WO2011004471A1 - 車両用ダンパシステム - Google Patents
車両用ダンパシステム Download PDFInfo
- Publication number
- WO2011004471A1 WO2011004471A1 PCT/JP2009/062457 JP2009062457W WO2011004471A1 WO 2011004471 A1 WO2011004471 A1 WO 2011004471A1 JP 2009062457 W JP2009062457 W JP 2009062457W WO 2011004471 A1 WO2011004471 A1 WO 2011004471A1
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- WIPO (PCT)
- Prior art keywords
- connection path
- current
- regulator
- terminal
- sprung
- Prior art date
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/12—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by short-circuit or resistive braking
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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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/60—Vehicles using regenerative power
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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
- B60G2400/25—Stroke; Height; Displacement
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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
- B60G2400/70—Temperature of vehicle part or in the vehicle
- B60G2400/71—Temperature of vehicle part or in the vehicle of suspension unit
- B60G2400/716—Temperature of vehicle part or in the vehicle of suspension unit of damper
- B60G2400/7162—Fluid damper
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2232/00—Nature of movement
- F16F2232/06—Translation-to-rotary conversion
Definitions
- the present invention relates to a vehicular damper system including an electromagnetic damper that includes an electromagnetic motor and generates a damping force with respect to an approaching / separating operation between an upper part and an unsprung part.
- a suspension system for a vehicle includes an electromagnetic damper that has an electromagnetic motor and generates a damping force for the approaching and separating operation between the spring upper part and the spring lower part depending on the electromotive force generated in the electromagnetic motor.
- a so-called electromagnetic suspension system which includes a damper system as a constituent element, has been studied. For example, a system described in the following patent document exists.
- JP 2007-290669 A JP 2007-37264 A Japanese Patent Laid-Open No. 2001-310736
- a damper system including an electromagnetic damper generally has a brushless DC motor as an electromagnetic motor and the brushless DC motor, as in the system described in the above-mentioned patent document. Therefore, there is a problem that the driving circuit is configured to include a plurality of switching elements, and is expensive with a relatively complicated configuration.
- a damper system including an electromagnetic damper is still under development, and thus has the above-mentioned problems arising from the basic configuration of a general damper system that is currently under consideration, and improves practicality. It leaves plenty of room for it.
- This invention is made
- a vehicle damper system includes: (i) an electromagnetic motor; and (ii) an approach and separation operation between an upper part and an unsprung part, and an electromagnetic motor. And (iii) an electromagnetic motor provided outside the electromagnetic motor, and (A) one of the two terminals of the electromagnetic motor from the first terminal to the other second terminal. A first connection path in which current flow from the second terminal to the first terminal is prohibited and (B) a current flow from the second terminal to the first terminal of the electromagnetic motor. And an external circuit having a second connection path that is allowed and current flow from the first terminal to the second terminal is prohibited.
- electromagnetic waves are Current generated by over others that flowing through the second connection passage, characterized in that it is configured to generate a damping force that depends on the electromotive force generated in the electromagnetic motor.
- the path through which the generated current flows due to the approaching action between the sprung part and the unsprung part differs from the path through which the generated current flows due to the separating operation thereof. It is possible to easily make the damping characteristic for the approaching action of the upper part and the unsprung part different from the damping characteristic for the separating action. Therefore, by having such an advantage, the damper system of the present invention becomes highly practical.
- the item (1) corresponds to the item 1 and the technical feature of the item (3) is added to the item 1, the item 1 or the item 2.
- the technical feature of (21) is added to claim 3, and the technical features of (22) and (23) are added to claim 3 in claim 4, and claim 3 in claim 3.
- the technical feature of (27) to (29) is added to claim 4 in claim 5, and the technical feature of (30) is added to claim 5 in claim 6.
- the technical feature of (31) is added to claim 6 in claim 7, and the technical feature of (32) is added to claim 6 or claim 7 in claim 8.
- the technical feature of (25) and (26) is added to any one of claims 3 to 8 in claim 9.
- the technical feature of the item (11) added to any one of the claims 1 to 10 corresponds to the claim 11, and the technical feature of the item (12) is added to the claim 11. This corresponds to claim 12, and claim 11 or claim 12 to which the technical feature of (14) is added corresponds to claim 13. Further, the technical feature of the item (4) added to any one of the claims 1 to 13 corresponds to the claim 14, and the technical feature of the item (6) is added to the claim 14. This corresponds to claim 15.
- a damper system that includes an electromagnetic damper that is mounted on a vehicle and generates a damping force with respect to the approaching and separating operation between the spring upper part and the spring lower part.
- the electromagnetic damper An electromagnetic motor; An action conversion mechanism for mutually converting the approaching / separating action of the sprung part and the unsprung part and the operation of the electromagnetic motor; Provided outside the electromagnetic motor, and (A) a current flow from one of the two terminals of the electromagnetic motor to a second terminal of the other is allowed and from the second terminal A first connection path in which current flow to the first terminal is prohibited; and (B) current flow from the second terminal of the electromagnetic motor to the first terminal is allowed and from the first terminal.
- An external circuit having a second connection path in which current flow to the second terminal is prohibited, With respect to the approaching action between the spring upper part and the spring unsprung part, the current generated by the electromagnetic motor flows through the first connection path.
- a vehicular damper system configured to generate a damping force depending on an electromotive force generated in the electromagnetic motor when an electric current flows through the second connection path.
- the current generated by the electromagnetic motor flows through different paths in the external circuit depending on whether the spring top and the spring bottom are moved closer to each other or when they are moved apart from each other. become. That is, as will be described in detail later, the resistance to the current flowing through the first connection path is different from the resistance to the current flowing through the second connection path, or the current flowing through each of the first connection path and the second connection path is changed. By adjusting the amount or the like, it is possible to easily make the damping characteristic for the approaching action of the sprung part and the unsprung part different from the damping characteristic for the separating action thereof.
- the “electromagnetic motor” in the aspect of this section is not particularly limited, and various types can be adopted. From the viewpoint of simplifying the system configuration, the electromagnetic motor has two terminals. For example, a brushed DC motor or a single-phase motor is desirable. In addition, for example, even in a motor in which the direction of the generated current does not change in the direction of relative motion between the sprung portion and the unsprung portion, there is a method of reversing the direction of the generated current depending on the direction of the relative motion. From the viewpoint of simplifying the configuration of the system, the “electromagnetic motor” of the aspect of this section is such that the direction of the generated current according to the direction of relative movement between the spring top and the spring bottom is reversed depending on its own structure.
- the “electromagnetic motor” in this section can be, for example, a DC motor with a brush using a permanent magnet.
- the structure and configuration of the “motion converting mechanism” in the aspect of this section is not particularly limited, and the approach and separation between the spring upper part and the spring lower part are converted into the operation of the electromagnetic motor, and the operation of the electromagnetic motor is changed to the spring upper part. It can be converted into an approaching / separating operation with the unsprung portion.
- the motion conversion mechanism changes the approaching / separating operation between the spring upper part and the spring lower part to the operation of the electromagnetic motor. To be converted.
- movement conversion mechanism and an electromagnetic motor is defined as a damper main body in an electromagnetic damper
- the structure and structure of the damper main body will not be specifically limited.
- the electromagnetic motor rotates, and the damper main body is connected to the sprung portion unit connected to the sprung portion, and the sprung portion is connected to and separated from the sprung portion according to the approach and separation between the sprung portion and the unsprung portion.
- a screw mechanism is adopted as the motion conversion mechanism, and the unsprung unit and unsprung unit are moved by the screw mechanism.
- an electromagnetic shock absorber configured to be extendable and to generate a force for the expansion and contraction can be provided.
- the electromagnetic motor rotates
- the damper main body includes an arm that extends in the vehicle width direction and whose both ends are rotatably connected to the spring upper portion and the spring lower portion, respectively.
- the electromagnetic motor can be configured to rotate in accordance with the rotation of the end portion configured and connected to the sprung portion of the arm.
- the arm can be considered as one component of the motion conversion mechanism.
- the second connection path includes a second rectifier for allowing a current flow from the second terminal to the first terminal and prohibiting a current flow from the first terminal to the second terminal ( The vehicle damper system according to item 1).
- the aspect described in this section is an aspect in which a configuration for allowing current to flow only in one direction through each of the two connection paths is embodied, and the first rectifier and the second rectifier are only in one direction. It is possible to use a diode through which a current flows.
- the external circuit is The vehicular damper system according to (1) or (2), wherein a resistance to a current flowing through the first connection path and a resistance to a current flowing through the second connection path are different from each other.
- the mode described in this section is a mode in which the damping characteristic for the approaching action between the sprung part and the unsprung part is different from the damping characteristic for the separating action, in other words, the approaching action between the sprung part and the unsprung part.
- This is a mode in which the damping force is different from the damping force with respect to the separating operation.
- the mode described in this section is not limited to the mode in which the resistance values of the two connection paths are different from each other.
- the speed of the approaching operation and the separating operation of the sprung portion and the unsprung portion are the same.
- a mode in which the amount of current flowing through each of the two connection paths is different from each other is also included. By the way, the latter mode will be described in detail later.
- each of the two connection paths is provided with a current regulator for adjusting the current flowing in itself, and the current flowing in each of the two connection paths.
- a current regulator for adjusting the current flowing in itself, and the current flowing in each of the two connection paths.
- the external circuit is The current flow from the high potential of the two terminals of the electromagnetic motor to the high potential side terminal of the power storage device mounted on the vehicle is allowed, and from the low potential side terminal of the power storage device A power storage device connection path that allows a current flow to a low potential of the two terminals of the electromagnetic motor;
- the vehicle damper system is When the electromotive force of the electromagnetic motor exceeds the voltage of the power storage device, a part of the current generated by the electromagnetic motor is configured to flow through the power storage device connection path according to (1) to (3) The vehicle damper system according to any one of the above.
- the mode described in this section is a mode in which at least a part of the electric power generated by the electromagnetic motor is regenerated in the power storage device. Since the power storage device is charged or the power supply of the power storage device is supplemented by the damper system described in this section, the efficiency of the power storage device can be improved.
- the “power storage device” described in this section may supply power to a power source for driving a vehicle, electrical components such as lamps and audio, and other devices mounted on the vehicle. It may be a dedicated electromagnetic damper.
- the power storage device may be a battery or a capacitor such as an electric double layer capacitor.
- the power storage device connection path is A first high potential side in which current flow from the first terminal to the high potential side terminal of the power storage device is allowed and current flow from the high potential side terminal of the power storage device to the first terminal is prohibited A connection path; A second high potential side in which current flow from the second terminal to the high potential side terminal of the power storage device is allowed and current flow from the high potential side terminal of the power storage device to the second terminal is prohibited A connection path; First low potential side in which current flow from the low potential side terminal of the power storage device to the first terminal is allowed and current flow from the first terminal to the low potential side terminal of the power storage device is prohibited A connection path; A second low potential side in which current flow from the low potential side terminal of the power storage device to the second terminal is allowed and current flow from the second terminal to the low potential side terminal of the power storage device is prohibited The vehicle damper system according to item (4), including a connection path.
- the mode described in this section is a mode in which the configuration of the power storage device connection path is embodied, and is a mode in which the path through which the current flows is changed depending on which of the two terminals of the electromagnetic motor becomes a high potential. is there.
- the first rectifier is either one of the constituent elements of the first high potential side connection path and the first low potential side connection path.
- the second rectifier can be used as a component of either the second high potential side connection path or the second low potential side connection path.
- the external circuit is The vehicle damper system according to (4) or (5), further including a power storage device connection path current regulator that adjusts a current flowing through the power storage device connection path.
- a variable resistor or a switching element such as a transistor can be employed as the “power storage device connection path current regulator” in the aspect described in this section.
- the power storage device connection path current regulator can be controlled based on the charge amount of the power storage device (which can also be considered as the remaining amount and the remaining energy amount). Specifically, a mode in which the regenerative current is reduced as the charge amount of the power storage device is increased can be employed.
- the mode described in this section may be a mode in which the regenerative current is reduced when the voltage of the power storage device is lowered by the power storage device connection path current regulator to suppress an increase in the damping force of the electromagnetic damper. Is possible.
- the external circuit is A first resistor provided in the first connection path and serving as a resistance to a current flowing from the first terminal to the second terminal; and provided in the second connection path from the second terminal to the first terminal.
- the vehicle damper system according to any one of items (1) to (6), further including a second resistor that serves as a resistance to a current flowing through.
- the mode described in this section is a mode in which a resistor is provided in each of the two connection paths.
- a resistor By optimizing the resistance value of each of the two resistors, it is possible to optimize the damping characteristic for the approaching action of the sprung part and the unsprung part and the damping characteristic for the separating action, respectively.
- each of the “first resistor” and the “second resistor” in the aspect of this section may be a fixed resistor or a variable resistor. If a variable resistor is employed as each of the two resistors, as will be described in detail later, the attenuation characteristic for the approaching operation and the attenuation characteristic for the separation operation can be changed separately according to the traveling state of the vehicle. Is possible.
- the mode described in this section realizes the mode in which the resistance to the current flowing through the two connection paths, which is the mode described above, is different from each other by providing each of the two connection paths with resistors having different resistance values. As described above, this is a desirable mode from the viewpoint of simplifying the configuration of the damper system.
- the mode described in this section is a mode in which the damping force for the approaching operation is made smaller than the damping force for the separating operation. Compared with the input to the electromagnetic damper when the wheel passes through the recess on the road surface, the input to the electromagnetic damper when the wheel passes through the convex portion on the road surface is larger. According to the aspect of this section, since the damping force with respect to the approaching action between the sprung portion and the unsprung portion when the wheel passes through the convex portion of the road surface is reduced, the impact applied to the sprung portion at that time is effective. It is possible to relax.
- the external circuit is A first resistor bypass path for bypassing the first resistor; A first auxiliary resistor provided in the first resistor bypass path and serving as a resistance of the current flowing through the first resistor bypass path; A first switch for switching between a state where current flows through the first resistor bypass path and a state where current does not flow; A second resistor bypass for bypassing the second resistor; A second auxiliary resistor provided in the second resistor bypass path and serving as a resistance of the current flowing through the second resistor bypass path; A second switch for switching between a state in which current flows through the second resistor bypass path and a state in which current does not flow; When the first switch is in a state in which no current flows through the first resistor bypass path in a normal state and the first resistor fails to pass current, the first resistor bypass path A current flows through the When the second switch is in a state in which no current flows through the second resistor bypass path at normal times and a failure occurs in which the current does not pass through the second resistor, the second resistor bypass path The vehicle damp
- the method for detecting whether or not is not particularly limited. For example, based on the change in the rotation angle of the electromagnetic motor, it is detected that the spring upper part and the spring lower part are moving toward or away from each other, and provided in the connection path through which the generated current flows during the operation. When it is detected that no current is flowing through the resistor, it is determined that a failure has occurred in which the current does not pass through the resistor, and when the determination is made, switching of the switch is performed.
- a sensor that directly detects the rotation angle of the electromagnetic motor may be used.
- the rotation angle of the electromagnetic motor may be detected by a sensor that detects the distance between the sprung portion and the unsprung portion. Indirect detection may be used.
- a sensor that directly detects the current passing through the resistor may be used. For example, it is indirectly determined whether or not the current has passed through the resistor by a sensor that measures a potential, a voltage, or the like at a certain point on the connection path. You may use what is detected.
- the external circuit is A first connection path current regulator provided in the first connection path for adjusting a current flowing from the first terminal to the second terminal; and provided in the second connection path from the second terminal to the first terminal.
- a second connection path current regulator for regulating the current flowing to one terminal;
- the electromagnetic damper system An external circuit control device for controlling the current flowing in the electromagnetic motor by controlling the external circuit;
- the external circuit control device By controlling the first connection path current regulator, the generated current accompanying the approaching action between the sprung part and the unsprung part is controlled, and by controlling the second connection path current regulator, the sprung part and the spring are controlled.
- the vehicle damper system according to any one of items (1) to (14), which is configured to control a generated current associated with a separation operation with respect to a lower portion.
- the “external circuit control device” in the aspect of this section is for controlling, for example, the current generated by an electromagnetic motor or the supply current from the power storage device when the electromagnetic motor is connected to the power storage device. It is possible.
- the external circuit control device is for controlling the flow of the generated current by the electromagnetic motor.
- the “flow of generated current” is a concept including the direction in which the generated current flows, the amount of generated current, and the like.
- Each of the “first connection path current regulator” and the “second connection path current regulator” in the aspect of this section adjusts the amount of current per set time flowing through the connection path corresponding to itself. It is controlled by the external circuit control device.
- the external circuit control device controls the amount of generated current associated with the approaching action between the sprung portion and the unsprung portion using the first connection path current regulator, thereby changing the damping force for the approaching motion and the second. It is possible to change the damping force with respect to the separation operation by controlling the amount of generated current associated with the separation operation between the sprung portion and the unsprung portion by the connection path current regulator.
- a variable resistor or a switching element such as a transistor can be employed for each of the “first connection path current regulator” and the “second connection path current regulator”.
- the one in which the variable resistor is adopted as the resistor can be considered as one aspect of this aspect.
- the current regulator is configured by a switching element that can perform pulse driving and the like described later. It is desirable that
- a damper system having a configuration in which there is one connection path connecting two terminals of the electromagnetic motor and a single current regulator is provided in the connection path, that is, a generated current accompanying an approaching operation.
- a system configured such that the generated current accompanying the separation operation flows in the opposite directions through the same path.
- the relative vibration between the sprung portion and the unsprung portion includes a component having a relatively high frequency, and when the approaching operation and the separating operation are switched in a very short time, It is considered difficult to switch the control of the current regulator according to the direction of relative movement with the unsprung portion.
- the generated current associated with the approaching operation flows through the first connection path
- the generated current associated with the separation operation flows through the second connection path.
- the external circuit control device may be configured to control the first connection path current regulator and the second connection path current regulator according to the behavior of the vehicle, the running state, and the like. It is possible, and by controlling the first connection path current regulator and the second connection path current regulator to have different roles, it is possible to exhibit excellent damping performance in the damper system. .
- one of the two current regulators is controlled so as to attenuate the vibration in the sprung resonance frequency range, and the vehicle maneuverability / stability (hereinafter referred to as “stability”) It is possible to increase the ride comfort of the vehicle by controlling the other of them to attenuate the vibration in the unsprung resonance frequency range. Therefore, the system according to the aspect of this section can achieve both harmony between riding comfort and maneuverability, which are in a mutually contradictory relationship, and is highly practical.
- the external circuit controller is The vehicle damper system according to (21), wherein the first connection path current regulator and the second connection path current regulator are controlled in order to control an attenuation coefficient of the electromagnetic damper.
- the aspect of this section controls the damping coefficient for the approaching action between the sprung portion and the unsprung portion by controlling the first connecting path current regulator, and controls the second connecting path current regulator, It is the aspect comprised so that the damping coefficient with respect to the separation operation
- the “damping coefficient of the electromagnetic damper” described in this section is an index of the ability of the electromagnetic damper to generate a damping force, and serves as a reference for the damping force generated by the electromagnetic damper. Generally, the damping coefficient of the damper is expressed by the magnitude of the damping force with respect to the speed of relative movement between the sprung portion and the unsprung portion.
- the external circuit controller is The first connection path current regulator so that the damping coefficient of the electromagnetic damper with respect to the approaching action of the sprung part and the unsprung part is different from the damping coefficient of the electromagnetic damper with respect to the separating action of the sprung part and the unsprung part.
- the aspect in which the resistance to the current flowing through the two connection paths as described above is made different from each other by adjusting the amount of the current flowing through each of the two connection paths. It is. In the aspect in which the aspect of this section and the aspect in which the resistor is provided in each of the two connection paths described above are combined, the resistance values of the two resistors are made different from each other.
- the approaching action and the separating action between the upper part and the unsprung part can each be effectively attenuated.
- the external circuit controller is The first connection path current regulator so that a damping coefficient of the electromagnetic damper with respect to the approaching action of the sprung part and the unsprung part is smaller than a damping coefficient of the electromagnetic damper with respect to the separating action of the sprung part and the unsprung part.
- the aspect described in this section is an aspect in which the damping force for the approaching operation is made smaller than the damping force for the separation operation, and as described above, when the wheel passes the convex portion of the road surface, On the other hand, it is possible to effectively mitigate the impact applied to the sprung portion when the unsprung portion approaches.
- each of the first connection path current regulator and the second connection path current regulator makes one of the first connection path and the second connection path provided therewith conduct.
- a switching element that selectively switches between a state and a blocking state for blocking one of the states, The external circuit controller is Each of the switching elements is controlled so that the conduction state and the cutoff state are alternately and continuously realized, and based on the time when the conduction state is realized and the time when the cutoff state is realized.
- the vehicular damper system according to any one of (21) to (24), wherein the current generated by the electromagnetic motor is controlled by controlling a duty ratio that is a fixed ratio.
- the mode described in this section is a mode in which the current regulator is limited to a switching element, and the external circuit control device is limited to a configuration in which PWM (Pulse Width Modulation) control is performed on the switching element.
- PWM Pulse Width Modulation
- the electromagnetic motor is a DC motor and its operating speed is proportional to the force to be generated, that is, the relative operation speed between the sprung portion and the unsprung portion is proportional to the damping force of the electromagnetic damper.
- the duty ratio of the switching element that is, the conduction state with respect to the pulse interval, which is the sum of the time for realizing the conduction state and the time for realizing the cutoff state, is realized. It is possible to change the damping coefficient of the electromagnetic damper by changing the time ratio. Therefore, the aspect of this section can also be an aspect of controlling the attenuation coefficient described above.
- the external circuit controller is The duty ratio of the switching element constituting each of the first connection path current regulator and the second connection path current regulator is determined so that the generated current flows through either the first connection path or the second connection path.
- the duty ratio of the switching element constituting each of the first connection path current regulator and the second connection path current regulator is set to itself among the first connection path and the second connection path. It can also be considered as an aspect that does not change depending on whether or not the generated current flows through the corresponding one. In the aspect of this section, for example, without changing the duty ratio for the switching elements constituting each of the two current regulators regardless of whether or not the generated current is flowing through the connection path corresponding to itself. If maintained, when the generated current flows through the connection path corresponding to itself, the amount of the generated current is adjusted.
- the external circuit controller is When the sprung resonance frequency component, which is a component of the sprung resonance frequency region of relative vibration between the sprung portion and the unsprung portion, is a value indicating the approaching action between the sprung portion and the unsprung portion, the first connection path When the current regulator is a main regulator, and the sprung resonance frequency region component is a value indicating the separation operation between the sprung portion and the unsprung portion, the second connection path current regulator is the main regulator.
- a main regulator controller that controls one of the first connection path current regulator and the second connection path current regulator that are the main regulators;
- the second connection path current regulator is used as an auxiliary regulator, and the sprung resonance frequency region component Is a value indicating a separation operation between the sprung portion and the unsprung portion, the first connection path current regulator is an auxiliary regulator, and the first connection path current regulator and
- the vehicle damper system according to any one of items (21) to (26), further comprising: an auxiliary regulator control unit that controls one of the two connection path current regulators.
- the aspect described in this section regards the relative vibration between the sprung portion and the unsprung portion as a combination of vibration components of various frequencies, and in the direction of the operation indicated by the value of the sprung resonance frequency component. Based on this, it is an aspect configured to recognize the main regulator among the two current regulators, that is, the main regulator that attenuates the relative vibration. That is, it is desirable that the “main adjuster” of the aspect of this section has a role of attenuating the sprung resonance frequency band component mainly for the purpose of attenuating the sprung resonance frequency band component.
- the “auxiliary adjuster” described in this section can have various roles, which will be described in detail later, in order to assist the main adjuster. Relative vibration can be effectively damped.
- the main regulator controller The first connection path current regulator and the second connection path current adjustment, which are the main regulators, so that the damping coefficient of the electromagnetic damper becomes a damping coefficient suitable for damping the sprung resonance frequency band component.
- the mode described in this section is a mode in which the main regulator has a role to attenuate the sprung resonance frequency band component.
- the attenuation coefficient when controlling the first connection path current regulator and the attenuation coefficient when controlling the second connection path current regulator are the same, even if they are the same value. It does not have to be a value. More specifically, the attenuation coefficient when controlling the first connection path current regulator is set to a value suitable for attenuating the approaching operation, and the attenuation coefficient when controlling the second connection path current regulator. Can be set to a value suitable for attenuating the separating operation.
- the auxiliary regulator controller The auxiliary adjustment is performed so that the damping coefficient of the electromagnetic damper is a damping coefficient suitable for damping an unsprung resonance frequency component, which is a component of the unsprung resonance frequency region of relative vibration between the sprung portion and the unsprung portion.
- the relative vibration between the sprung part and the unsprung part includes a component having a frequency higher than the sprung resonance frequency band component
- the direction of relative movement between the sprung part and the sprung part indicated by the value of the sprung resonance frequency band component. May be opposite to the direction of relative movement between the actual unsprung and unsprung parts.
- the generated current flows through the connection path provided with the auxiliary regulator.
- the aspect described in this section causes the auxiliary adjuster to have a role of attenuating a component in the unsprung resonance frequency range of the relative vibration between the sprung portion and the unsprung portion, which is a role different from that of the main adjuster. It is an aspect.
- auxiliary regulator control unit is also suitable for attenuating the approaching action because the attenuation coefficient when controlling the first connection path current regulator is the same as the “main regulator control unit” described above.
- the attenuation coefficient when controlling the second connection path current regulator can be controlled to be a value suitable for attenuating the separation operation.
- the auxiliary regulator controller is In the situation where the intensity of the unsprung resonance frequency component is higher than a set strength, the auxiliary adjustment is performed so that the damping coefficient of the electromagnetic damper is a damping coefficient suitable for attenuating the unsprung resonance frequency component.
- the aspect described in this section is an aspect in which the auxiliary regulator attenuates the unsprung resonance frequency band component based on the intensity of the unsprung resonance frequency band component. Only in a situation where the strength is relatively high, the unsprung resonance frequency band component can be attenuated.
- the “strength of the unsprung resonance frequency region component” described in this section refers to the magnitude of the intensity of vibration. For example, the amplitude of the unsprung resonance frequency region component, the upper and lower portions of the unsprung resonance frequency region component, This can be determined based on the relative motion speed, acceleration, and the like.
- the intensity of the vibration is preferably determined based on those values within a set time retroactive from the present time, specifically, the maximum value, effective value, or the like.
- the main regulator control unit described above has a damping coefficient of the electromagnetic damper in the unsprung resonance frequency range in a situation where the strength of the unsprung resonance frequency range component is higher than the set strength. It is also possible to adopt a mode in which one of the first connection path current regulator and the second connection path current regulator, which are the main regulator, is controlled so that the attenuation coefficient is suitable for attenuating the component. . In such an embodiment, both of the two current regulators are controlled to attenuate the unsprung resonance frequency band component, effectively attenuating the unsprung resonance frequency band component having a high strength, It is possible to improve the riding comfort of the vehicle.
- the auxiliary regulator controller is The auxiliary adjustment is performed so that the damping coefficient of the electromagnetic damper becomes a damping coefficient suitable for attenuating the sprung resonance frequency band component in a situation where the strength of the sprung resonance frequency band component is higher than a set strength.
- both of the two current regulators are controlled to attenuate the sprung resonance frequency band component, and effectively attenuate the sprung resonance frequency band component whose strength is high, It is possible to improve the maneuverability of the vehicle.
- the mode described in this section and the above-described mode are assisted so as to obtain a damping coefficient suitable for attenuating the unsprung resonance frequency band component in a situation where the intensity of the unsprung resonance frequency band component is higher than the set strength.
- the sprung resonance frequency A mode in which any one of the band component and the unsprung resonance frequency band component is preferentially attenuated may be used. Specifically, it may be a mode in which priority is given to attenuating the sprung resonance frequency component in order to place importance on the maneuverability of the vehicle, and an unsprung resonance frequency region in order to place importance on the ride comfort of the vehicle. A mode in which priority is given to attenuating components may be used.
- the auxiliary regulator controller In a situation where the strength of the sprung resonance frequency component is lower than the set strength and the strength of the unsprung resonance frequency component is lower than the set strength, the damping coefficient of the electromagnetic damper is set to the sprung resonance frequency range and the spring.
- the first connection path current regulator and the second connection path current regulator which are the auxiliary regulators, have an attenuation coefficient suitable for attenuating the frequency domain component between the lower resonance frequency range and
- the vehicle damper system according to any one of (29) to (31), which controls one of them.
- the damping coefficient is increased to attenuate the sprung resonance frequency region component and the unsprung resonance frequency region component, the frequency component between the sprung resonance frequency region and the unsprung resonance frequency region is reduced. Will increase the strength of vibration.
- the sprung resonance frequency region and the unsprung resonance frequency region are both under the situation where both the sprung resonance frequency region component and the unsprung resonance frequency region component are lower than their respective set strengths. Therefore, the relative vibration between the sprung portion and the unsprung portion can be effectively damped.
- the main regulator control unit described above is such that the intensity of the sprung resonance frequency region component is lower than the set strength and the strength of the unsprung resonance frequency region component is lower than the set strength.
- the main damper was set so that the damping coefficient of the electromagnetic damper became a damping coefficient suitable for damping the frequency band component between the sprung resonance frequency band and the unsprung resonance frequency band. It is also possible to adopt a mode in which one of the first connection path current regulator and the second connection path current regulator is controlled.
- the auxiliary regulator controller In a situation where the temperature of the electromagnetic motor is higher than a threshold temperature, one of the first connection path current regulator and the second connection path current regulator, which are the auxiliary regulators, is provided as the first connection path current regulator.
- the vehicular damper system according to any one of (27) to (32), wherein control is performed so that a generated current does not flow through one of the connection path and the second connection path.
- the mode of this section can be realized by controlling the duty ratio of the switching element to be zero.
- the external circuit is A path that bypasses the first connection path current regulator, and when the electromotive force of the electromagnetic motor that accompanies the approaching action of the sprung portion and the unsprung portion exceeds a set voltage, the second terminal from the first terminal side.
- a first regulator bypass that allows current flow to the terminal side;
- a passage that bypasses the second connection path current regulator, and when the electromotive force of the electromagnetic motor that accompanies the separation operation between the sprung portion and the unsprung portion exceeds a set voltage, the first terminal is connected to the first terminal from the second terminal side.
- the vehicle damper system according to any one of items (21) to (33), further comprising: a second regulator bypass path that allows current flow to the terminal side.
- the electromotive force of the electromagnetic motor exceeds the set voltage, in other words, when the stroke speed is large, the attenuation according to a set attenuation coefficient is applied regardless of the current regulator. Force will be generated. Therefore, according to the aspect of this section, it is possible to generate a stable damping force under a situation where the stroke speed is large and the stability of the vehicle is required. In addition, according to the aspect of this section, even when a failure occurs such that no current passes through the current regulator, if the electromotive force of the electromagnetic motor exceeds the set voltage, in other words, the stroke When the speed is large, a damping force can be generated. That is, the aspect of this section is an excellent system in terms of fail-safe. Specifically, the first regulator bypass path and the second regulator bypass path can be configured by having each of them have a Zener diode.
- FIG. 1 is a schematic diagram showing an overall configuration of a vehicle on which a damper system including an electromagnetic damper that is an embodiment of the claimable invention is mounted. It is front sectional drawing which shows the spring absorber Assy comprised including the damper main body of the electromagnetic damper shown in FIG.
- FIG. 3 is a circuit diagram of an external circuit that is one component of the electromagnetic damper shown in FIG. 1 and is provided outside the electromagnetic motor of FIG. 2.
- FIG. 4 is an equivalent circuit diagram of the external circuit shown in FIG. 3. It is a figure which shows the time change of the amplitude of the relative vibration of a spring upper part and a spring unsprung, and its sprung resonance frequency area component. It is a figure which shows the relationship between the rotational speed and torque of the electromagnetic motor of FIG.
- FIG. 1 schematically shows a vehicle on which a damper system including an electromagnetic damper 10 that is an embodiment of the claimable invention is mounted.
- This damper system is a component of a suspension system mounted on a vehicle, and the suspension system includes four wheels 12 between front and rear, four wheels 12FR, FL, RR, RL and a vehicle body 14.
- the suspension system includes four wheels 12 between front and rear, four wheels 12FR, FL, RR, RL and a vehicle body 14.
- four independent suspension systems are provided.
- Each of these suspension devices has a spring absorber assembly 20 in which a suspension spring and a shock absorber are integrated.
- the wheel 12 and the spring absorber assembly 20 are generic names, and when it is necessary to clarify which of the four wheels corresponds, as shown in FIG.
- FL, FR, RL, and RR are attached to the front wheel, the right front wheel, the left rear wheel, and the right rear wheel.
- the spring absorber assembly 20 is provided between a suspension lower arm 22 that holds the wheel 12 and constitutes a part of the unsprung part, and a mount part 24 that is provided on the vehicle body 14 and constitutes a part of the unsprung part. Further, they are arranged so as to connect them.
- the spring absorber assembly 20 includes an electromagnetic shock absorber 30 as a damper body of the electromagnetic damper 10 and a coil spring 32 as a suspension spring provided in parallel therewith, which are integrated. It has become.
- the shock absorber 30 is a ball as a motion conversion mechanism that includes a screw rod 40 in which a thread groove is formed and a nut 42 that holds a bearing ball and is screwed with the screw rod 40.
- a screw mechanism 44, a rotary electromagnetic motor 46 (hereinafter sometimes simply referred to as “motor 46”), and a casing 48 that houses the motor 46 are provided.
- the casing 48 rotatably holds the screw rod 40 and is connected to the mount portion 24 via a vibration isolating rubber 50 at the outer peripheral portion.
- the motor 46 has a motor shaft 52, and a plurality of polar bodies 60 (coils having a coil wound around a core) are fixedly disposed on the outer peripheral portion of the motor shaft 52. They constitute the rotor of the motor 46.
- a pair of permanent magnets 62 having N-pole and S-pole magnetic poles are fixed to the inner surface of the casing 48 so as to face the plurality of polar bodies 60.
- the permanent magnet 62 and the casing 48 are The stator is configured.
- the motor 46 includes a plurality of commutators 64 fixed to the motor shaft 52 and a brush 66 fixed to the casing 48 so as to be in sliding contact with the plurality of commutators 64. It is a motor.
- the motor shaft 52 is integrally connected to the upper end portion of the screw rod 40.
- the shock absorber 30 has a cylinder 74 configured to include an outer tube 70 and an inner tube 72 which is fitted into the outer tube 70 and protrudes upward from the upper end portion thereof.
- the outer tube 70 is connected to the lower arm 22 via a mounting bush 76 provided at the lower end portion thereof, and the inner tube 72 is fixed to the casing 48 at the upper end portion with the threaded rod 40 inserted therethrough.
- a nut support cylinder 78 is erected on the inner bottom portion of the inner tube 72, and the nut 42 is fixed to the inner end of the inner tube 72 in a state of being screwed with the screw rod 40.
- the shock absorber 30 has a cover tube 80, which is connected in a state where the cylinder 74 is inserted into the lower surface side of the mount portion 24 through a vibration isolating rubber 82 at the upper end portion.
- a flange portion 84 (functioning as an upper retainer) is formed at the upper end portion of the cover tube 80, and the flange portion 84 and an annular lower retainer 86 provided on the outer peripheral surface of the outer tube 70.
- the shock absorber 30 allows the screw rod 40 and the nut 42 to move relative to each other in the axial direction when the spring upper portion and the spring lower portion move toward and away from each other.
- the screw rod 40 rotates with respect to the nut 42.
- the motor shaft 52 also rotates.
- the electromagnetic damper 10 includes an external circuit 90 (see FIG. 3) provided outside the motor 46, and the two terminals of the motor 46 are electrically connected by the external circuit 90. It is configured to be allowed to. That is, when the motor 46 is rotated by an external force, an electromotive force is generated in the motor 46, and the motor 46 generates a motor force (torque) depending on the electromotive force.
- the motor 46 can apply a torque depending on the electromotive force to the screw rod 40, and the resistance force in a direction to prevent the relative rotation between the screw rod 40 and the nut 42 by the torque. Can be generated. That is, the electromagnetic damper 10 is configured to cause this resistance force to act as a damping force with respect to the approaching / separating operation between the sprung portion and the unsprung portion.
- FIG. 3 shows a circuit diagram of the external circuit 90 that constitutes the electromagnetic damper 10.
- the external circuit 90 allows a current to flow between the first terminal 100 and the second terminal 102 of the motor 46, and includes a point A on the first terminal 100 side and a point B on the second terminal 102 side. Are connected by a conductive wire AB, and a point C on the first terminal 100 side and a point D on the second terminal 102 side are connected by a conductive wire CD.
- the conductor AB has a first diode 104 that allows a current flow in the direction from the point A to the point B and prohibits a current flow in the direction from the point B to the point A, and from the point B to the point A.
- the conducting wire CD includes, in order from the point C, a first switching element [SW1] 108 that is a MOS FET, a first resistor [R C ] 110 that is a fixed resistor, and a second resistor that is a fixed resistor. [R S ] 112, a second switching element 114 [SW2], which is a MOS FET, is provided.
- a point G between the first switching element 108 and the first resistor 110 of the conducting wire CD and a point H between the second resistor 112 and the second switching element 114 are stored in the vehicle. It is connected to a high potential side terminal of a battery 120 (nominal voltage E N : 12.0 V) as a device. More specifically, a third diode 122 is provided on the conducting wire GI connecting the point G and the point I on the high potential side terminal side of the battery 120, and current flow in the direction from the point G to the point I is allowed. At the same time, the flow of current in the direction from point I to point G is prohibited.
- a conducting wire HI connecting the point H and the point I on the high potential side terminal side of the battery 120 is provided with a fourth diode 124, which allows a current flow in the direction from the point H to the point I and also allows the point I The flow of current in the direction from point to point H is prohibited.
- a third switching element [SW3] 126 that is a MOS FET is provided on the high potential side terminal side of the battery 120, specifically, between the point I and the high potential side terminal.
- the low potential side terminal of the battery 120 is grounded.
- the resistor 128 on the high potential side terminal side of the battery 120 shown in FIG. 3 represents the internal resistance of the battery 120, and in the following description, it will be referred to as a power supply resistance [R B ] 128. To do.
- the external circuit 90 includes a first Zener diode 140 provided in parallel with the first switching element 108 and a second Zener diode 142 provided in parallel with the second switching element 114.
- the first Zener diode 140 allows a current flow from the point G ′ to the point C ′ and prohibits a current flow from the point C ′ to the point G ′. When the voltage is exceeded, the flow of current from the point C ′ to the point G ′ is also allowed.
- the second Zener diode 142 has the same structure as that of the first Zener diode 140.
- the second Zener diode 142 allows a current flow from the point H ′ to the point D ′ and also allows a current flow from the point D ′ to the point H ′. In addition, when the voltage applied to itself exceeds its breakdown voltage, the flow of current from point D ′ to point H ′ is also allowed.
- the external circuit 90 is a first auxiliary resistor 150 that is a fixed resistor provided in parallel with the first resistor 110 and a second resistor that is provided in parallel with the second resistor 112. And an auxiliary resistor 152.
- the conducting wire G′F ′ provided with the first auxiliary resistor 150 is provided with a first relay 154 that switches between a state where current flows through the conducting wire G′F ′ and a state where current does not flow through the conducting wire G′F ′.
- the lead H′F ′ provided with 152 is provided with a second relay 156 that switches between a state in which current flows through the lead H′F ′ and a state in which no current flows through the lead H′F ′.
- the first relay 154 and the second relay 156 are in a state in which no current flows (OFF state) when the electromagnetic coil of the first relay 154 and the second relay 156 are excited, and in a state (ON state) in which current flows when the magnet coil is not excited.
- FIG. 4 is an equivalent circuit diagram in which the above-described external circuit 90 includes only components necessary for explanation and has a simple configuration.
- the motor 46 has a high potential at the first terminal 100 and a low potential at the second terminal 102 during the approaching operation between the sprung portion and the unsprung portion.
- the first terminal 100 becomes a low potential and the second terminal 102 becomes a high potential. Therefore, when the sprung portion and the unsprung portion are moved closer to each other, the generated current of the motor 46 flows from the first terminal 100 to the second terminal 102 along points C, F, E, and B.
- the generated current of the motor 46 flows from the second terminal 102 to the first terminal 100 along points D, F, E, and A.
- the first diode 104 serves as a first rectifier that allows a current flow from the first terminal 100 to the second terminal 102 of the motor 46 and prohibits a current flow from the second terminal 102 to the first terminal 100.
- the path CFEB in the external circuit 90 functions as the first connection path.
- the second diode 106 serves as a second rectifier that allows a current flow from the second terminal 102 of the motor 46 to the first terminal 100 and prohibits a current flow from the first terminal 100 to the second terminal 102.
- the path DFEA functions as the second connection path. Therefore, in the electromagnetic damper 10, the path through which the generated current flows is different between the case where the sprung portion and the unsprung portion are moved closer to each other and the case where the spring is moved away from each other. The characteristics can be easily changed, and various effects can be obtained as will be described in detail later.
- the first resistor 110 provided in the first connection path CFEB becomes a resistance against a current flowing from the first terminal to the second terminal, and the first switching element 108 flows from the first terminal to the second terminal. It functions as a first connection path current regulator that regulates the current.
- the second resistor 112 provided in the second connection path DFEA becomes a resistance against a current flowing from the second terminal to the first terminal, and the second switching element 114 flows from the second terminal to the first terminal. It functions as a second connection path current regulator that regulates the current.
- the first switching element 108 and the first resistor 110 If the current flow between CF and DF is allowed by the two switching elements 114, a damper system is realized in which the damping force for the approaching operation is smaller than the damping force for the separating operation. As will be described later in detail, this damper system is configured to change the damping characteristic with respect to the relative motion between the sprung portion and the unsprung portion by controlling the first switching element 108 and the second switching element 114. ing. On the other hand, for example, even when a failure that cannot realize an appropriate attenuation characteristic occurs, the current between the CFs and between the DFs is caused by the first switching element 108 and the second switching element 114 as described above.
- the motor 46 Since the motor 46 is connected to the battery 120 as described above, when the electromotive force of the motor 46 exceeds the voltage of the battery 120, a part of the electric power generated by the motor 46 is regenerated to the battery 120. It has become so. More specifically, when the sprung portion and the unsprung portion are moved closer to each other, the generated current of the motor 46 is not only from the first connection path CFEB described above, but also from the first terminal 100 through the lead GI to the battery. The current flows to the high potential side terminal 120 and flows from the low potential side terminal of the battery 120 to the second terminal 102.
- the generated current of the motor 46 is transmitted not only from the second connection path DFEA described above but also from the second terminal 102 through the lead wire HI to the battery 120. While flowing to the high potential side terminal, it flows from the low potential side terminal of the battery 120 to the first terminal 100. That is, the path CGI in the external circuit 90 is a first high-potential side connection path in which a current flow from the first terminal 100 to the high-potential side terminal of the battery 120 is allowed and a reverse current flow is prohibited. And the path FEB functions as a first low potential side connection path in which current flow from the low potential side terminal of the battery 120 to the second terminal 102 is allowed and current flow in the opposite direction is prohibited.
- the path DHI functions as a second high potential side connection path in which current flow from the second terminal 102 to the high potential side terminal of the battery 120 is allowed and current flow in the opposite direction is prohibited
- the path FEA functions as a second low potential side connection path that allows a current flow from the low potential side terminal of the battery 120 to the first terminal 100 and prohibits a reverse current flow.
- the external circuit 90 has the high potential of the motor 46 including the first high potential side connection path, the first low potential side connection path, the second high potential side connection path, and the second low potential side connection path. Current is allowed to flow from the current terminal to the high potential side terminal of the battery 120 and current flow from the low potential side terminal of the battery 120 to the terminal having the low potential of the motor 46 is allowed. It has a device connection path.
- the third switching element 126 described above adjusts the current flowing through the power storage device connection path, and functions as a power storage device connection path current regulator.
- the external circuit 90 is controlled by an electronic control unit 200 (hereinafter, also referred to as “ECU 200”) as an external circuit control device.
- the flow of generated current is controlled.
- the ECU 200 is connected to the first switching element 108, the second switching element 114, the third switching element 126, the first relay 154, and the second relay 156, and the ECU 200 controls them. Done.
- the vehicle has four stroke sensors [St for detecting the distance between the sprung portion and the unsprung portion of each wheel 12 (which may be referred to as “stroke” hereinafter because it is the amount of expansion / contraction of the shock absorber 30).
- a temperature sensor [T] 204 for detecting the temperature of the motor 46 included in each of the four electromagnetic dampers 10, a voltage sensor [E B ] 206 for measuring the voltage of the battery 120, and the like are provided. It is connected to ECU200.
- the ECU 200 is configured to control the external circuit 90 based on signals from these sensors.
- the character [] is a symbol used when the sensor or the like is shown in the drawing.
- the ROM provided in the computer of the suspension ECU 200 stores a program related to the control of the external circuit 90 described later, various data, and the like.
- ⁇ Damper system control> In this damper system, it is possible to independently control the external circuit 90 included in each of the four electromagnetic dampers 10.
- the damping coefficient of each In each of the electromagnetic dampers 10, the damping coefficient of each is controlled independently, and the damping force with respect to the relative vibration between the sprung portion and the unsprung portion corresponding to itself is controlled.
- the damping coefficient C C for the approaching operation and the damping coefficient C S for the separating operation can be controlled independently.
- the electromagnetic damper 10 is generally configured such that the generated current associated with the approaching operation flows through the first connection path CFEB, and the generated current associated with the separation operation flows through the second connection path DFEA.
- the first switching element 108 provided in the first connection path, the generated current accompanying the approaching operation is controlled, and the damping coefficient C C (hereinafter referred to as “the approaching damping coefficient C”). C ”may be controlled, and the second switching element 114 is controlled, so that the generated current associated with the separation operation is controlled and the damping coefficient C S for the separation operation (hereinafter referred to as“ separation damping coefficient C S during separation ”). Is sometimes controlled).
- the generated current associated with the approaching operation and the generated current associated with the separating operation flow through the connection paths in opposite directions, and any direction is achieved by a single current regulator provided in the connection path. It is also possible to adjust the generated current flowing through the.
- the relative vibration between the sprung portion and the unsprung portion includes a component having a relatively high frequency, and the approaching operation and the separating operation are switched in a very short time. It may change.
- a) Damping coefficient of main adjuster the relative vibration between the upper part and the lower part of the spring is regarded as a combination of vibrations of various frequencies, and the sprung resonance frequency among them.
- the main purpose is to attenuate a component in a range (for example, 0.1 Hz to 3.0 Hz).
- the ECU 200 accompanies the relative operation in the direction based on the direction of the relative operation between the sprung portion and the unsprung portion indicated by the value of the sprung resonance frequency region component.
- the switching element that adjusts the generated current is recognized as a main regulator, and the main regulator is controlled to attenuate the sprung resonance frequency band component.
- a stroke change amount that is, a stroke speed Vst is detected.
- the stroke speed Vst is subjected to bandpass filter processing, more specifically, filter processing in which only a component having a frequency greater than 0.1 Hz and less than 3.0 Hz passes, and a spring that is a sprung resonance frequency region component of the stroke speed Vst.
- the upper resonance stroke speed Vstb is acquired. It is determined from the sign whether the sprung resonance stroke speed Vstb has a value indicating the approaching action between the sprung part and the unsprung part or a value indicating the separating action.
- the first switching element 108 provided in the first connection path through which the generated current accompanying the approaching action flows. Is certified as the main regulator.
- the second switching element 114 provided in the second connection path through which the generated current accompanying the separation operation flows is the main regulator. Certified.
- the certified main regulator is controlled so as to have a damping coefficient suitable for damping the sprung resonance frequency band component.
- the attenuation coefficient C C for the approaching operation is made smaller than the attenuation coefficient C S for the separating operation, and the second switching element 114 certified as the main adjuster
- the first switching which is controlled so that the coefficient C S becomes C S1 (for example, 5000 N ⁇ sec / m, a value assumed to directly act on the wheel 12 with respect to the operation of the wheel 12) and serves as a main regulator.
- the element 108 is controlled so that the approaching attenuation coefficient C C becomes C1 (for example, 2500 N ⁇ sec / m).
- the other switching element that is not the main regulator is recognized as an auxiliary regulator by the ECU 200 and controlled to assist the main regulator.
- the auxiliary adjuster basically attenuates the unsprung resonance frequency component so as to attenuate the unsprung resonance frequency component (eg, 8.0 Hz to 24 Hz) of the relative vibration between the sprung portion and the unsprung portion. It is controlled so that the attenuation coefficient is suitable for the above.
- the second switching element 114 certified as an auxiliary regulator is controlled so that the damping coefficient C S at the time of separation becomes C S2 (for example, 3000 N ⁇ sec / m), and is thus an auxiliary regulator.
- the first switching element 108 is controlled such that the approaching attenuation coefficient C C is C C2 (for example, 1500 N ⁇ sec / m).
- the ECU 200 not only plays a role of attenuating the unsprung resonance frequency component in the auxiliary regulator, but also has other roles based on the strength of the sprung resonance frequency component and the strength of the unsprung resonance frequency component. It comes to let you. Specifically, first, as the intensity of the sprung resonance frequency range component, the maximum value of the sprung resonance stroke speed Vstb within the set time t 0 retroactive from the present time is acquired, and whether the value is greater than the set speed Vb 0 . It is determined whether or not.
- the auxiliary regulator When the maximum value of the sprung resonance stroke speed Vstb is larger than the set speed Vb 0 , the auxiliary regulator also has the same sprung resonance frequency as the main regulator in order to give priority to the damping of the sprung resonance frequency band component.
- the attenuation coefficient C S1 or C C1 for attenuating the band components is controlled.
- the intensity of the unsprung resonance frequency band component is acquired.
- the stroke speed Vst detected based on the detection value of the stroke sensor 202 is subjected to a bandpass filter process, specifically, a filter process in which only a component having a frequency greater than 8.0 Hz and less than 24 Hz passes is performed.
- the unsprung resonance stroke speed Vstw, which is the unsprung resonance frequency region component is acquired.
- the maximum value of the unsprung resonance stroke speed Vstw within the set time t 0 retroactive from the present time is acquired as the intensity of the unsprung resonance frequency region component, and it is determined whether or not the value is greater than the set speed Vw 0.
- the auxiliary regulator uses the unsprung resonance frequency band component to attenuate the unsprung resonance frequency band component. Is controlled so as to have an attenuation coefficient C S2 or C C2 for attenuating.
- the auxiliary adjuster is controlled so as to have an attenuation coefficient for attenuating the mid frequency range component. Is done.
- the second switching element 114 certified as an auxiliary regulator is controlled so that the damping coefficient C S at the time of separation becomes C S3 (for example, 1000 N ⁇ sec / m), and is thus an auxiliary regulator.
- the first switching element 108 is controlled so that the approaching attenuation coefficient C C becomes C C3 (for example, 500 N ⁇ sec / m).
- the ECU 200 normally controls the first switching element 108 included in the external circuit 90 to control the generated current associated with the approaching action between the sprung portion and the unsprung portion. It controls the C, and controls the second switching element 114, by controlling the generated current due to the separation operation, and controls the separation-time damping coefficient C S.
- the ECU 200 performs PWM (Pulse Width Modulation) control on the switching elements 108 and 114.
- the pulse interval obtained by adding the pulse on time t ON that is the time for conducting the connection path corresponding to itself and the pulse off time t OFF that is the time for interrupting the connection path is made constant, and the pulse on time of the pulse interval is
- the relationship between the duty ratio r D of each of the switching elements 108 and 114 and the damping coefficient C of the electromagnetic damper 10 will be described below.
- the motor 46 included in the electromagnetic damper 10 is a brushed DC motor as described above, and the current flowing through the motor is I, the torque to be generated is Tq, the rotation speed is ⁇ , and the rotation speed is generated between the two terminals 100 and 102.
- the voltage obtained is E, the following relationship is established.
- E ⁇ ⁇ ⁇ (1)
- Tq ⁇ ⁇ I (2)
- ⁇ is a motor constant of the motor 46 (a torque constant or a counter electromotive force constant).
- the motor 46 is rotated in a state in which the connection path corresponding to itself is made conductive by the switching elements 108 and 114, that is, when the duty ratio r D is 1.0, and the electromotive force E of the motor 46 is Consider the case where the nominal voltage E N is less than or equal to.
- the generated current of the motor 46 flows through the first connection path CFEB during the approaching operation and flows through the second connection path DFEA during the separation operation. It is obtained like the formula.
- Approaching action: I E / R C (3)
- Separation operation: I E / R S (4)
- the magnitude of the generated current in this case is as follows.
- Tq r D ⁇ ⁇ 2 / R C ⁇ ⁇ (5)
- the damping coefficient C of the electromagnetic damper 10 is expressed by the magnitude F of the damping force with respect to the relative motion speed Vst between the sprung portion and the unsprung portion, in other words, the torque of the motor 46 with respect to the rotational speed ⁇ of the motor 46. It is represented by Tq. That is, the attenuation coefficient C C for the approaching operation and the attenuation coefficient C S for the separating operation are expressed by the following equations.
- C C r D ⁇ ⁇ 2 / R C (7)
- C S r D ⁇ ⁇ 2 / R S (8)
- the generated current of the motor 46 flows through the first connection path and the power storage device connection path during the approach operation, and flows through the second connection path and the power storage device connection path during the separation operation.
- the magnitude of the generated current is obtained as follows.
- Tq r D ⁇ [ ⁇ 2 ⁇ (1 / R C + 1 / R B ) ⁇ ⁇ E N / (R B ⁇ ⁇ )] ⁇ ⁇ (11)
- Tq r D ⁇ [ ⁇ 2 ⁇ (1 / R S + 1 / R B ) ⁇ ⁇ E N / (R B ⁇ ⁇ )] ⁇ ⁇ (12) Therefore, the attenuation coefficient C C for the approaching operation and the attenuation coefficient C S for the separating operation are expressed by the following equations.
- C C r D ⁇ [ ⁇ 2 ⁇ (1 / R C + 1 / R B ) ⁇ ⁇ E N / (R B ⁇ ⁇ )] (13)
- C S r D ⁇ [ ⁇ 2 ⁇ (1 / R S + 1 / R B ) ⁇ ⁇ E N / (R B ⁇ ⁇ )] (14)
- the ECU 200 controls the duty ratio r DSW1 of the first switching element 108, thereby controlling the approaching damping coefficient CC and controlling the duty ratio r DSW2 of the second switching element 114.
- the damping coefficient C S at the time of separation is controlled.
- the target duty ratio r D is determined according to the following equation so as to be the attenuation coefficient.
- E> E N the opening / closing of the switching elements 108 and 114 is controlled under the determined duty ratio, and the attenuation coefficient of the electromagnetic damper 10 is changed.
- FIG. 6 shows the damping coefficients C C * and C S * determined as described above, in other words, the target duty ratios r DSW1 and r DSW2 of the switching elements 108 and 114 in this damper system.
- the ratio between the damping coefficients C C1 and C S1 for the sprung resonance frequency band components of the two switching elements 108 and 114 is the resistance value R C of the first resistor 110 and the second resistor 112. It is equal to the ratio between the resistance value R S of.
- the duty ratio r DSW1 when the first switching element 108 to achieve the damping coefficient C C1 and the duty ratio r DSW2 when the second switching element 114 realizes the damping coefficient C S1 is, electromotive force E battery In the range lower than the nominal voltage E N of 120, the same duty ratio r 1 is sufficient.
- the duty ratio for the middle frequency band component is r 3 .
- the ECU 200 may give the above-mentioned auxiliary regulators a role other than the above.
- the duty ratio r D of the switching element certified as the auxiliary regulator is set to 1.0, and the magnitude of the regenerative current to the battery 120 is maximized.
- the motor 46 may be damaged. Therefore, when the temperature T of the motor 46 detected by the temperature sensor 204 is higher than the set temperature T 0, it is estimated that the burden on the motor 46 is increased, and therefore, it is recognized as an auxiliary regulator. Further, the duty ratio r D of the switching element is set to 0, so that the burden on the motor 46 is reduced.
- the voltage of the battery 120 varies to some extent. For example, when the power supplied to the electrical load unit in which the battery 120 is mounted on the vehicle increases, the voltage of the battery 120 decreases. It will be. In that case, the generated current of the motor 46 is likely to flow to the battery 120, and the regenerative current to the battery 120 becomes larger than when the voltage of the battery 120 is high. That is, when the voltage of the battery 120 is lowered, the damping force of the electromagnetic damper 10 becomes larger than when the voltage is high. Therefore, in the present damper system, when the voltage of the battery 120 decreases, the third switching element 126 is controlled to reduce the regenerative current, thereby suppressing an increase in the damping force of the electromagnetic damper 10.
- the duty ratio r DSW3 E B / E N
- the opening / closing of the third switching element 126 is controlled, the regenerative current is reduced, and the increase in the damping force of the electromagnetic damper 10 is suppressed.
- a failure in which no current passes through the first resistor 110 and the second resistor 112 has occurred is determined by two Schmitt triggers 220 provided between the stroke sensor 202 and the external circuit 90 and the ECU 200. Judgment based on 222.
- the Schmitt trigger 220 outputs when the potential of the contact G of the external circuit 90 exceeds the first threshold value, and stops outputting when the potential falls below the second threshold value that is lower than the first threshold value.
- the other Schmitt trigger 222 is switched between an output state and a non-output state according to the potential of the contact H of the external circuit 90.
- the stroke sensor 202 detects a stroke speed faster than the speed corresponding to the first threshold value of the Schmitt triggers 220 and 222 but does not input from the Schmitt triggers 220 and 222 to the ECU 220, It is determined that a failure in which no current passes through the first resistor 110 or the second resistor 112 has occurred. Whether the first resistor 110 or the second resistor 112 has failed is determined by the sign of the detected stroke speed.
- the generated current associated with the approaching operation is substituted for the first resistor 110. It will flow to the first auxiliary resistor 150.
- the generated current accompanying the separation operation flows to the second auxiliary resistor 152 instead of the second resistor 112. Become. Therefore, even when a failure that prevents current from passing through the first resistor 110 or the second resistor 112 occurs, the normal control described above can be executed. It does not worsen stability.
- the path GG′F ′ in the external circuit 90 functions as a first resistor bypass path that bypasses the first resistor 110, and the path HH′F ′ bypasses the second resistor 112. As a function.
- the switching element itself has a failure.
- the switching element is in an open state due to a failure of the ECU 200.
- the generated current does not flow through the connection path provided with the switching element in which the failure has occurred, there is a damping force with respect to the relative motion between the spring top and the spring bottom corresponding to the connection path. It does not occur and the stability of the vehicle is impaired.
- the external circuit 90 bypasses the first switching element 108, and only when the electromotive force of the motor 46 accompanying the approaching action between the sprung portion and the unsprung portion exceeds the set voltage, the first terminal 100 to the second terminal.
- the first regulator bypass path that allows the flow of current to 102 is provided, and the path C′G′G of the external circuit 90 functions as the first regulator bypass path.
- the external circuit 90 bypasses the second switching element 114, and only when the electromotive force of the motor 46 accompanying the separation operation between the sprung portion and the unsprung portion exceeds the set voltage, the second terminal 102 to the first terminal.
- the second regulator bypass path allowing current flow to 100 is provided, and the path D′ H′H of the external circuit 90 functions as the second regulator bypass path.
- the two zener diodes 140 and 142 have the electromotive force of the motor 46 even when the first switching element 108 or the second switching element 114 does not have a failure that prevents current from passing therethrough.
- a generated current flows through the Zener diodes 140 and 142. That is, it is possible to generate a stable damping force without requiring control of the switching elements 108 and 114 in a situation where there is a large input from the unsprung portion and vehicle stability is required.
- ⁇ External circuit control flow> The control of the external circuit 90 as described above is repeatedly executed by the ECU 200 with a short time interval (for example, several milliseconds) while the ignition switch is in the ON state, while the external circuit control program shown in the flowchart of FIG. Is done.
- the control flow will be briefly described below with reference to the flowchart shown in the figure.
- the external circuit control program is executed for each electromagnetic damper 10 provided on each of the four wheels 12. In the following description, processing by this program for one electromagnetic damper 10 will be described in consideration of simplification of description.
- step 1 the stroke speed Vst is acquired based on the detection value of the stroke sensor 202, and in S2, the stroke speed is obtained.
- a band-pass filter process in the sprung resonance frequency range is performed on Vst, and a sprung resonance stroke speed Vstb that is a sprung resonance frequency range component of the stroke speed Vst is calculated.
- S3 depending on the sign of the sprung resonance stroke speed Vstb, the value of the sprung resonance frequency component of the relative vibration between the sprung portion and the unsprung portion indicates either the approaching action or the separating action. Is determined.
- the first switching element 108 is certified as the main regulator, and the second switching element 114 is assisted. Certified as a regulator. Then, for the first switching element 108 certified as the main regulator, in S5, the duty ratio r DSW1 realizes C C1 which is a damping coefficient for the sprung resonance frequency band component. It is determined according to the formula described in. For the second switching element 114 certified as an auxiliary regulator, a process for determining the duty ratio of the auxiliary regulator is executed in S6.
- the second switching element 114 is certified as the main regulator and the first switching element 108 is selected in S7. Is certified as an auxiliary regulator. Then, for the second switching element 114 certified as the main regulator, in S8, the duty ratio r DSW2 is set so as to realize C S1 that is a damping coefficient for the sprung resonance frequency band component. It is determined according to the formula described in. For the first switching element 108 certified as an auxiliary regulator, a process for determining the duty ratio of the auxiliary regulator is executed in S9.
- the above-described processing for determining the duty ratio of the auxiliary regulator is performed by executing the auxiliary regulator duty ratio determination processing subroutine shown in the flowchart of FIG.
- the process first, in S21, whether or not the temperature T of the motor 46 detected by the temperature sensor 204 is higher than the set value T 0 is determined.
- the duty ratio of the switching element certified as an auxiliary regulator is set to 0 in S22, and the burden on the motor 46 is reduced.
- the band speed filter processing in the unsprung resonance frequency region is performed on the stroke speed Vst acquired in S 1 in S 30, and the stroke speed Vst.
- the unsprung resonance stroke speed Vstw which is the unsprung resonance frequency region component, is calculated.
- the maximum value of the unsprung resonance stroke speed Vstw within the set time t 0 retroactive from the present time is acquired, and it is determined whether or not the value is greater than the set speed Vw 0 .
- the duty of the auxiliary regulator is set so as to realize C S2 or C C2 that is the damping coefficient for the unsprung resonance frequency band component in S32.
- the ratio is the r 2.
- the duty of the auxiliary regulator is realized so as to realize C S3 or C C3 that is the damping coefficient for the medium frequency region component in S33.
- the ratio is r 3 .
- FIG. 9 is a functional block diagram schematically showing the functions of the ECU 200 described above.
- the ECU 200 has an adjuster role recognition unit 250 that recognizes each of the two switching elements 108 and 114 as a main adjuster or an auxiliary adjuster, and a main adjustor.
- An auxiliary adjuster control unit 254 to be controlled is included.
- the ECU 200 of this damper system includes a portion for executing the processing of S1 to S4 and S7 of the external circuit control program, and the adjuster role recognition unit 250 is configured to perform the processing of S5 and S8 of the external circuit control program.
- the main adjuster control unit 252 is configured including the part to be executed, and includes the part for executing the processing of S6 and S9 of the external circuit control program, that is, the part for executing the auxiliary adjuster duty ratio determination subroutine.
- a control unit 254 is configured.
- ECU 200 controls regenerative current by controlling third switching element 126 as a power storage device connection path current regulator in order to suppress fluctuations in damping force when part of the generated current is regenerated to battery 120.
- the regenerative current control unit 260 is controlled.
- Electromagnetic damper 12 Wheel 14: Vehicle body 20: Spring absorber assembly 22: Lower arm (lower spring) 24: Mount part (upper spring) 30: Shock absorber (damper main body) 32: Coil spring (suspension spring) 40: Screw rod 42: Nut 44: Ball screw mechanism (motion conversion mechanism) 46: Electromagnetic motor 52: Motor shaft 60: Polar body 62: Permanent magnet 64: Commutator 66: Brush 90: External circuit 100: First terminal 102: First Two terminals 104: First diode (first rectifier) 106: Second diode (second rectifier) 108: First switching element [SW1] (first connection path current regulator) 110: First resistor [R C ] 112: second resistor [R S] 114: second switching element [SW2] (second contact Road current regulator) 120: battery (power storage device) 122: third diode 124: fourth diode 126: third switching element [SW3] (power storage device connection circuit current regulator) 128: source resistance [R B] 140: First
- Path CFEB First connection path Path DFEA: Second connection path Path CGI: First high potential side connection path Path FEB: First low potential side connection path Path DHI: Second high potential side connection path Path FEA: Second low Potential side connection path GG'F ': first resistor bypass path HH'F': second resistor bypass path C'G'G: first regulator bypass path D'H'H: second Regulator bypass
- R C Resistance value of the first resistor R S : Resistance value of the second resistor C C : Damping coefficient when approaching C S : Damping coefficient when separating C C1 and C S1 : Damping coefficient for the sprung resonance frequency band component C C2 , C S2 : Damping coefficient for unsprung resonance frequency band component C C3 , C S3 : Damping coefficient for middle frequency band component Vst: Stroke speed Vstb: Sprung resonance stroke speed Vstw: Unsprung resonance stroke speed r DSW1 : SW1 Duty ratio r DSW2 : SW2 duty ratio ⁇ : Motor constant E N : Battery nominal voltage E B : Battery actual voltage T: Motor temperature
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Abstract
Description
その電磁式ダンパが、
電磁モータと、
ばね上部とばね下部との接近離間動作と前記電磁モータの動作とを相互に変換する動作変換機構と、
前記電磁モータの外部に設けられ、(A)前記電磁モータの2つの端子のうちの一方である第1端子から他方である第2端子への電流の流れが許容されるとともに前記第2端子から前記第1端子への電流の流れが禁止される第1接続路と、(B)前記電磁モータの前記第2端子から前記第1端子への電流の流れが許容されるとともに前記第1端子から前記第2端子への電流の流れが禁止される第2接続路とを有する外部回路と
を備え、
ばね上部とばね下部との接近動作に対しては、前記電磁モータによる発電電流が前記第1接続路を流れることで、ばね上部とばね下部との離間動作に対しては、前記電磁モータによる発電電流が前記第2接続路を流れることで、前記電磁モータに生じる起電力に依存した減衰力を発生させるように構成されたことを特徴とする車両用ダンパシステム。
前記第2接続路が、前記第2端子から前記第1端子への電流の流れを許容するとともに前記第1端子から前記第2端子への電流の流れを禁止するための第2整流器を有する(1)項に記載の車両用ダンパシステム。
前記第1接続路を流れる電流に対する抵抗と前記第2接続路を流れる電流に対する抵抗とが、互いに異なるように構成された(1)項または(2)項に記載の車両用ダンパシステム。
前記電磁モータの2つの端子のうちの高電位となっているものから車両に搭載された蓄電装置の高電位側端子への電流の流れが許容されるとともに、前記蓄電装置の低電位側端子から前記電磁モータの2つの端子のうちの低電位となっているものへの電流の流れが許容される蓄電装置接続路を有し、
当該車両用ダンパシステムが、
前記電磁モータの起電力が前記蓄電装置の電圧を超える場合に、前記電磁モータによる発電電流の一部が、前記蓄電装置接続路を流れるように構成された(1)項ないし(3)項のいずれか1つに記載の車両用ダンパシステム。
前記第1端子から前記蓄電装置の高電位側端子への電流の流れが許容されるとともに前記蓄電装置の高電位側端子から前記第1端子への電流の流れが禁止される第1高電位側接続路と、
前記第2端子から前記蓄電装置の高電位側端子への電流の流れが許容されるとともに前記蓄電装置の高電位側端子から前記第2端子への電流の流れが禁止される第2高電位側接続路と、
前記蓄電装置の低電位側端子から前記第1端子への電流の流れが許容されるとともに前記第1端子から前記蓄電装置の低電位側端子への電流の流れが禁止される第1低電位側接続路と、
前記蓄電装置の低電位側端子から前記第2端子への電流の流れが許容されるとともに前記第2端子から前記蓄電装置の低電位側端子への電流の流れが禁止される第2低電位側接続路と
を含んで構成された(4)項に記載の車両用ダンパシステム。
前記蓄電装置接続路を流れる電流を調整する蓄電装置接続路電流調整器を有する(4)項または(5)項に記載の車両用ダンパシステム。
前記第1接続路に設けられて前記第1端子から前記第2端子へと流れる電流に対する抵抗となる第1抵抗器と、前記第2接続路に設けられて前記第2端子から前記第1端子へと流れる電流に対する抵抗となる第2抵抗器とを有する(1)項ないし(6)項のいずれか1つに記載の車両用ダンパシステム。
前記第1抵抗器をバイパスする第1抵抗器バイパス路と、
その第1抵抗器バイパス路に設けられ、その第1抵抗器バイパス路に流れる電流の抵抗となる第1補助抵抗器と、
前記第1抵抗器バイパス路に電流が流れる状態と流れない状態とを切り換えるための第1開閉器と、
前記第2抵抗器をバイパスする第2抵抗器バイパス路と、
その第2抵抗器バイパス路に設けられ、その第2抵抗器バイパス路に流れる電流の抵抗となる第2補助抵抗器と、
前記第2抵抗器バイパス路に電流が流れる状態と流れない状態とを切り換えるための第2開閉器と
を有し、
前記第1開閉器によって、通常時に前記第1抵抗器バイパス路に電流が流れない状態となり、前記第1抵抗器にそれを電流が通過しない失陥が生じた場合に前記第1抵抗器バイパス路に電流が流れる状態となり、
前記第2開閉器によって、通常時に前記第2抵抗器バイパス路に電流が流れない状態となり、前記第2抵抗器にそれを電流が通過しない失陥が生じた場合に前記第2抵抗器バイパス路に電流が流れる状態となるように構成された(11)項ないし(13)項のいずれか1つに記載の車両用ダンパシステム。
前記第1接続路に設けられて前記第1端子から前記第2端子へと流れる電流を調整する第1接続路電流調整器と、前記第2接続路に設けられて前記第2端子から前記第1端子へと流れる電流を調整する第2接続路電流調整器とを有し、
当該電磁式ダンパシステムが、
前記外部回路を制御することで、前記電磁モータに流れる電流を制御するための外部回路制御装置を備え、
その外部回路制御装置が、
前記第1接続路電流調整器を制御することで、ばね上部とばね下部との接近動作に伴う発電電流を制御するとともに、前記第2接続路電流調整器を制御することで、ばね上部とばね下部との離間動作に伴う発電電流を制御するように構成された(1)項ないし(14)項のいずれか1つに記載の車両用ダンパシステム。
前記電磁式ダンパの減衰係数を制御すべく、前記第1接続路電流調整器および前記第2接続路電流調整器を制御する(21)項に記載の車両用ダンパシステム。
ばね上部とばね下部との接近動作に対する前記電磁式ダンパの減衰係数と、ばね上部とばね下部との離間動作に対する前記電磁式ダンパの減衰係数とが異なるように、前記第1接続路電流調整器および前記第2接続路電流調整器を制御する(22)項に記載の車両用ダンパシステム。
ばね上部とばね下部との接近動作に対する前記電磁式ダンパの減衰係数が、ばね上部とばね下部との離間動作に対する前記電磁式ダンパの減衰係数より小さくなるように、前記第1接続路電流調整器および前記第2接続路電流調整器を制御する(23)項に記載の車両用ダンパシステム。
前記外部回路制御装置が、
それらスイッチング素子の各々を、前記導通状態および前記遮断状態が交互に連続して実現されるように制御するとともに、前記導通状態が実現される時間と前記遮断状態が実現される時間とに基づいて定まる比であるデューティ比を制御することで、前記電磁モータによる発電電流を制御するように構成された(21)項ないし(24)項のいずれか1つに記載の車両用ダンパシステム。
前記第1接続路電流調整器および前記第2接続路電流調整器の各々を構成するスイッチング素子の前記デューティ比を、前記第1接続路と前記第2接続路とのいずれに発電電流が流れているかによっては変更しないように構成された(25)項に記載の車両用ダンパシステム。
ばね上部とばね下部との相対振動のばね上共振周波数域の成分であるばね上共振周波数域成分がばね上部とばね下部との接近動作を示す値となっている場合に、前記第1接続路電流調整器を主調整器とし、かつ、前記ばね上共振周波数域成分がばね上部とばね下部との離間動作を示す値となっている場合に、前記第2接続路電流調整器を主調整器とし、その主調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する主調整器制御部と、
前記ばね上共振周波数域成分がばね上部とばね下部との接近動作を示す値となっている場合に、前記第2接続路電流調整器を補助調整器とし、かつ、前記ばね上共振周波数域成分がばね上部とばね下部との離間動作を示す値となっている場合に、前記第1接続路電流調整器を補助調整器とし、その補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する補助調整器制御部と
を有する(21)項ないし(26)項のいずれか1つに記載の車両用ダンパシステム。
前記電磁式ダンパの減衰係数が前記ばね上共振周波数域成分を減衰させるのに適した減衰係数となるように、前記主調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する(27)項に記載の車両用ダンパシステム。
前記電磁式ダンパの減衰係数がばね上部とばね下部との相対振動のばね下共振周波数域の成分であるばね下共振周波数域成分を減衰させるのに適した減衰係数となるように、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する(27)項または(28)項に記載の車両用ダンパシステム。
前記ばね下共振周波数域成分の強度が設定強度より高い状況下において、前記電磁式ダンパの減衰係数が前記ばね下共振周波数域成分を減衰させるのに適した減衰係数となるように、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する(29)項に記載の車両用ダンパシステム。
前記ばね上共振周波数域成分の強度が設定強度より高い状況下において、前記電磁式ダンパの減衰係数がそのばね上共振周波数域成分を減衰させるのに適した減衰係数となるように、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する(29)項または(30)項に記載の車両用ダンパシステム。
前記ばね上共振周波数域成分の強度が設定強度より低く、かつ、前記ばね下共振周波数域成分の強度が設定強度より低い状況下において、前記電磁式ダンパの減衰係数がばね上共振周波数域とばね下共振周波数域との間の周波数域の成分を減衰させるのに適した減衰係数となるように、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する(29)項ないし(31)項のいずれか1つに記載の車両用ダンパシステム。
前記電磁モータの温度が閾温度より高い状況下においては、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を、それが設けられた前記第1接続路と前記第2接続路との一方に発電電流が流れないように制御する(27)項ないし(32)項のいずれか1つに記載の車両用ダンパシステム。
前記第1接続路電流調整器をバイパスする通路であって、ばね上部とばね下部との接近動作に伴う前記電磁モータの起電力が設定電圧を超える場合に、前記第1端子側から前記第2端子側への電流の流れが許容される第1調整器バイパス路と、
前記第2接続路電流調整器をバイパスする通路であって、ばね上部とばね下部との離間動作に伴う前記電磁モータの起電力が設定電圧を超える場合に、前記第2端子側から前記第1端子側への電流の流れが許容される第2調整器バイパス路と
を有する(21)項ないし(33)項のいずれか1つに記載の車両用ダンパシステム。
図1に、請求可能発明の実施形態である電磁式ダンパ10を含んで構成されるダンパシステムが搭載される車両を模式的に示す。本ダンパシステムは、車両に搭載されるサスペンションシステムの一構成要素であり、そのサスペンションシステムは、前後左右4つの車輪12FR,FL,RR,RLと車体14との間に、それら4つの車輪12の各々に対応して独立懸架式の4つのサスペンション装置を備えている。それらサスペンション装置の各々は、サスペンションスプリングとショックアブソーバとが一体化されたスプリング・アブソーバAssy20を有している。車輪12,スプリング・アブソーバAssy20は総称であり、4つの車輪のいずれに対応するものであるかを明確にする必要のある場合には、図に示すように、車輪位置を示す添え字として、左前輪,右前輪,左後輪,右後輪の各々に対応するものにFL,FR,RL,RRを付す場合がある。
ショックアブソーバ30は、ねじ溝が形成されたねじロッド40と、ベアリングボールを保持してねじロッド40と螺合するナット42とを含んで構成される動作変換機構としてのボールねじ機構44と、回転型の電磁モータ46(以下、単に「モータ46」という場合がある)と、そのモータ46を収容するケーシング48とを備えている。そのケーシング48は、ねじロッド40を回転可能に保持するとともに、外周部において防振ゴム50を介してマウント部24に連結されている。
図3に、電磁式ダンパ10を構成する外部回路90の回路図を示す。外部回路90は、モータ46が有する第1端子100と第2端子102との間の電流の流れを許容するものであり、第1端子100側の点Aと第2端子102側の点Bとが導線ABによって結ばれるとともに、第1端子100側の点Cと第2端子102側の点Dとが導線CDによって結ばれている。その導線ABには、点Aから点Bに向かう方向の電流の流れを許容するとともに点Bから点Aに向かう方向の電流の流れを禁止する第1ダイオード104と、点Bから点Aに向かう方向の電流の流れを許容するとともに点Aから点Bに向かう方向の電流の流れを禁止する第2ダイオード106とが設けられている。また、導線CDには、点Cから順に、MOS形FETである第1スイッチング素子[SW1]108,固定抵抗器である第1抵抗器[RC]110,固定抵抗器である第2抵抗器[RS]112,MOS形FETである第2スイッチング素子114[SW2]が設けられている。そして、その導線ABの第1ダイオード104と第2ダイオード106との間の点Eと、導線CDの第1抵抗器110と第2抵抗器112との間の点Fとが、導線EFにより導通させられるとともに、接地されている。
4つの車輪12のうちの1つのものに対応する電磁式ダンパ10について、上記のように説明したが、その他の3つの車輪12に対応する電磁式ダンパ10も同様の構成のものであり、図3に示すように、バッテリ120に接続されている。以下に、その電磁式ダンパ10の基本的な機能を、図4を参照しつつ詳しく説明する。図4は、上述した外部回路90を、説明に必要な構成要素のみとし、簡便な構成とした等価回路図である。
本ダンパシステム10においては、外部回路制御装置としての電子制御ユニット200(以下、「ECU200」という場合がある)によって、外部回路90の制御が行われることで、モータ46による発電電流の流れが制御される。具体的には、ECU200には、第1スイッチング素子108,第2スイッチング素子114,第3スイッチング素子126,第1リレー154,第2リレー156が接続されており、そのECU200によって、それらの制御が行われる。なお、車両には、各車輪12についてのばね上部とばね下部との距離(ショックアブソーバ30の伸縮した量であるため、以下、「ストローク」という場合がある)を検出する4つのストロークセンサ[St]202,4つの電磁式ダンパ10の各々が有するモータ46の温度を検出する温度センサ[T]204,バッテリ120の電圧を測定する電圧センサ[EB]206等が設けられており、それらはECU200に接続されている。ECU200は、それらのセンサからの信号に基づいて、外部回路90の制御を行うものとされている。ちなみに、[ ]の文字は、上記センサ等を図面において表わす場合に用いる符号である。また、サスペンションECU200のコンピュータが備えるROMには、後に説明するところの外部回路90の制御に関するプログラム,各種のデータ等が記憶されている。
本ダンパシステムでは、4つの電磁式ダンパ10の各々が有する外部回路90を独立して制御することが可能となっている。それら電磁式ダンパ10の各々において、その各々の減衰係数が独立して制御されて、自身に対応するばね上部とばね下部との相対振動に対する減衰力が制御される。そして、その電磁式ダンパ10の各々においては、接近動作に対する減衰係数CCと、離間動作に対する減衰係数CSとを、独立して制御することが可能となっている。先に述べたように、本電磁式ダンパ10においては、通常、接近動作に伴う発電電流が第1接続路CFEBを流れ、離間動作に伴う発電電流が第2接続路DFEAを流れるように構成されているため、第1接続路に設けられた第1スイッチング素子108が制御されることで、接近動作に伴う発電電流が制御されて接近動作に対する減衰係数CC(以下、「接近時減衰係数CC」という場合がある)が制御され、第2スイッチング素子114が制御されることで、離間動作に伴う発電電流が制御されて離間動作に対する減衰係数CS(以下、「離間時減衰係数CS」という場合がある)が制御される。
a)主調整器の減衰係数
本ダンパシステムにおいては、ばね上部とばね下部との相対振動を種々の周波数の振動が合成したものと捉え、それらのうちのばね上共振周波数域(例えば、0.1Hz~3.0Hz)の成分を減衰させることを主な目的とする。詳しく言えば、ECU200は、図5(b)に示すように、そのばね上共振周波数域成分の値が示すばね上部とばね下部との相対動作の方向に基づいて、その方向の相対動作に伴う発電電流を調整するスイッチング素子を、主調整器として認定し、その主調整器にばね上共振周波数域成分を減衰させるように制御するのである。
一方、上記主調整器ではないもう一方のスイッチング素子は、ECU200によって、補助調整器として認定され、主調整器を補助すべく制御される。補助調整器は、基本的に、ばね上部とばね下部との相対振動のばね下共振周波数域(例えば、8.0Hz~24Hz)の成分を減衰させるように、そのばね下共振周波数域成分を減衰させるのに適した減衰係数となるように制御される。具体的には、補助調整器と認定された第2スイッチング素子114は、離間時減衰係数CSがCS2(例えば、3000N・sec/m)となるように制御され、補助調整器とされた第1スイッチング素子108は、接近時減衰係数CCがCC2(例えば、1500N・sec/m)となるように制御される。
ECU200は、通常、外部回路90が有する第1スイッチング素子108を制御して、ばね上部とばね下部との接近動作に伴う発電電流を制御することで、接近時減衰係数CCを制御するとともに、第2スイッチング素子114を制御して、離間動作に伴う発電電流を制御することで、離間時減衰係数CSを制御する。ECU200は、それらスイッチング素子108,114に対して、PWM(Pulse Width Modulation)制御を実行する。詳しく言えば、自身に対応する接続路を導通させる時間であるパルスオン時間tONとそれを遮断する時間であるパルスオフ時間tOFFとを足し合わせたパルス間隔を一定とし、そのパルス間隔に対するパルスオン時間の比であるデューティ比rD(=tON/(tON+tOFF))を制御するのである。つまり、ECU200は、スイッチング素子108,114の各々のデューティ比rDを制御することで、モータ46による発電電流を制御して、上述した減衰係数電磁式ダンパ10の減衰係数Cを制御するようになっている。
E=α・ω ・・・(1)
Tq=α・I ・・・(2)
ここで、αはモータ46のモータ定数(トルク定数,逆起電力定数である)である。
接近動作:I=E/RC ・・・(3)
離間動作:I=E/RS ・・・(4)
ここで、スイッチング素子108,114がデューティ比rDで制御された場合を考えれば、その場合の発電電流の大きさは、次式のようになる。
接近動作:I=rD・E/RC ・・・(3')
離間動作:I=rD・E/RS ・・・(4')
この(3')式,(4')式に、上記(1)式を代入し、それによって得られたIを(2)式に代入すれば、次式が得られる。
接近動作:Tq=rD・α2/RC・ω ・・・(5)
離間動作:Tq=rD・α2/RS・ω ・・・(6)
電磁式ダンパ10の減衰係数Cは、ばね上部とばね下部との相対動作の速度Vstに対する減衰力の大きさFで表されるもの、換言すれば、モータ46の回転速度ωに対するモータ46のトルクTqで表されるものである。つまり、接近動作に対する減衰係数CC,離間動作に対する減衰係数CSは、次式となるのである。
CC=rD・α2/RC ・・・(7)
CS=rD・α2/RS ・・・(8)
接近動作:I=E/RC+(E-EN)/RB
=(1/RC+1/RB)・E-EN/RB ・・・(9)
離間動作:I=E/RS+(E-EN)/RB
=(1/RS+1/RB)・E-EN/RB ・・・(10)
ここで、スイッチング素子108,114がデューティ比rDで制御された場合を考えれば、その場合の発電電流の大きさは、次式のようになる。
接近動作:I=rD・[(1/RC+1/RB)・E-EN/RB] ・・・(9')
離間動作:I=rD・[(1/RS+1/RB)・E-EN/RB] ・・・(10')
この(9')式,(10')式に、上記(1)式を代入し、それによって得られたIを(2)式に代入すれば、次式が得られる。
接近動作:Tq=rD・[α2・(1/RC+1/RB)-α・EN/(RB・ω)]・ω ・・・(11)
離間動作:Tq=rD・[α2・(1/RS+1/RB)-α・EN/(RB・ω)]・ω ・・・(12)
したがって、接近動作に対する減衰係数CC,離間動作に対する減衰係数CSは、次式となる。
CC=rD・[α2・(1/RC+1/RB)-α・EN/(RB・ω)] ・・・(13)
CS=rD・[α2・(1/RS+1/RB)-α・EN/(RB・ω)] ・・・(14)
rDSW1=CC */(α2/RC) (E≦EN)
=CC */[α2・(1/RC+1/RB)-α・EN/(RB・Vst)] (E>EN)
rDSW2=CS */(α2/RS) (E≦EN)
=CS */[α2・(1/RS+1/RB)-α・EN/(RB・Vst)] (E>EN)
そして、その決定されたデューティ比の下、スイッチング素子108,114の開閉が制御されて、電磁式ダンパ10の減衰係数が変更されるのである。なお、起電力Eがバッテリ120の公称電圧ENより高いか否かは、(1)式の関係から、モータ46の回転速度ωに比例するストローク速度Vstに基づいて判断される。つまり、ストローク速度Vstが、バッテリ120の公称電圧ENに対応する値V0(=K・EN/α,K:モータ回転速度ωとストローク速度Vstとの間の定数)より大きいか否かにより判断されるのである。
また、ECU200は、上述した補助調整器に、上記以外の役割を持たせる場合がある。まず、バッテリ120の残存エネルギ量が減少しているような場合には、バッテリ120への回生電流が大きくされることが望ましい。そこで、電圧センサ206によって検出されたバッテリ120の実電圧EBが設定電圧E0より低下し、かつ、ストローク速度Vstがバッテリ120の実電圧EBに対応する値V1より大きくなった場合に、補助調整器と認定されたスイッチング素子のデューティ比rDが1.0とされ、バッテリ120への回生電流の大きさが最も大きくなるようにされるのである。
バッテリ120の電圧は、ある程度の変動があり、例えば、バッテリ120が車両に搭載された電気的負荷部への供給電力が大きくなると、バッテリ120の電圧は低下することになる。その場合には、モータ46の発電電流がバッテリ120へ流れやすくなるのであり、バッテリ120の電圧が高い場合に比較してバッテリ120への回生電流が大きくなるのである。つまり、バッテリ120の電圧が低下した場合には、電圧が高い場合に比較して、電磁式ダンパ10の減衰力が大きくなってしまうのである。そこで、本ダンパシステムにおいては、バッテリ120の電圧が低下した場合に、第3スイッチング素子126を制御して、回生電流を減少させることで、電磁式ダンパ10の減衰力の増加を抑えるようにされている。具体的には、電圧センサ206によって検出されたバッテリ120の実電圧EBが、公称電圧ENより低下した場合に、第3スイッチング素子126の目標となるデューティ比rDSW3が、次式に従って演算される。
rDSW3=EB/EN
そして、そのデューティ比の下、第3スイッチング素子126の開閉が制御されて、回生電流が減少させられ、電磁式ダンパ10の減衰力の増加が抑制されることになる。
次に、外部回路90に失陥が生じた場合の対処方法について説明する。まず、外部回路90の失陥として、例えば、発熱により第1抵抗器110あるいは第2抵抗器112が断線すること等によって、その第1抵抗器110あるいは第2抵抗器112に電流が通過しないような失陥が生じる場合がある。そのような失陥が生じた場合には、その失陥が生じた抵抗器が設けられた接続路に発電電流が流れないため、その接続路に対応するばね上部とばね下部との相対動作に対して減衰力が発生せず、車両の安定性が損なわれることになる。本ダンパシステムにおいては、第1抵抗器110においてそのような失陥が生じた場合、第1リレー154がON状態とされ、第2抵抗器112においてそのような失陥が生じた場合、第2リレー156がON状態とされるようになっている。
上述のような外部回路90の制御は、図7にフローチャートを示す外部回路制御プログラムが、イグニッションスイッチがON状態とされている間、短い時間間隔(例えば、数msec)をおいてECU200により繰り返し実行されることによって行われる。以下に、その制御のフローを、図に示すフローチャートを参照しつつ、簡単に説明する。なお、外部回路制御プログラムは、4つの車輪12にそれぞれ設けられた電磁式ダンパ10の各々に対して実行される。以降の説明においては、説明の簡略化に配慮して、1つの電磁式ダンパ10に対しての本プログラムによる処理について説明する。
上述したECU200の機能を、模式的に示した機能ブロック図が、図9である。上記機能に基づけば、ECU200は、2つのスイッチング素子108,114の各々の役割を分担させるべくそれらの各々を主調整器あるいは補助調整器と認定する調整器役割認定部250と、主調整器と認定された第1スイッチング素子108と第2スイッチング素子114との一方を制御する主調整器制御部252と、補助調整器と認定された第1スイッチング素子108と第2スイッチング素子114との一方を制御する補助調整器制御部254とを含んで構成されるものとなっている。なお、本ダンパシステムのECU200においては、外部回路制御プログラムのS1~S4およびS7の処理を実行する部分を含んで調整器役割認定部250が構成され、外部回路制御プログラムのS5,S8の処理を実行する部分を含んで主調整器制御部252が構成され、外部回路制御プログラムのS6,S9の処理を実行する部分、つまり、補助調整器デューティ比決定サブルーチンを実行する部分を含んで補助調整器制御部254が構成されている。また、ECU200は、発電電流の一部がバッテリ120へ回生される際の減衰力の変動を抑制するために、蓄電装置接続路電流調整器としての第3スイッチング素子126を制御することで回生電流を制御する回生電流制御部260を有している。
Claims (15)
- 車両に搭載されて、ばね上部とばね下部との接近離間動作に対して減衰力を発生させる電磁式ダンパを含んで構成されるダンパシステムであって、
その電磁式ダンパが、
電磁モータと、
ばね上部とばね下部との接近離間動作と前記電磁モータの動作とを相互に変換する動作変換機構と、
前記電磁モータの外部に設けられ、(A)前記電磁モータの2つの端子のうちの一方である第1端子から他方である第2端子への電流の流れが許容されるとともに前記第2端子から前記第1端子への電流の流れが禁止される第1接続路と、(B)前記電磁モータの前記第2端子から前記第1端子への電流の流れが許容されるとともに前記第1端子から前記第2端子への電流の流れが禁止される第2接続路とを有する外部回路と
を備え、
ばね上部とばね下部との接近動作に対しては、前記電磁モータによる発電電流が前記第1接続路を流れることで、ばね上部とばね下部との離間動作に対しては、前記電磁モータによる発電電流が前記第2接続路を流れることで、前記電磁モータに生じる起電力に依存した減衰力を発生させるように構成されたことを特徴とする車両用ダンパシステム。 - 前記外部回路が、
前記第1接続路を流れる電流に対する抵抗と前記第2接続路を流れる電流に対する抵抗とが、互いに異なるように構成された請求項1に記載の車両用ダンパシステム。 - 前記外部回路が、
前記第1接続路に設けられて前記第1端子から前記第2端子へと流れる電流を調整する第1接続路電流調整器と、前記第2接続路に設けられて前記第2端子から前記第1端子へと流れる電流を調整する第2接続路電流調整器とを有し、
当該電磁式ダンパシステムが、
前記外部回路を制御することで、前記電磁モータに流れる電流を制御するための外部回路制御装置を備え、
その外部回路制御装置が、
前記第1接続路電流調整器を制御することで、ばね上部とばね下部との接近動作に伴う発電電流を制御するとともに、前記第2接続路電流調整器を制御することで、ばね上部とばね下部との離間動作に伴う発電電流を制御するように構成された請求項1または請求項2に記載の車両用ダンパシステム。 - 前記外部回路制御装置が、
前記電磁式ダンパの減衰係数を制御すべく、前記第1接続路電流調整器および前記第2接続路電流調整器を制御するものであり、
ばね上部とばね下部との接近動作に対する前記電磁式ダンパの減衰係数と、ばね上部とばね下部との離間動作に対する前記電磁式ダンパの減衰係数とが異なるように、前記第1接続路電流調整器および前記第2接続路電流調整器を制御する請求項3に記載の車両用ダンパシステム。 - 前記外部回路制御装置が、
ばね上部とばね下部との相対振動のばね上共振周波数域の成分であるばね上共振周波数域成分がばね上部とばね下部との接近動作を示す値となっている場合に、前記第1接続路電流調整器を主調整器とし、かつ、前記ばね上共振周波数域成分がばね上部とばね下部との離間動作を示す値となっている場合に、前記第2接続路電流調整器を主調整器とし、その主調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する主調整器制御部と、
前記ばね上共振周波数域成分がばね上部とばね下部との接近動作を示す値となっている場合に、前記第2接続路電流調整器を補助調整器とし、かつ、前記ばね上共振周波数域成分がばね上部とばね下部との離間動作を示す値となっている場合に、前記第1接続路電流調整器を補助調整器とし、その補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する補助調整器制御部と
を有し、
前記主調整器制御部が、
前記電磁式ダンパの減衰係数が前記ばね上共振周波数域成分を減衰させるのに適した減衰係数となるように、前記主調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御し、
前記補助調整器制御部が、
前記電磁式ダンパの減衰係数がばね上部とばね下部との相対振動のばね下共振周波数域の成分であるばね下共振周波数域成分を減衰させるのに適した減衰係数となるように、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する請求項3または請求項4に記載の車両用ダンパシステム。 - 前記補助調整器制御部が、
前記ばね下共振周波数域成分の強度が設定強度より高い状況下において、前記電磁式ダンパの減衰係数が前記ばね下共振周波数域成分を減衰させるのに適した減衰係数となるように、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する請求項5に記載の車両用ダンパシステム。 - 前記補助調整器制御部が、
前記ばね上共振周波数域成分の強度が設定強度より高い状況下において、前記電磁式ダンパの減衰係数がそのばね上共振周波数域成分を減衰させるのに適した減衰係数となるように、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する請求項5または請求項6に記載の車両用ダンパシステム。 - 前記補助調整器制御部が、
前記ばね上共振周波数域成分の強度が設定強度より低く、かつ、前記ばね下共振周波数域成分の強度が設定強度より低い状況下において、前記電磁式ダンパの減衰係数がばね上共振周波数域とばね下共振周波数域との間の周波数域の成分を減衰させるのに適した減衰係数となるように、前記補助調整器とされた第1接続路電流調整器と第2接続路電流調整器との一方を制御する請求項5ないし請求項7のいずれか1つに記載の車両用ダンパシステム。 - 前記第1接続路電流調整器および前記第2接続路電流調整器の各々が、その各々が設けられた前記第1接続路と前記第2接続路とのうちの一方を導通させる導通状態とその一方を遮断する遮断状態とを選択的に切り換えるスイッチング素子によって構成され、
前記外部回路制御装置が、
それらスイッチング素子の各々を、前記導通状態および前記遮断状態が交互に連続して実現されるように制御するとともに、前記導通状態が実現される時間と前記遮断状態が実現される時間とに基づいて定まる比であるデューティ比を制御することで、前記電磁モータによる発電電流を制御するように構成され、かつ、前記第1接続路電流調整器および前記第2接続路電流調整器の各々を構成するスイッチング素子の前記デューティ比を、前記第1接続路と前記第2接続路とのいずれに発電電流が流れているかによっては変更しないように構成された請求項3ないし請求項8のいずれか1つに記載の車両用ダンパシステム。 - 前記外部回路が、
前記第1接続路電流調整器をバイパスする通路であって、ばね上部とばね下部との接近動作に伴う前記電磁モータの起電力が設定電圧を超える場合に、前記第1端子側から前記第2端子側への電流の流れが許容される第1調整器バイパス路と、
前記第2接続路電流調整器をバイパスする通路であって、ばね上部とばね下部との離間動作に伴う前記電磁モータの起電力が設定電圧を超える場合に、前記第2端子側から前記第1端子側への電流の流れが許容される第2調整器バイパス路と
を有する請求項3ないし請求項9のいずれか1つに記載の車両用ダンパシステム。 - 前記外部回路が、
前記第1接続路に設けられて前記第1端子から前記第2端子へと流れる電流に対する抵抗となる第1抵抗器と、前記第2接続路に設けられて前記第2端子から前記第1端子へと流れる電流に対する抵抗となる第2抵抗器とを有する請求項1ないし請求項10のいずれか1つに記載の車両用ダンパシステム。 - 前記第1抵抗器の抵抗値と前記第2抵抗器の抵抗値とが、互いに異なる請求項11に記載の車両用ダンパシステム。
- 前記外部回路が、
前記第1抵抗器をバイパスする第1抵抗器バイパス路と、
その第1抵抗器バイパス路に設けられ、その第1抵抗器バイパス路に流れる電流の抵抗となる第1補助抵抗器と、
前記第1抵抗器バイパス路に電流が流れる状態と流れない状態とを切り換えるための第1開閉器と、
前記第2抵抗器をバイパスする第2抵抗器バイパス路と、
その第2抵抗器バイパス路に設けられ、その第2抵抗器バイパス路に流れる電流の抵抗となる第2補助抵抗器と、
前記第2抵抗器バイパス路に電流が流れる状態と流れない状態とを切り換えるための第2開閉器と
を有し、
前記第1開閉器によって、通常時に前記第1抵抗器バイパス路に電流が流れない状態となり、前記第1抵抗器にそれを電流が通過しない失陥が生じた場合に前記第1抵抗器バイパス路に電流が流れる状態となり、
前記第2開閉器によって、通常時に前記第2抵抗器バイパス路に電流が流れない状態となり、前記第2抵抗器にそれを電流が通過しない失陥が生じた場合に前記第2抵抗器バイパス路に電流が流れる状態となるように構成された請求項11または請求項12に記載の車両用ダンパシステム。 - 前記外部回路が、
前記電磁モータの2つの端子のうちの高電位となっているものから車両に搭載された蓄電装置の高電位側端子への電流の流れが許容されるとともに、前記蓄電装置の低電位側端子から前記電磁モータの2つの端子のうちの低電位となっているものへの電流の流れが許容される蓄電装置接続路を有し、
当該車両用ダンパシステムが、
前記電磁モータの起電力が前記蓄電装置の電圧を超える場合に、前記電磁モータによる発電電流の一部が、前記蓄電装置接続路を流れるように構成された請求項1ないし請求項13のいずれか1つに記載の車両用ダンパシステム。 - 前記外部回路が、
前記蓄電装置接続路を流れる電流を調整する蓄電装置接続路電流調整器を有する請求項14に記載の車両用ダンパシステム。
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EP09847075.0A EP2452841B1 (en) | 2009-07-08 | 2009-07-08 | Vehicular damper system |
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US13/202,036 US8525453B2 (en) | 2009-07-08 | 2009-07-08 | Damper system for vehicle |
CN200980159147.2A CN102421614B (zh) | 2009-07-08 | 2009-07-08 | 车辆用减振器系统 |
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- 2009-07-08 WO PCT/JP2009/062457 patent/WO2011004471A1/ja active Application Filing
- 2009-07-08 CN CN200980159147.2A patent/CN102421614B/zh not_active Expired - Fee Related
- 2009-07-08 JP JP2011521737A patent/JP5293822B2/ja not_active Expired - Fee Related
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US8843274B2 (en) | 2010-05-11 | 2014-09-23 | Toyota Jidosha Kabushiki Kaisha | Suspension device |
WO2013111733A1 (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 |
JPWO2013111733A1 (ja) * | 2012-01-25 | 2015-05-11 | 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 |
WO2013115007A1 (ja) * | 2012-01-31 | 2013-08-08 | 日産自動車株式会社 | 車両の制御装置 |
JPWO2013115007A1 (ja) * | 2012-01-31 | 2015-05-11 | 日産自動車株式会社 | 車両の制御装置 |
JP2013224129A (ja) * | 2012-03-23 | 2013-10-31 | Nissan Motor Co Ltd | 車両の制御装置及び車両の制御方法 |
JP2013224130A (ja) * | 2012-03-23 | 2013-10-31 | Nissan Motor Co Ltd | 車両の制御装置及び車両の制御方法 |
WO2013140657A1 (ja) * | 2012-03-23 | 2013-09-26 | 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 |
US9114683B2 (en) | 2012-03-23 | 2015-08-25 | Nissan Motor Co., Ltd. | Vehicle control device and method |
TWI508880B (zh) * | 2012-03-23 | 2015-11-21 | Nissan Motor | Vehicle control device and vehicle control method |
WO2014142270A1 (ja) * | 2013-03-13 | 2014-09-18 | カヤバ工業株式会社 | ダンパ制御装置 |
US9428026B2 (en) | 2013-03-13 | 2016-08-30 | