KR960040709A - Suspension control device of a vehicle - Google Patents

Suspension control device of a vehicle Download PDF

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Publication number
KR960040709A
KR960040709A KR1019960015171A KR19960015171A KR960040709A KR 960040709 A KR960040709 A KR 960040709A KR 1019960015171 A KR1019960015171 A KR 1019960015171A KR 19960015171 A KR19960015171 A KR 19960015171A KR 960040709 A KR960040709 A KR 960040709A
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KR
South Korea
Prior art keywords
spring
under
target
detecting
attenuation coefficient
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KR1019960015171A
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Korean (ko)
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KR100207167B1 (en
Inventor
히데오 도바타
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츠지 요시후미
닛산 지도샤 가부시키가이샤
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Publication of KR960040709A publication Critical patent/KR960040709A/en
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Publication of KR100207167B1 publication Critical patent/KR100207167B1/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
    • B60G17/018—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
    • B60G17/0182—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 involving parameter estimation, e.g. observer, Kalman filter
    • 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
    • B60G17/01933—Velocity, e.g. relative velocity-displacement 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
    • B60G2400/102—Acceleration; Deceleration vertical
    • 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
    • B60G2400/202—Piston speed; Relative velocity between vehicle body and wheel
    • 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
    • B60G2400/25—Stroke; Height; Displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/22—Spring constant
    • 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
    • B60G2600/17—Proportional control, i.e. gain control

Abstract

본 발명의 목적은 차륜의 접지성의 향상과 승차감의 향상을 동시에 도모하는 것으로서, 감쇄계수 변경수단(50)을 구비한 쇽 압소버(3)와, 스프링 위의 차체 상하 방향의 가속도를 검출하는 수단(51)과, 동일하게 스프링 아래의 가속도를 검출하는 수단(52)과, 감쇄계수 변경수단(50)을 구동하는 제어수단(53)은 스프링 위 가속도와 스프링 위 가속도와 스프링 아래 가속도에서 노면과 스프링 아래의 상대 속도(HV0)를 추정하는 노면-스프링 아래 상대 속도 추정수단(54)과, 상기 노면과 스프링 아래의 상대 속도에 비례한 힘에 대응하는 목표 감쇄계수(Cu)를 연산하는 목표 감쇄계수(Cu)를 연산하는 목표 감쇄계수 연산수단(55)를 구비하며, 감쇄계수 변경 수단(50)의 감쇄 계수를 목표 감쇄 계수에 일치되도록 구동한다.An object of the present invention is to simultaneously improve the grounding property of a wheel and the ride comfort, and it is an object of the present invention to provide a shock absorber comprising a shock absorber (3) provided with a damping coefficient changing means (50) The means 52 for detecting the acceleration under the spring and the control means 53 for driving the attenuation coefficient changing means 50 likewise control the acceleration of the sprung portion, Spring-relative-velocity estimating means 54 for estimating a relative velocity HV 0 under the spring, a target-computing-target-target-damping-coefficient calculating means 54 for computing a target damping coefficient Cu corresponding to a force proportional to the relative speed of the road surface and the spring- And a target attenuation coefficient computing means 55 for computing an attenuation coefficient Cu, and drives the attenuation coefficient of the attenuation coefficient changing means 50 to coincide with the target attenuation coefficient.

Description

차량의 서스펜션 제어장치Suspension control device of a vehicle

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is a trivial issue, I did not include the contents of the text.

제1도는 본 발명의 실시예를 나타내는 차량의 사시도, 제2도는 본 발명의 실시예를 나타내는 블럭도, 제 23 도는 제1항 내지 제 9 항 중 어느 한 항에 대응하는 블럭도.1 is a perspective view of a vehicle showing an embodiment of the present invention, FIG. 2 is a block diagram showing an embodiment of the present invention, and FIG. 23 is a block diagram corresponding to one of the items 1 to 9.

Claims (9)

