WO1996008385A1 - Appareil de suspension de vehicule - Google Patents
Appareil de suspension de vehicule Download PDFInfo
- Publication number
- WO1996008385A1 WO1996008385A1 PCT/JP1995/001837 JP9501837W WO9608385A1 WO 1996008385 A1 WO1996008385 A1 WO 1996008385A1 JP 9501837 W JP9501837 W JP 9501837W WO 9608385 A1 WO9608385 A1 WO 9608385A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- damping force
- braking
- shock absorber
- control
- Prior art date
Links
Classifications
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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
- B60G17/0195—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 regulation being combined with other vehicle control systems
-
- 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
- B60G17/0164—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 mainly during accelerating or braking
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- 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
- B60G2400/208—Speed of wheel rotation
-
- 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
- B60G2500/102—Damping action or damper stepwise
-
- 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
- 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
- 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
- B60G2800/01—Attitude or posture control
- B60G2800/014—Pitch; Nose dive
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- 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
- B60G2800/21—Traction, slip, skid or slide control
-
- 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
- B60G2800/22—Braking, stopping
-
- 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
-
- 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
- B60G2800/92—ABS - Brake Control
Definitions
- the present invention relates to a suspension device provided between a vehicle wheel and a vehicle body and including a spring and a shock absorber, and more particularly, to a suspension device capable of optimally controlling a damping force characteristic of a shock absorber when braking the vehicle. Is it related to the suspension system? C background technology
- the gantry has a plurality of links, a spring for absorbing vibration transmitted from the road surface to the vehicle body, and a shock absorber for attenuating the vibration.
- a shock absorber with a variable damping characteristic has been conventionally used, and the damping force characteristic can be changed during driving according to the driving conditions of the vehicle.
- the vehicle suspension described in this publication determines the temporal change rate (actual change rate) of the damping force actually obtained by the shock absorber, compares this with the reference change rate defined in (1), and calculates the actual change rate.
- the change rate exceeds the reference change rate, by switching the damping force characteristics of the quarbsorber from hard to soft, good handling stability is always ensured due to the hard characteristics and the road surface unevenness increases.
- the reference change rate is set to a larger value during braking operation than during non-braking operation.
- ABS anti-skid brake system
- the value of remote reference rate of change that so as to set to a large value, thereby, were those prohibitive so that depending on the degree of braking a change in the attitude of the vehicle at the time of braking c
- the vehicle attitude change can be suppressed by maintaining the shock-absorber's damping force characteristics at the time of braking, but the expansion and contraction of both strokes can be suppressed. from but it all at hard characteristic and ing structure, c that the following problems occur
- the shock absorber has a hard damping force characteristic during braking
- the tire's contact force increases during the contraction stroke, so that the braking force acts in the direction of increasing the braking force.
- the braking force is reduced because the ground contact load of the tire is reduced, so the braking distance is reduced especially on a rough road where the shock absorber moves. There is a risk of being extended. Further, the above-mentioned tendency is further strengthened because the damping force of the extension stroke is set higher than the contraction stroke in relation to the direction of action of the vehicle body weight.
- Figure 18 shows the variation of the ground contact load (in the dotted line) when the ratio TEN / CO 4 (damping coefficient ratio) of the damping force of the extension stroke (TEX) to the damping force of the contraction stroke (COM) exceeds zero.
- the variation of the grounding load shown by a solid line in a field base of 1.0 or less.
- the former has a relationship that the grounding load is lower than that of the former.-Also, (a), (b) and (c) in Fig.
- An object of the present invention is to provide a vehicle suspension device capable of securing a braking force by suppressing a decrease in a ground contact load based on a generated vehicle behavior.
- the vehicle suspension device of the present invention is interposed between the vehicle body side and each vehicle side and includes a damping force characteristic changing means a. It is possible to switch the expansion and contraction characteristics of the expansion and contraction in multiple stages, and to switch to a characteristic in which the damping coefficient ratio of the expansion side to the compression side is less than 1.0. Normal time when the shock absorber b, the vehicle behavior detecting means c for detecting the vehicle behavior, and the- ⁇ attenuation characteristics of each shock absorber b are variably controlled based on the vehicle behavior signal detected by the vehicle behavior detecting means c.
