrating a method for determining a damping force when turning on / off of an electronically controlled suspension according to another embodiment of the present invention.
3, the
The
If it is determined that the steering angle, the steering speed, and the lateral acceleration are not greater than the preset reference threshold value, that is, when the steering angle, the steering speed, and the lateral acceleration are compared with the respective reference threshold values, The
If it is determined in step S13 that the steering angle, the steering speed, and the lateral acceleration are greater than a preset reference threshold value, the
As a result of the determination in the step S15, when the turning entry / exit condition is maintained within the holding time, the
The
If it is determined that the speed of the damper is positive (+) in step S19, the
If it is determined in step S19 that the speed of the damper is a negative value, the
The control value at the time of pulling in / out at the time of pulling and the control value at the time of entering / advancing at the time of compression are stored in the
The
4 is a flowchart illustrating a method for determining a damping force when the electronically controlled suspension device is swiveled according to another embodiment of the present invention.
Referring to FIG. 4, the
The
If it is determined in step S33 that the lateral acceleration is less than the reference determination threshold, the
If it is determined in step S33 that the lateral acceleration is equal to or greater than the reference threshold value for maintenance determination, the
The
If it is determined in step S37 that the speed of the damper is a positive value, the
If it is determined in step S37 that the speed of the damper is a minus value, the
The control value at the time of retraction when holding the tension and the control value at the time of holding the compression during compression are stored in the
The
Thereafter, the
If it is determined in step S41 that the lateral acceleration is equal to or greater than the reference threshold for termination determination, the
If it is determined in step S41 that the lateral acceleration is less than the reference threshold for termination determination, the
Fig. 5 shows the control area in the turning entry / exit condition and the control area in the turning holding condition.
Referring to FIG. 5, the
Thus, it is possible to carry out the fixed control with the control values at the turning entry / advance control and the turning control at the turning entrance / exit control area and the turning maintenance control area, respectively, The behavior can be stably controlled.
In this embodiment, the turning entry / exit determination and control logic and the turning keeping determination and control logic operate independently as shown in FIGS. 3 and 4, but it is determined that both the turning entry / entry condition and the turning holding condition are satisfied The turning entry / exit control can be implemented to operate preferentially.
In this embodiment, it is explained that the damping force determined at the turning entry / exit or the turning holding is controlled by the damper. However, in the case of an active suspension such as an air spring, displacement and speed control are performed instead of damping force control can do.
The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.
10: sensing part 11: steering angle sensor
13: steering speed sensor 15: lateral acceleration sensor
30: electronic control unit 31:
32: Determination unit 33: Damping force determination unit
34: behavior control section 35:
Claims (5)
A receiving unit for receiving a steering angle, a steering speed and a lateral acceleration sensed by a sensing unit installed in the vehicle;
A determination unit for determining whether the steering angle, the steering speed, and the lateral acceleration are compared with a preset reference threshold value to determine whether the steering angle, the steering speed, and the lateral acceleration are turning entry / entry conditions or turning conditions; And
Wherein the controller determines a control value at the time of turning entry / advancement as a damping force of the damper when the vehicle is in a turning entry / exit condition of the vehicle, and when the turning holding condition is satisfied, And a damping force determiner for determining the damping force of the damper based on the damping force of the damper.
The damping force determiner receives the velocity of the damper calculated from the outside or receives the velocity of the damper detected from the sensor installed in the vehicle and senses the velocity of the damper, Or compression motion, and determines the damping force of the damper by reflecting the determination result.
The damping force determination unit may determine the damping force of the damper by reflecting the control amount in proportion to the magnitude of the lateral acceleration or the roll rate to the control value at the time of turning entry / Characterized in that the electronically controlled suspension device
The turning entry / entry condition is a condition in which the steering angle, the steering speed and the lateral acceleration are greater than a predetermined steering angle reference threshold, a steering speed reference threshold, and a lateral acceleration reference threshold,
The termination condition of the turning entry / entry condition is a condition that a predetermined time elapses,
Wherein the turning maintaining condition is a condition that the lateral acceleration is equal to or greater than a preset reference determination threshold value,
And the termination condition of the turning holding condition is a condition in which the lateral acceleration is less than a preset reference termination determination threshold value.
A steering angle, a steering speed and a lateral acceleration sensed by a sensing unit installed in the vehicle;
A determination is made as to whether or not the turning entry / entry condition of the vehicle is satisfied through comparison between the received steering angle, steering speed and lateral acceleration, and a predetermined steering angle reference threshold value, a steering speed reference threshold value, and a lateral acceleration reference threshold value step;
Determining as a damping force of the damper a control value at the time of entering / advancing in a predetermined direction when the turning entry / entry condition of the vehicle is satisfied as a result of the determining step;
Determining whether or not the turning maintenance condition of the vehicle is satisfied by comparing the lateral acceleration with a preset reference threshold for maintenance when the determination holding time satisfying the turning entry / entry condition has elapsed; And
And determining as a damping force of the damper a control value at the time of maintaining a predetermined swing if the swing-keeping condition of the vehicle is satisfied as a result of the determination in the determining step .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150122725A KR20170025779A (en) | 2015-08-31 | 2015-08-31 | Electronic control suspension apparatus and method for determining damping force thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150122725A KR20170025779A (en) | 2015-08-31 | 2015-08-31 | Electronic control suspension apparatus and method for determining damping force thereof |
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| KR20170025779A true KR20170025779A (en) | 2017-03-08 |
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| KR1020150122725A KR20170025779A (en) | 2015-08-31 | 2015-08-31 | Electronic control suspension apparatus and method for determining damping force thereof |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100024019A (en) | 2008-08-25 | 2010-03-05 | 조성진 | Multi-purpose food concentrate mineral preparation and preparation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100024019A (en) | 2008-08-25 | 2010-03-05 | 조성진 | Multi-purpose food concentrate mineral preparation and preparation method thereof |
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