KR910016536A - 운동체의 각속도 검출장치, 운동체의 가속도 검출장치 및 운동체의 운동제어장치 - Google Patents

운동체의 각속도 검출장치, 운동체의 가속도 검출장치 및 운동체의 운동제어장치 Download PDF

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KR910016536A
KR910016536A KR1019910004930A KR910004930A KR910016536A KR 910016536 A KR910016536 A KR 910016536A KR 1019910004930 A KR1019910004930 A KR 1019910004930A KR 910004930 A KR910004930 A KR 910004930A KR 910016536 A KR910016536 A KR 910016536A
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acceleration
acceleration sensors
angular velocity
detecting
sensors
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KR1019910004930A
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KR0159110B1 (ko
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고우사꾸 시마다
요조 나까무라
시게루 호리고시
하야또 스가와라
다쯔히꼬 몬지
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미쓰다 가쓰시게
가부시끼가이샤 히다찌세이사꾸쇼
모리 미찌쓰구
히다찌오토모티브엔지니어링 가부시끼가이샤
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular 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
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B60G2400/1042—Acceleration; Deceleration lateral or transversal with regard to vehicle using at least two sensors
    • 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
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
    • B60G2400/1062—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking using at least two sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/03—Vehicle yaw rate

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Gyroscopes (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

내용 없음

Description

운동체의 각속도 검출장치. 운동체의 가속도 검출장치 및 운동체의 운동제어장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 1 실시예에 따른 운동체에 장치된 가속도 센서의 배치의 선도, 제2도와 제3도는 본 발명의 실시예의 가속도 벡터 성분분해를 설명하는 백터도.

Claims (15)