각 차륜의 스프링위와 스프링아래와의 사이에 장착되어 감쇄계수를 변경하는 감쇄계수 변경수단을 구비한쇽 압소버와, 각 차륜의 스프링위의 차체 상하방향의 가속도를 검출하는 스프링위 가속도 검출수단과, 각 차륜의 스프링아래의 차체 위 상하방향의 가속도를 검출하는 스프링아래 가속도 검출수단과, 상기 스프링위 및 스프링아래 가속도 검출수단의 검출값에 근거하여 상기 쇽 압소버의 목표 감쇄계수를 연산함과 함께, 상기 목표감쇄계수에 쇽 압소버의 감쇄계수가 일치하도록 상기 감쇄계수 변경수단을 구동하는 제어수단을 구비하는 차량의 서스펜션 제어장치에 있어서, 상기 제어수단은 상기 스프링위의 가속도와 스프링아래 가속도에서 노면과 스프링아래의 상대속도(HV0)를 추정하는 노면-스프링 아래 상대속도 추정수단과, 상기 노면과 스프링아래의 상대속도에 비례한 힘에 대응하는 목표 감쇄계수(CUi)를 연산하는 목표 감쇄계수 연산수단을 구비한 것을 특징으로 하는 차량의 서스펜션 제어장치.A shock absorber mounted on the springs of each wheel and disposed between the springs and below the springs to change attenuation coefficients; spring acceleration detecting means for detecting accelerations of the respective wheels on the springs in the vertical direction; A lower acceleration detecting means for detecting an acceleration in a vertical direction on the vehicle body under the springs of each wheel and a target attenuation coefficient calculating means for calculating a target attenuation coefficient of the shock absorber based on the detected values of the above- And control means for driving the attenuation coefficient changing means so that the attenuation coefficient of the shock absorber coincides with the target attenuation coefficient, wherein the control means controls the suspension means so that the acceleration on the spring and the acceleration A road surface-under-spring relative speed estimating means for estimating a relative speed (HV 0 ) under the road surface and under the spring, And a target damping coefficient computing means for computing a target damping coefficient (CU i ) corresponding to a force proportional to a relative speed under the spring. 각 차륜의 스프링위와 스프링아래와의 사이에 장착되어 감쇄계수를 변경하는 감쇄계수 변경수단을 구비한쇽 압소버와, 각 차륜의 스프링위의 차체 상하 방향의 가속도를 검출하는 스프링위 가속도 검출수단과, 각차륜의 스프링아래의 차체 상하방향의 가속도를 검출하는 스프링아래 가속도 검출수단과, 상기 스프링위 및스프링아래 가속도 검출수단의 검출값에 근거하여 상기 쇽 압소버의 목표 감쇄계수를 연산함과 함께, 상기목표 감쇄계수에 쇽 압소버의 감쇄계수가 일치하도록 상기감쇄계수 변경수단을 구동하는 제어수단을 갖는 차량의 서스펜션 제어장치에 있어서, 차량의 주행상태를 검출하는 주행상태 검출수단과, 상기 제어수단은, 상기스프링위 가속도와 스프링아래 가속도에서 노면과 스프링아래의 상대속도(HV0)를 추정하는 노면-스프링아래 상대속도 추정수단과, 상기 노면과 스프링아래의 상대속도에 비례한 힘에 대응하는 목표 감쇄계수(CUi)를, 상기 검출한 차량의 주행상태에 다른 제어게인(Cu)에 근거하여 연산하는 목표 감쇄계수 연산수단을 구비한 것을 특징으로 하는 차량의 서스펜션 제어장치.A shock absorber mounted on the springs of each wheel and disposed between the springs and below the springs to change attenuation coefficients; spring acceleration detecting means for detecting accelerations of the respective wheels on the springs in the vertical direction; A spring lower acceleration detecting means for detecting an acceleration in the vertical direction of the vehicle body under the springs of each wheel and a target deceleration coefficient calculating means for calculating a target attenuation coefficient of the shock absorber based on the detection values of the spring- And control means for driving the attenuation coefficient changing means so that the attenuation coefficient of the shock absorber coincides with the target attenuation coefficient, the suspension control apparatus comprising: running state detecting means for detecting a running state of the vehicle; (HV 0 ) under the road surface and under the spring in the above-mentioned spring acceleration and under-spring acceleration, And a target deceleration coefficient (CU i ) corresponding to a force proportional to the relative speed under the road surface and under the spring is calculated based on a control gain (Cu) different from the detected running state of the vehicle And a target attenuation coefficient calculating means. 제2항에 있어서, 상기 주행상태 검출수단이 차속을 검출하는 차속 검출수단으로 구성되며, 상기 목표 감쇄계수 연산 수단은 차속에 따라서 상기 제어게인(Cu)을 변화시키는 것을 특징으로 하는 차량의 서스펜션 제어장치.3. The vehicle suspension control system according to claim 2, wherein the running state detecting means is constituted by vehicle speed detecting means for detecting the vehicle speed, and the target damping coefficient calculating means changes the control gain (Cu) Device. 제2항에 있어서, 상기 주행상태 검출수단이 차량의 선회상태를 검출하는 선회 검출수단으로 구성되며, 상기 목표 감쇄계수 연산수단은 상기 선회상태에 따라서 상기 제어게인(Cu)를 변화시키는 것을 특징으로 하는 차량의 서스펜션 제어장치.The control system according to claim 2, characterized in that the running state detecting means is constituted by a turning detecting means for detecting a turning state of the vehicle, and the target attenuation coefficient calculating means changes the control gains (Cu) in accordance with the turning state Of the vehicle. 제2항에 있어서, 상기 주행상태 검출수단이 노면의 상태를 검출하는 노면상태 검출수단으로 구성되며, 상기 목표 감쇄계수 연산수단은 상기 노면상태에 따라서 상기 제어게인(Cu)을 변화시키는 것을 특징으로 하는 차량의 서스펜션 제어장치.The control system according to claim 2, characterized in that the running state detecting means is constituted by a road surface state detecting means for detecting the state of the road surface, and the target attenuation coefficient calculating means changes the control gain (Cu) Of the vehicle. 제5항에 있어서, 상기 노면상태 검출수단이 스프링 아래의 차체 상하 방향의 가속도를 검출하는 수단으로 구성되며, 상기 목표 감쇄계수 연산수단은 상기 스프링 아래의 가속도에 따라서 상기 제어게인(Cu)를 변화시키는 것을 특징으로 하는 차량의 서스펜션 제어장치.6. The control system according to claim 5, wherein the road surface condition detecting means is constituted by means for detecting the acceleration in the vertical direction of the vehicle body under the spring, and the target attenuation coefficient calculating means changes the control gain (Cu) And the suspension control device of the vehicle. 제5항에 있어서, 상기 노면상태 검출수단이 쇽 압소버의 소트로크를 검출하는 수단으로 구성되며, 상기 목표 감쇄계수 연산수단은 상기 스트로크에 따라서 상기 제어게인(Cu)을 변화시키는 것을 특징으로 하는 차량의 서스펜션 제어장치.The control system according to claim 5, wherein the road surface condition detecting means comprises means for detecting a sort lock of the shock absorber, and the target damping coefficient calculating means changes the control gain (Cu) in accordance with the stroke Suspension control device of a vehicle. 제1항 내지 제7항 중 어느 한 항에 있어서, 상기 노면 스프링아래 상대속도 추정수단은 상기 스프링위 가속도와 스프링아래 가속도에서 노면과 스프링아래의 상대변위(H0)를 연산하는 상대변위 연산수단과, 상기 상대변위(H0)를 미분하는 미분수단을 구비한 것을 특징으로 하는 차량의 서스펜션 제어장치.8. The apparatus according to any one of claims 1 to 7, wherein the relative speed estimating means under the road surface spring calculates a relative displacement (H 0 ) under the road surface and under the spring in the on-spring acceleration and the under- And differential means for differentiating the relative displacement (H 0 ). 제1항 내지 제8항 중 어느 한 항에 있어서, 상기 목표 감쇄계수 연산수단은, 상기 스프링 위 가속도에 근거하여 스프링위의 차체 상하방향의 속도(ZV)를 연산하는 스프링위 속도 연산수단을 구비하여 노면과 스프링아래의 상대속도(HV0)에 비례한 힘과, 상기 스프링위 속도(ZV)에 비례한 힘의 합력에 대응한 목표 감쇄계수(Cui)를 연산하는 것을 특징으로 하는 차량의 서스펜션 제어장치.9. The automatic transmission according to any one of claims 1 to 8, wherein the target damping coefficient computing means comprises spring on-speed computing means for computing a speed ZV in the up-and-down direction of the vehicle body on the spring based on the spring on- Calculates a target damping coefficient (Cu i ) corresponding to a force proportional to the relative speed (HV 0 ) under the road surface and the spring and a resultant force in proportion to the above-mentioned spring speed (ZV) Suspension control device. ※ 참고사항 : 최초출원 내용에 의하여 공개되는 것임.※ Note: It is disclosed by the contents of the first application.
KR1019960015171A 1995-05-16 1996-05-09 Vehicle suspension controller KR100207167B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP95-117362 1995-05-16
JP7117362A JPH08310214A (en) 1995-05-16 1995-05-16 Suspension control device for vehicle

Publications (2)

Publication Number Publication Date
KR960040709A true KR960040709A (en) 1996-12-17
KR100207167B1 KR100207167B1 (en) 1999-07-15

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Application Number Title Priority Date Filing Date
KR1019960015171A KR100207167B1 (en) 1995-05-16 1996-05-09 Vehicle suspension controller

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KR (1) KR100207167B1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005255152A (en) * 2004-02-12 2005-09-22 Hitachi Ltd Suspension control device
JP4972440B2 (en) * 2007-03-27 2012-07-11 本田技研工業株式会社 Control device for damping force variable damper
JP6026207B2 (en) * 2012-09-28 2016-11-16 日立オートモティブシステムズ株式会社 Suspension control device
JP6345724B2 (en) * 2016-03-16 2018-06-20 本田技研工業株式会社 Vehicle suspension system
JP6486414B2 (en) * 2017-06-16 2019-03-20 本田技研工業株式会社 Electromagnetic suspension device
JP6426794B1 (en) * 2017-06-16 2018-11-21 本田技研工業株式会社 Electromagnetic suspension device
KR20220015172A (en) * 2020-07-30 2022-02-08 현대자동차주식회사 Apparatus and method for controlling suspension of vehicle
DE102021131065A1 (en) * 2021-11-26 2023-06-01 Audi Aktiengesellschaft Active chassis control for a motor vehicle

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JPH08310214A (en) 1996-11-26
KR100207167B1 (en) 1999-07-15

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