KR970034255A - Control device of active suspension system - Google Patents

Control device of active suspension system Download PDF

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Publication number
KR970034255A
KR970034255A KR1019950069673A KR19950069673A KR970034255A KR 970034255 A KR970034255 A KR 970034255A KR 1019950069673 A KR1019950069673 A KR 1019950069673A KR 19950069673 A KR19950069673 A KR 19950069673A KR 970034255 A KR970034255 A KR 970034255A
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KR
South Korea
Prior art keywords
acceleration
signal
absolute speed
filter
absolute
Prior art date
Application number
KR1019950069673A
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Korean (ko)
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KR0153822B1 (en
Inventor
정남훈
Original Assignee
정몽원
만도기계 주식회사
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Application filed by 정몽원, 만도기계 주식회사 filed Critical 정몽원
Priority to KR1019950069673A priority Critical patent/KR0153822B1/en
Publication of KR970034255A publication Critical patent/KR970034255A/en
Application granted granted Critical
Publication of KR0153822B1 publication Critical patent/KR0153822B1/en

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Classifications

    • 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
    • B60G17/01941—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 characterised by the use of piezoelectric elements, e.g. sensors or actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/41—Fluid actuator
    • B60G2202/413—Hydraulic actuator
    • 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
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B60G2500/11—Damping valves
    • B60G2500/114—Damping valves pressure regulating valves
    • 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
    • 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
    • B60G2600/18—Automatic control means
    • B60G2600/182—Active control means
    • 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
    • B60G2600/18—Automatic control means
    • B60G2600/188—Spectral analysis; Transformations
    • B60G2600/1881—Integral
    • 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
    • B60G2600/602—Signal noise suppression; Electronic filtering means high pass
    • 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
    • B60G2600/604—Signal noise suppression; Electronic filtering means low pass
    • 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
    • B60G2600/74—Analog systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9123—Active Body Control [ABC]

Landscapes

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

Abstract

본 발명은 상하 가속도 신호의 오작동 신호를 제거하고, 제어 영역 이외의 출력신호를 감소시켜 제어 성능을 향상시킬 수 있도록 하는 것이다.The present invention is to eliminate the malfunction signal of the up and down acceleration signal, and to reduce the output signal other than the control area to improve the control performance.

본 발명은 전방 좌측, 후방 좌측 및 후방 우측의 바퀴측에 상하 가속도를 검출하는 상하 가속도 센서를 각기 설치하고, 상하 가속도 센서가 검출하는 상하 가속도 신호를 필터로 필터링하여 잡음 신호를 제거하고, 이를 고역 통과필터 및 적분기를 통과시켜 차체의 절대 속도를 검출함과 아울러 전방 좌측, 후방 좌측 및 후방 우측의 상하 가속도신호로 전방 우측의 상하 가속도 신호를 연산하여 차체의 절대 속도를 검출하며, 검출한 전방 좌측, 전방 우측, 후방 좌측 및 후방 우측의 차체의 절대속도의 이득을 이득 조절기로 조절하며, 저역 통과 필터로 필터링한 후 압력 제어밸브에 인가하여 각각의 바퀴측에 설치된 액츄에이터의 감쇠력을 각기 조절한다.The present invention is to install the vertical acceleration sensor to detect the vertical acceleration on the wheel side of the front left, rear left and rear right, respectively, filter the vertical acceleration signal detected by the vertical acceleration sensor with a filter to remove the noise signal, high frequency The absolute velocity of the vehicle is detected by passing the pass filter and the integrator, and the absolute velocity of the vehicle is detected by calculating the vertical acceleration signal of the front right with the vertical acceleration signals of the front left, rear left and rear right. The gain of the absolute speed of the vehicle body on the front right side, rear left side and rear right side is adjusted by the gain regulator, and it is filtered by the low pass filter and then applied to the pressure control valve to adjust the damping force of the actuator installed on each wheel side.

Description

능동형 현가 시스템의 제어장치Control device of active suspension system

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 종래의 제어장치의 구성을 보인 도면.1 is a view showing the configuration of a conventional control device.

제2도는 본 발명의 제어장치의 일실시예 구성을 보인 회로도.2 is a circuit diagram showing an embodiment of the control device of the present invention.

제3도는 본 발명의 제어장치의 다른 실시예 구성을 보인 회로도.3 is a circuit diagram showing another embodiment of the control device of the present invention.

제4도는 제3도의 고역 통과 필터/적분기의 주파수 특성을 보인 그래프.4 is a graph showing the frequency characteristics of the high pass filter / integrator of FIG.