- Damping force characteristic control means e having control means d; braking state detection means f for detecting a braking state of the vehicle; and damping force characteristic control means e.
- the braking state detection means f determines the braking state of the vehicle.
- shock absorber b Damping coefficient ratio of the extension side against side shrinkage of ⁇ characteristic changing means a is provided with 1.0 and braking correction control means g for switching the Position emissions equal to or less than, the.
- the braking correction control means g controls the damping force characteristic changing means a of the shock absorber b. Then, the braking control is performed to switch to the position where the damping coefficient ratio of the extension side to the compression side becomes 0 or less.c.
- the pitch rate detected by the pitch rate detecting means h is a predetermined threshold. If it exceeds the value, the operation of the braking correction control means g may be stopped.
- the pitch rate detecting means h If the pitch rate of the driven vehicle exceeds a predetermined threshold value, the operation of the braking correction control means g is stopped, and the braking operation is performed by the control operation of the normal control means d. Pitch can be suppressed.
- FIG. 1 is a vehicle suspension system of the present invention is a block diagram conceptually showing:
- FIG. 2 is an explanatory diagram showing a schematic configuration of a vehicle suspension system of the first embodiment of the present invention c
- FIG. 3 is a process diagram showing a control device of the vehicle suspension system according to the first embodiment of the present invention.
- FIG. 4 is a cross-sectional view showing a shock quarber applied to the apparatus of the first embodiment.
- FIG. 5 is an enlarged sectional view showing a main part of the shock absorber c.
- Fig. 6 is a graph showing the characteristics of the damping force with respect to the speed of the shock absorber of the shock absorber.
- FIG. 7 is a damping force characteristic diagram corresponding to the step position of the pulse motor of the shock absorber.
- FIG. 8 is a sectional view taken along the line K--K of FIG. 5 showing a main part of the shock absorber.
- FIG. 9 is a cross-sectional view of a main part of the shock absorber taken along line L-L in FIG.
- FIG. 10 is a cross-sectional view taken along the line XX of FIG. 5 showing a main part of the shock absorber.
- FIG. 11 is a damping force characteristic diagram when the extension side characteristic of the shock absorber is hard.
- FIG. 12 is a graph showing the decay characteristics of the shock absorber in a state where the characteristics on the extension side and the contraction side of the shock absorber are soft.
- FIG. 13 is a graph showing the decay characteristics of the shock absorber in a state where the contraction side characteristics of the shock absorber are hard.
- FIG. 14 is a block diagram showing a part of the signal processing circuit in the device of the first embodiment.
- FIG. 15 is a flowchart showing the control operation of the control unit in the first embodiment.
- Fig. 16 is a timing chart showing that the control operation of the control unit in the first embodiment is not performed.
- FIG. 17 is a time chart showing the normal control operation of the control unit control operation in the first embodiment.
- Fig. 18 shows the variation of the ground contact load in the conventional base where TENZCOM (damping coefficient ratio :) exceeds the damping force (COM) of the compression stroke to the damping force (COM) of the expansion stroke.
- TENZCOM damping coefficient ratio :
- FIG. 12 is a diagram showing the variation of the ground contact load at 112
- Fig. 19 is a diagram showing the state of fluctuation of the contact load and the state of fluctuation of the center of the load amplitude.
- (A), (b) and (c) show that the damping coefficient ratio (TEX / C 0) is 4 . 0, 1. 5, c 5
- Figure 20 shows each field stand 0.8 is Furochi ya one preparative showing the control operation of the control unit in the second embodiment apparatus c
- Figure 2 1 is a Thailand whip one Bok showing the control operation of the con Tororuyuni' bets in the second embodiment apparatus c
- FIG. 22 is a characteristic diagram of the damping force with respect to the shock speed of 10 degrees of the shock absorber in the device of the second embodiment.
- FIG. 23 is a characteristic diagram of the damping force corresponding to the step position of the pulse motor in the shock absorber of another embodiment.
- FIG. 24 is a block diagram showing a symbol processing circuit for calculating a tire slip rate.