  1. 검출방향을 가지는 각 제1과 제2가속도센서와, 상기 제1과 제2가속도센서가 검출방향에서 평면과 거리에 같은 검출방향을 실질적으로 기지도록 상기 운동체에 상기 제1과 제2가속도센서를 설치하는 수단과, 그리고 상기 제1과 제2가속도센서가 상기 제1과 제2가속도센서가 상기 제1과 제2가속도센서 사이의 위치관계와 출력에 의거하여 설치되는 평면에 수직인 축주위의 운동체의 각속도를 검출하는 수단을 포함하는 운동체의 가속도를 검출하는 장치.
  2. 제1항에 있어서, 각속도를 검출하는 상기 수단은 다음시기에 따라 상기 운동체의 각속도(ε)를 계산하고
    여기에서 AG는 상기 가속도센서에 의해 검출된 가속도와 상기 제2가속도 센서에 의해 검출된 가속도 사이의 차이고 R은 검출방향에서 상기 제1과 제2가속도센서 사이의 상기 거리인 가속도를 검출하는 장치.
  3. 제1항에 있어서, 각속도를 검출하는 상기 수단은 상기 제1과 제2가속도센서에서의 출력사이의 차의 제로점을 조정하는 수단을 포함하고 사아기 보정수단의 제로점조정은 운동체의 중지중에 실행되는 가속도를 검출하는 장치.
  4. 제1항에 있어서, 각속도를 검출하는 상기 수단은 상기 제1과 제2가속도센서에서의 출력의 로우-패스거르기를 실행하는 거르기 수단과 그리고 상기 거르기 수단을 통하여 지나갔는 출력사이의 차를 계산하는 수단을 포함하는 가속도를 검출하는 장치.
  5. 검출방향을 가지는 각 제1과 제2가속도센서와, 상기 자동차의 저면에 실질적으로 평행인 평면에 위치하게 상기 자동차의 자체에 상기 제1과 제2가속도 센서를 설치하는 수단을 포함하고, 상기 검출방향은 서로가 실질적으로 같고 그리고 상기 제1가속도 센서는 검출방향에 관해 그곳 사이의 거리(R)를 제공하기위해 상기 제2가속도센서와 분리되고, 다음식 ε=△G/R을 따라 상기 제1과 제2센서와 거리(R)에서 출력사이의 차(△G)에 의거하여 상기 평면에 수직인 축 주위에서 상기 자동차운동의 각속도 (ε)를 검출하는 수단을 포함하는 자동차의 가속도를 검출하는 장치.
  6. 제5항에 있어서, 상기 제1과 제2가속도센서는 각각 상기 자동차의 전.후부에 설치되는 가속도를 검출하는 장치.
  7. 제6항에 있어서, 상기 검출 각속도는 상기 자동차의 요우레이트이고, 상기 제1과 제2가속도센서는 각각 상기 자동차의 앞부분과 뒤부분에 설치되는 가속도를 검출하는 장치.
  8. 제6항에 있어서, 제로점 조정수단은 제로에 상기 자동차의 정지중 상기 제1과 제2센서에서의 출력사이의 차를 조정하기 위해 제공되는 가속도를 검출하는 장치.
  9. 제6항에 있어서, 각속도를 검출하는 상기 수단은 출력에서의 저주파성분을 통고하기 위해 상기 제1과 제2가속도센서에서 출력을 거르는 방법을 포함하는 가속도를 검출하는 장치.
  10. 제6항에 있어서, 거르기하는 상기수단은 주파수 특성은 상기 자동차가 주행하여 환경에 따라 가변화되는 가속도를 검출하는 장치.
  11. 제6항에 있어서, 상기 제1과 제2가속도센서는 제어장치중의 하나 기판에 설치되는 가속도를 검출하는 장치.
  12. 평면상의 병진운동과 평면에 수직인 축주위에서의 회전운동을 포함하는 운동체의 운동의 물질적량을 검출하는 장치에 있어서, 검출방향을 가지는 각 제1과 제2가속도센서와, 검출방향에서 제1과 제2가속도센서사이의 거리(R)의 상기 평면에 위치하도록 상기 운동체에 상기 제1과 그리고 제2가속도센서를 설치하는 수단과, 그리고 검출방향에 대해 상기 제1과 제2가속도센서 사이의 상기 거리(R)와 상기 제1과 제2가속도센서 사이의 차에 의거하여, 상기 운동체의 상병진운동의 가속도와 상기 회전운동의 각속도의 하나의 대표적인 물리적양을 계산하는 수단을 가지는 물리적양을 검출하는 장치.
  13. 제12항에 있어서, 상기 물리적양을 검출하는 수단은 상기 제1과 제2가속도센서에서 추력을 거르는 수단을 포함하는 물리적 양을 검출하는 장치.
  14. 제12항에 있어서, 계산된 가속도는 거기의 중력중심에 상기 운동체의 변진운동의 가속도인 물리적양을 검출하는 장치.
  15. 검출방향을 가지고 검출된 가속도에 대응하는 출력을 각 제1과 제2가속도센서와, 검출방향에서 상기 제1과 제2가속도센서사이의 거리(R)의 상기 운동체의 평면에 위치되게 상기 운동체에 상기 제1과 제2가속도센서를 고정하는 수단과, 식 ε=△G/R에 따라 상기 운동체의 상기 평면에 수직인 축주위의 상기 운동체의 각속도(ε)를 검출하는 수단과, 거기에 △G는 상기 제14과 제2가속도센서에서의 출력사이의 차이고, 상기 운동체의 목표각속도와 검출된 각속도를 차를 발생하기위해 비교하는 비교기와, 상기 목표각속도와 상기 검출된 각속도사이의 상기치에 대응하는 제어입력을 발생하는 수단과, 그리고 상기 운동체의 각속도가 목표치에 접근하도록 제어입력에 따라 제어소자를 작동하는 상기 운동체에 설치되는 액추에이터를 포함하는 운동체의 운동을 제어하는 제어장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019910004930A 1990-03-29 1991-03-28 운동체의 각속도 검출장치, 각 속도 검출장치 및 운동제어장치 KR0159110B1 (ko)

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JP2-78948 1990-03-29
JP2078948A JPH0833408B2 (ja) 1990-03-29 1990-03-29 角度検出装置と並進加速度検出装置並びに自動車制御装置

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KR910016536A true KR910016536A (ko) 1991-11-05
KR0159110B1 KR0159110B1 (ko) 1999-03-20

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US (1) US5247466A (ko)
JP (1) JPH0833408B2 (ko)
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KR0159110B1 (ko) 1999-03-20
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DE4110374A1 (de) 1991-10-10
US5247466A (en) 1993-09-21
JPH0833408B2 (ja) 1996-03-29

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