Claims (4)

차량의 전방 좌측, 후방 좌측 및 후방 우측의 바퀴측에 설치되어 상하 가속도를 각기 검출하는 상하 가속도 센서(11,12,13)와, 상기 상하 가속도 센서(11,12,13)의 출력신호를 필터링하여 잡음을 제거하는 아날로그 필터(14)와, 상기 아날로그 필터(14)의 출력신호로 차체의 전방 좌측, 전방 우측, 후방 좌측 및 후방 우측의 절대 속도를 검출하는 절대속도 검출부(15)와, 상기 절대 속도 검출부(15)가 검출한 전방 좌측 및 전방 우측 절대 속도와 후방 좌측 및 후방 우측의 절대 속도의 이득을 각기 조절하는 이득 조절기(16)(17) 와, 상기 이득 조절기(16)(17)의 출력 신호를 저역 필터링하는 저역 통과필터(18)와, 상기 저역 통과필터(18)의 출력신호에 따라 전방좌측, 전방우측, 후방 좌측 및 후방 우측의 바퀴에 설치된 액츄에이터(23,24, 25,26)의 감쇠력을 각기 제어하는 압력 제어 밸브(19,20,21,22)로 구성됨을 특징으로 하는 능동형 현가 시스템의 제어장치.It is installed on the wheels of the front left, rear left and rear right of the vehicle to filter up and down acceleration sensors 11, 12 and 13 respectively for detecting up and down acceleration, and output signals of the up and down acceleration sensors 11, 12 and 13, respectively. An analog filter 14 for removing noise, an absolute speed detector 15 for detecting absolute speeds of the front left side, front right side, rear left side, and rear right side of the vehicle body using the output signal of the analog filter 14; Gain adjusters 16 and 17 for respectively adjusting the gains of the front left and front right absolute speeds and the rear left and rear right absolute speeds detected by the absolute speed detector 15, and the gain adjusters 16 and 17 respectively. Low pass filter 18 for low-pass filtering the output signal of the actuator, and actuators 23, 24, 25, mounted on the wheels of the front left, front right, rear left and rear right according to the output signal of the low pass filter 18, Pressure to control the damping force of Controller of the active suspension system, characterized by consisting of a control valve (19,20,21,22). 제1항에 있어서, 절대속도 검출부(15)는, 아날로그 필터(14)의 출력신호 중에서 고역 신호만을 검출하는 고역 통과 필터(151)와, 상기 고역 통과 필터(151)의 출력신호로 전방 우측의 상하 가속도를 연산하는 가속도 연산기(152)와, 상기 고역 통과 필터(151) 및 가속도 연산기(152)의 출력신호를 각기 적분하여 차체의 전방 좌측, 전방 우측, 후방 좌측 및 후방 우측의 절대 속도신호를 출력하는 적분기(153)로 구성됨을 특징으로 하는 능동형 현가 시스템의 제어장치.The absolute speed detection unit (15) according to claim 1, wherein the absolute speed detection unit (15) includes a high pass filter (151) for detecting only a high pass signal among the output signals of the analog filter (14), and an output signal of the high pass filter (151). The acceleration calculator 152 for calculating the vertical acceleration and the output signals of the high pass filter 151 and the acceleration calculator 152 are respectively integrated to obtain absolute speed signals of the front left, front right, rear left and rear right of the vehicle body. Control device of an active suspension system, characterized in that consisting of an integrator (153) for outputting. 제1항에 있어서, 절대속도 검출부(15)는, 아날로그 필터(14)의 출력신호로 전방 우측의 상하 가속도를 연산하는 가속도 연산기(152)와, 상기 아날로그 필터(14) 및 가속도 연산기(152)의 출력신호를 각기 고역 필터링하고 적분하여 차체의 전방 좌측, 전방 우측, 후방 좌측 및 후방 우측의 절대 속도신호를 출력하는 고역 통과 필터/적분기(154)로 절대속도 검출부(15)를 구성됨을 특징으로 하는 능동형 현가 시스템의 제어장치.The absolute speed detection unit (15) according to claim 1, wherein the absolute speed detection unit (15) includes an acceleration calculator (152) for calculating the vertical acceleration of the front right side with the output signal of the analog filter (14), and the analog filter (14) and the acceleration calculator (152). The absolute speed detection unit 15 is configured as a high pass filter / integrator 154 that outputs the absolute speed signals of the front left, front right, rear left and rear right of the vehicle body by high-pass filtering and integrating the output signals respectively. Control device of an active suspension system. 제3항 또는 제4항에 있어서, 가속도 연산기(152)는 다음의 식( I )로 전방 우측의 상하 가속도를 연산하는 것을 특징으로 하는 능동형 현가시스템의 제어장치.The control device of an active suspension system according to claim 3 or 4, wherein the acceleration calculator (152) calculates the vertical acceleration of the front right side by the following equation (I). aFR=aFL+aRR-aRL(I)a FR = a FL + a RR -a RL (I) 여기서, aFR은 전방 우측 상하 가속도 신호이고, aFL은 전방 좌측 상하 가속도 신호이고, aRL은 후방 우측 상하 가속도신호이고, aRL은 후방 좌측 상하 가속도 신호이다.Here, a FR is a front right up and down acceleration signal, a FL is a front left up and down acceleration signal, a RL is a rear right up and down acceleration signal, and a RL is a rear left up and down acceleration signal. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950069673A 1995-12-30 1995-12-30 Automatic controlling apparatus for suspension system KR0153822B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019950069673A KR0153822B1 (en) 1995-12-30 1995-12-30 Automatic controlling apparatus for suspension system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950069673A KR0153822B1 (en) 1995-12-30 1995-12-30 Automatic controlling apparatus for suspension system

Publications (2)

Publication Number Publication Date
KR970034255A true KR970034255A (en) 1997-07-22
KR0153822B1 KR0153822B1 (en) 1998-10-15

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Application Number Title Priority Date Filing Date
KR1019950069673A KR0153822B1 (en) 1995-12-30 1995-12-30 Automatic controlling apparatus for suspension system

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KR0153822B1 (en) 1998-10-15

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