- FIG. 2 is a diagram schematically showing a state where a vehicle mounting apparatus according to the first embodiment of the present invention is applied to a vehicle.
- each suspension device interposed between the 20 and the four wheels is configured as a strut type including a spring and a shock absorber S ⁇ .
- SAF shock absorber
- S RL shock absorber
- S ⁇ t a shock absorber
- SA the vehicle Detect acceleration
- SA FL. SA FR the middle position between the left and right shock absorbers SA FL. SA FR on the front wheel side and the middle position between the left and right shock absorbers SA RL and SA RR on the rear side.
- the vehicle Detect acceleration A vertical acceleration sensor (hereinafter referred to as a vertical G sensor) 1 F s, 1 RS before and after output is provided.
- a longitudinal acceleration sensor (hereinafter referred to as a longitudinal G sensor) as a braking state detecting means that detects the braking state of the vehicle by detecting the acceleration in the decelerating direction of the vehicle out of the longitudinal acceleration of the vehicle.
- the c is provided, in each wheel position, wheel speed sensor 5 for detecting the rotational speed of each vehicle Chimaki are provided respectively, although not shown in the predetermined position of the vehicle detects a vehicle speed
- a brake switch BS is provided as a braking state detecting means for detecting the vehicle speed sensor 6 and the on / off state of the brake ⁇ (ie, whether or not the brake pedal has been depressed).
- FIG. 3 is a system block diagram showing the configuration of the above control device.
- the control unit 4 includes an interface circuit 4a, a CPU 4b, and a drive circuit 4c. Signals from the above and below upper and lower G sensors 1FS , 1RS , front and rear G sensors 2, each vehicle speed sensor 5, vehicle speed sensor 6, and brake switch BS are input to the interface circuit 4a.
- the signal processing circuit shown in (a) of FIG. 14 is for obtaining the control signal V, and is provided for each of the front and rear upper and lower G sensors 1 F s, 1:
- C— ',' Filter LPF 1 is a cut-off frequency of 0.0 for integrating the vertical G sensor 1 and the input sprung vertical acceleration signal G and converting it into a sprung vertical speed. 5 ⁇ ⁇ Mouth-pass filter.
- the high-pass filter HPF has a cutoff frequency of 0.7 ⁇ .
- LPF 2 is a low-pass filter with a cut-off frequency of 1.5 Hz, and a band-pass filter for noise removal and phase correction in both filters. It constitutes the Iluk BPF.
- the signal processing circuit shown in FIG. 1 (b) 4 the pitch rate V P of the vehicle intended to determined Mel, in the signal processing circuit, the circuit E is, front side of the upper lower G sensor 1 FS
- the relative acceleration difference between the front-side vertical acceleration G FS at the front wheel-side center position obtained in step 2 and the rear ⁇ -side vertical acceleration signal G RS at the rear wheel side center position obtained by the rear wheel-side center G sensor 1 is obtained.
- the low-pass filter LPF 1, the no-pass filter HPF, and the low-pass filter LPF 2 are all the same as those in the symbol processing circuit of the above (a).
- the pit speed V F of the vehicle is calculated based on the relative speed difference.
- the signal processing circuit shown in FIG. 1 (c) 4 is of the order determined deceleration direction acceleration G FE 'of the vehicle as a braking determination signal from the acceleration G FR of the front and rear direction of the vehicle, Roh size b removed It is composed of and Ropasufu Note1 LPF 3 to extract the D c component.
- control unit 4 determines the state of the wheels when the brakes are operated based on the symbols from the wheel speed sensors 5 and the vehicle speed sensors 6.
- An anti-skid control device (ABS device) for performing anti-skid control for prevention, and an ABS operation state detecting means for detecting an operation state of the anti-skid control device are provided.
- FIG. 4 is a cross-sectional view showing the configuration of a strut including a shock absorber SA.
- the shock absorber SA includes a cylinder 30 and a shock absorber SA.
- An outer cylinder 33 having a reservoir chamber 32 formed on the outer periphery of the cylinder 30, a base 34 defining a lower chamber B and a reservoir chamber 32, and a screw connected to the piston 31.
- a guide member 3 ⁇ for guiding the sliding of the ton rod 7.
- each of the straps is provided with a suspension spring 36 and a bumper rubber 37 interposed between the outer cylinder 33 and the vehicle body.
- FIG. 5 is an enlarged sectional view showing a portion of the piston 31.
- a through hole 31a, 3] b is formed in the piston 31.
- a stud 38 penetrating the piston 31 is screwed and fixed to the band stopper 1 screwed at the tip, and the stud 38 has a through hole 3 1 a, 31b bypasses the upper chamber A and the lower chamber B and communicates with the lower chamber B (the second flow path E, the third flow path F, the bypass flow path G, the second flow path G, 2)
- a communication hole 39 for forming a flow path J is formed, and an adjuster 40 for changing the flow path cross-sectional area of the flow path is rotatable in the communication hole 39.
- an expansion-side check valve I7 and a contraction-side check valve that allow and shut off the flow on the flow path side formed by the communication hole 39 in accordance with the flow direction of the fluid.
- a first port 21. a second port 13. a third port 18, a fourth port 14 and a fifth port 16 are formed in this order from the top.
- the adjuster 40 has a hollow portion 19, a first radial hole 24 and a second radial hole 25 communicating between the inside and the outside, and further has an axial direction in the outer peripheral portion.
- the vertical groove 23 is formed in c
- a flow path through which the fluid can flow in the extension stroke passes through the through-hole 31b and extends inside the extension-side damping valve 12.
- the outer peripheral side of the extension damping valve 12 via the fourth port 14 To the lower chamber B and the second flow path E on the extension side, the second port 13 and the vertical groove 23.
- the extension check valve 17 via the fifth boat 16 is opened.
- a bypass channel G extending to the lower chamber B via the third port 18, the second hole 25, and the hollow portion 19. There is a road.
- a first contraction-side flow path H that opens the contraction-side attenuation valve 20 through the through-hole 31a, a hollow portion 19, a first hole 2 4.
- the second contraction-side flow path J that opens to the upper chamber A by opening the contraction-side check valve 22 via the first port 21 and the hollow part 1 9.
- the second hole 25, the third port There are three flow paths to the bypass path G that leads to the upper chamber A via the lever 18: the shock absorber SA is operated by rotating the adjuster 40.
- both the extension side and the contraction side have the characteristics shown in Fig. 6 so that the decay characteristics can be changed in multiple stages.c
- both the extension side and the contraction side When the adjuster 40 is rotated counterclockwise from the soft characteristic area (hereinafter referred to as the soft area SS), the damping force characteristic can be changed in multiple stages only on the extension side, resulting in contraction. Is the area fixed to the low damping force characteristic (hereinafter referred to as the extension side hard area HS). Conversely, turning the adjuster 40 clockwise allows the damping force characteristic to be changed in multiple stages only on the compression side In this case, the offshore side is a region where the damping force characteristics are fixed (hereinafter referred to as the contraction side hard region SH).
- step 101 it is determined whether or not the symbol from the brake switch BS is in the ON state, and the state in which the brake pedal is depressed ( If YES, proceed to step 102
- step 102 it is determined whether or not a braking control flag FLAG 2, which will be described later, is set to 0. If ⁇ , the process proceeds to step 103.
- step 103 it is determined whether or not the vehicle speed SV of the vehicle exceeds a predetermined vehicle speed 0 N threshold value S ON (for example, 30 to 40 Km / h). Proceed to.
- a predetermined vehicle speed 0 N threshold value S ON for example, 30 to 40 Km / h.
- step 104 the pitch rate V, the prescribed attitude control, 0 X the threshold value V, are set. Is determined, and if it is ⁇ , the flow proceeds to step 105.
- step 105 it is determined whether or not ABS is in operation, and if YES, proceed to step 106.c
- step 106 it is determined whether or not the vehicle speed S of the vehicle exceeds a predetermined vehicle speed 0 FF threshold value S hinderFF (0Km, h). Go to step 07, set the braking control flag FLAG 2 to 1.0, then go to step 108
- step 108 braking control of the suspension suitable for braking is performed: That is, the damping force control position of each front / rear wheel side show / quaver sorber 'SA (see FIG. 7) is set to the contraction side SH area where the extension side is the soft side, and the contraction stroke is damped. Pulse to control the rotational position (shaded area in Fig. 7) of the regulator where the ratio TEN / C OM (damping coefficient ratio) of the damping force of the elongation process to the force (COM) is less than 1.0. This is to drive the motor 3, and this ends one flow.
- the maximum damping force rotational position Pm ax is the control proportional range V H and the control dead zone V NC, control ⁇ when word No. V is a positive value, for extension side maximum damping force rotational position P ma X - ⁇ , the control non-proportional range for the extension side V H ⁇ , the control dead zone for the extension side V N c- ⁇ and the force are set, and when the value is negative, the compression side ⁇ maximum 'The decay rotation position ⁇ max -c, the compression proportional control range V H _ C, and the compression deadline control dead zone ⁇ ⁇ — c are set.
- step 102 If it is determined YES in step 102 (the braking control flag FLAG 2 is set to 1.0), the process proceeds to step 109. In step 109, the braking is performed. Vehicle deceleration direction acceleration as time judgment signal It is determined whether G FK ′ exceeds the braking determination threshold value G- ON . If YES, the process proceeds to step 106, and if X 0, the process proceeds to step 1. 0.
- step 103 If it is determined in step 103 that the vehicle speed is' ⁇ (the vehicle speed Sv is equal to or less than the vehicle speed threshold value S ON), the process proceeds to step 105:
- Step 1 04 YES Badai that (Pitchire preparative V F. Exceeds the posture control 0 X threshold V p-ON) is determined, the process proceeds to the step 1 1 0 '.
- step 105 If the stand is determined to be NO (ABS not operating) in step 105, proceed to step 109 above.
- (Iii) braking control flag F to AG 2 is that is set Bok already 1.0 play ⁇ when the deceleration direction acceleration G F exceeds the braking determination threshold G-ON. In other words, when the vehicle speed is in a sudden braking state where a predetermined deceleration state is maintained.
- the damping force characteristics of the shock absorber SA on the front and rear wheels are determined on the extension side or on the compression side hard disk area SH, which is soft.
- TEX attenuation
- C OM damping force
- Fig. 18 shows the conventional platform where the ratio TEN / C OM (damping coefficient ratio) of the decay power (TEN) of the elongation stroke to the damping force (C OM) of the compression stroke exceeds 1.0.
- the variation of the grounding load (indicated by a solid line) at the platform of this embodiment, which is less than 1.0, as shown in this figure.
- FIG. 5 is a diagram showing a variation state of a ground contact load and an increase / decrease variation state of a load amplitude center. As shown in FIG. While the shift of the center in the direction of load reduction becomes large, Badai of ' ⁇ coefficient ratio is 1.0 or less (e.g., 0.8) is, load heavy load amplitude center - c is shifted in the ⁇ direction are summer little
- the pulse motor 3 is driven toward the target damping force rotation position P calculated based on the equation (1).
- each short-circuit absorber SA is connected to the extension-side hard region HS side.
- the pulse motor 3 is driven and controlled toward the target rotation position P on the extension side.
- control signal V is a value between the control dead band V NC -T for the extension side and the control dead band V NC-C for the contraction side
- the drive of the pulse motor 3 is controlled.
- control signal V is compression-side control dead zone V N "- when it is less than C, each tio click Abusono Bae 'is controlled in the compression-side hard region SH, the compression-side target -, dropping ⁇ Ka
- the drive of the pulse motor 3 is controlled toward the rotation position P.
- the region a is a control based on the sprung vertical speed.
- the shock absorber S is determined based on the direction of the control signal V.
- ⁇ is controlled to the extension side hard region HS, and therefore, in this region, the compression stroke side, which is the stroke of the shock absorber SA at that time, has the soft characteristic.
- Region b is a region in which the control signal V remains a positive value (upward) and the relative speed is switched from a negative value to a positive value (the stroke of the shock absorber SA is on the extension stroke side).
- the shock absorber SA is controlled to the extension-side hard region HS based on the direction of the control signal V, so that the force, the force, and the stroke of the shock absorber are also the extension stroke.
- the extension stroke which is the stroke of the shock absorber SA at that time, has a hard characteristic proportional to the value of the control signal V.
- Region c is a state in which the control signal V is reversed from a positive value (upward) to a negative value (downward), but at this time, the relative speed is still a positive value (the stroke of the Shono busor SA).
- the shozo sorber S is controlled to the contraction side and the closed area SH based on the direction of the control signal V at this time.
- c the extension stroke side is soft Bok properties in this region is the stroke of shots Kuabusoba SA at that time
- the region d is a region where the control signal V remains a negative value (downward) and the relative speed changes from a positive value to a negative value (the stroke of the shock absorber SA is on the extension stroke side).
- the shock absorber S is controlled to the contraction side head area SH based on the direction of the control signal V, and the stroke of the shock absorber SA is also in the contraction stroke. Therefore, in this region, the contraction stroke side, which is the stroke of the shock absorber SA at that time, has a hard characteristic proportional to the value of the control signal V.
- the control signal ⁇ ⁇ ⁇ based on the sprung vertical speed and the relative speeds of the sprung and unsprung states and the time of the same signal (area b, area d) are shown at that time.
- the skive side controls the stroke side of the quadrover SA to hard characteristics, and controls the stroke side of the shock absorber SA to soft characteristics at the time of the Ichigo (area a, area c).
- the same control as the damping characteristic control based on the lock theory is performed: and, furthermore, in this implementation, when transitioning from region a to region b and from region c to region d, The switching of the deceleration force characteristic is not performed without driving the pulse motor 3 ⁇ and.
- this embodiment has the following advantages.
- the damping coefficient ratio on the extension side to the contraction side is controlled to be less than 1.0 (extension side, contraction side) to the contraction side hard region SH. Prevents a reduction in load and ensures braking force c
- the vehicle suspension system of the second embodiment differs from that of the first embodiment in the control contents of the control unit 4, and the other components are substantially the same as those of the second embodiment. However, the same components will be denoted by the same symbols, and detailed description thereof will be omitted, and only differences will be described.
- step 2 () 1 it is determined whether or not the break key BS and the symbol are in the ON state. If YES, proceed to step 202.
- step 202 it is determined whether or not the vehicle speed S of the vehicle exceeds a predetermined vehicle speed 0 X threshold value S (for example, 30 to 40 KmZh). Go to 0 3.
- Step 2 0 3 it is determined whether the ABS operation, the process proceeds to step 204 if YES c
- step 204 the vehicle speed S of the vehicle is a predetermined vehicle speed ⁇ FF threshold value S. It is determined whether or not FF (OKm / h) is exceeded. If YES, the process proceeds to step 205.
- step 205 control for killing suitable for braking is performed.
- the damping force control position of each of the front and rear shock absorbers SA is determined by the damping of the compression stroke as shown by the dotted line in the characteristic curve of the damping force corresponding to the biston speed in FIG.
- the ratio of the damping force (TEX) of the extension stroke to the force (COM) TEX / C0M (damping coefficient ratio) becomes less than 1.0.
- the pulse motor should be controlled to the adjuster position corresponding to HARD1. This is the one that runs IE, and this finishes one talk.
- step 201 If NO (brake switch off state) is determined in step 201, the routine proceeds to step 207, where normal time control suitable for non-braking is performed. finish.
- step 206 it is determined whether or not the deceleration direction acceleration G FK. 'Of the vehicle as the braking determination signal exceeds the braking determination threshold G-ON, and if YES, the flow proceeds to step 204. Go to step 207 if ⁇ ⁇ ,
- the platform determined to be X ⁇ (the vehicle speed S is equal to or less than the vehicle speed 0 FF threshold value S) is determined in the step 207;
- the pitch of the vehicle at the time of braking cannot be suppressed, but it is possible to prevent a decrease in the grounding load due to the behavior of the vehicle body, to secure the braking force, and to perform the first control. Since the control contents can be simplified as compared with the embodiment, the cost can be reduced.c
- the embodiment has been described above, but the specific configuration is not limited to this embodiment. As will be apparent to those skilled in the art, even a design change within the scope of the present invention is included in the present invention.
- Furochi catcher over preparative step 1 09 shown in FIG. 1 5, and, in Furochi one Bok of steps 206 shown in FIG. 20, the vehicle as a braking determination signal - Slow down direction acceleration G FR ' is Although it has been determined whether or not the braking threshold value G has been exceeded, the determination may be made based on the tire slip rate TS instead of the deceleration direction acceleration GFR '.
- Figure 24 shows a signal processing circuit that calculates the slip rate TS of the tire.
- a click view as shown in FIG. 2 4, a vehicle wheel speed pulse signal e P obtained from the wheel speed sensor 5 and the voltage converted by FZV converter, the Roh I's in way out Pasu full Note1 LPF the removal signal, c, which calculates the wheel speed V (9 and pseudo vehicle speed V IM, based on the following equation (2) Tiya of the scan Li., is calculated.
- step 109 it is determined whether or not the slip rate TS of the tire exceeds a predetermined slip rate threshold value TS ON (which is set to almost 0). It is possible to judge when the state is in the state C.
- the slip rate calculated by the slip rate used in the anti-skid control device can be used as it is for the slip rate S of the tire.
- the adjuster displacement position at which the ratio TEN / C OM (damping coefficient ratio) of the damping force (TEN) of the extension stroke to the damping force (C OM) of the contraction stroke becomes 1.0 or less is set to the compression side.
- the base formed within the range of the hard region SH is shown, as shown in FIG. 23, the base is formed over a wide region extending over the range of the contraction side hard region SH or the extension side hard region HS. You can also. ⁇ ⁇ Business availability
- Vehicle suspension system of the present invention is useful vehicle front or after the occupant rides ⁇ as suspension device for supporting lifting c
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019960702371A KR0181727B1 (ko) | 1994-09-14 | 1995-09-14 | 차량 현가 장치 |
EP95931416A EP0728603A4 (en) | 1994-09-14 | 1995-09-14 | VEHICLE SUSPENSION APPARATUS |
US08/619,523 US5718446A (en) | 1994-09-14 | 1995-09-14 | Vehicle suspension system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6220309A JPH0880721A (ja) | 1994-09-14 | 1994-09-14 | 車両懸架装置 |
JP6/220309 | 1994-09-14 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996008385A1 true WO1996008385A1 (fr) | 1996-03-21 |
Family
ID=16749130
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1995/001837 WO1996008385A1 (fr) | 1994-09-14 | 1995-09-14 | Appareil de suspension de vehicule |
Country Status (6)
Country | Link |
---|---|
US (1) | US5718446A (ja) |
EP (1) | EP0728603A4 (ja) |
JP (1) | JPH0880721A (ja) |
KR (1) | KR0181727B1 (ja) |
CN (1) | CN1135737A (ja) |
WO (1) | WO1996008385A1 (ja) |
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US6223108B1 (en) * | 1997-05-22 | 2001-04-24 | Honda Giken Kogyo Kabushiki Kaisha | Tire contact load control system |
GB2356685B (en) * | 1999-11-27 | 2003-01-29 | Rover Group | Vehicle braking control systems |
GB2356686B (en) * | 1999-11-27 | 2003-06-04 | Rover Group | Vehicle braking control systems |
US20040046335A1 (en) * | 2000-03-27 | 2004-03-11 | Knox Lawrence D. | Surface vehicle vertical trajectory planning |
JP4596112B2 (ja) * | 2001-04-27 | 2010-12-08 | 日立オートモティブシステムズ株式会社 | 車両統合制御装置 |
JP3722127B2 (ja) * | 2003-02-05 | 2005-11-30 | 日産自動車株式会社 | 車両用電磁サスペンション装置 |
US7224263B2 (en) * | 2003-02-12 | 2007-05-29 | Fujitsu Ten Limited | Security apparatus |
FR2859947A1 (fr) * | 2003-09-22 | 2005-03-25 | Michelin Soc Tech | Liaison au sol comprenant un ensemble pneumatique a mobilite etendue et des caracteristiques d'amortissement particulieres |
KR100715594B1 (ko) * | 2003-10-15 | 2007-05-10 | 주식회사 만도 | 전자제어 현가 장치의 감쇠력 제어 방법 |
JP4514520B2 (ja) * | 2004-06-02 | 2010-07-28 | 株式会社日立製作所 | 適応車両走行制御システム及び適応車両走行制御方法 |
US8311704B2 (en) * | 2007-03-20 | 2012-11-13 | Honda Motor Co., Ltd. | Control apparatus of variable damping force damper |
US8177041B2 (en) * | 2009-06-23 | 2012-05-15 | Toyota Motor Engineering & Manufacturing North America, Inc. | Damper assemblies and vehicles incorporating the same |
WO2013111505A1 (ja) * | 2012-01-25 | 2013-08-01 | 日産自動車株式会社 | 車両の制御装置及び車両の制御方法 |
WO2013111502A1 (ja) * | 2012-01-25 | 2013-08-01 | 日産自動車株式会社 | 車両の制御装置及び車両の制御方法 |
US9056537B2 (en) * | 2013-03-28 | 2015-06-16 | Bendix Commercial Vehicle Systems Llc | Method to reduce load transfer between axles of a common set during braking |
JP6161476B2 (ja) * | 2013-09-06 | 2017-07-12 | 本田技研工業株式会社 | サスペンション制御装置 |
CN103963574B (zh) * | 2014-04-10 | 2016-04-06 | 苏州佳世达光电有限公司 | 车胎自检系统及车胎自检方法 |
JP6252794B2 (ja) * | 2015-02-16 | 2017-12-27 | トヨタ自動車株式会社 | エンジンの懸架装置 |
KR101619418B1 (ko) * | 2015-02-26 | 2016-05-18 | 현대자동차 주식회사 | 차량의 제동 장치 및 방법 |
JP6278995B2 (ja) * | 2016-03-16 | 2018-02-14 | 本田技研工業株式会社 | 電磁ダンパシステム |
CN107901895A (zh) * | 2017-12-20 | 2018-04-13 | 重庆市鑫奕星机电制造有限公司 | 一种摩托车防抱死制动系统 |
JP7059791B2 (ja) * | 2018-05-16 | 2022-04-26 | トヨタ自動車株式会社 | 減衰力制御装置 |
US10632845B2 (en) * | 2018-06-14 | 2020-04-28 | Stephen Torres | Automatic shutoff system for a motor vehicle |
US20210354523A1 (en) * | 2018-10-12 | 2021-11-18 | Hitachi Astemo, Ltd. | Suspension control device |
DE102019111491A1 (de) * | 2019-05-03 | 2020-11-05 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Regelung eines Feder- und/oder Dämpfersystems eines Fahrzeuges sowie ein Feder- und/oder Dämpfersystem eines Fahrzeuges |
CN113752771B (zh) * | 2020-06-04 | 2024-05-17 | 广州汽车集团股份有限公司 | 汽车的抗点头控制方法、装置及相关设备 |
CN117734363B (zh) * | 2023-12-28 | 2024-07-12 | 常熟理工学院 | 一种车辆制动力增强装置及车辆悬架 |
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- 1995-09-14 EP EP95931416A patent/EP0728603A4/en not_active Withdrawn
- 1995-09-14 KR KR1019960702371A patent/KR0181727B1/ko not_active IP Right Cessation
- 1995-09-14 CN CN95190887A patent/CN1135737A/zh active Pending
- 1995-09-14 US US08/619,523 patent/US5718446A/en not_active Expired - Fee Related
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Also Published As
Publication number | Publication date |
---|---|
KR0181727B1 (ko) | 1999-04-01 |
CN1135737A (zh) | 1996-11-13 |
US5718446A (en) | 1998-02-17 |
EP0728603A1 (en) | 1996-08-28 |
JPH0880721A (ja) | 1996-03-26 |
KR960705694A (ko) | 1996-11-08 |
EP0728603A4 (en) | 1997-02-26 |
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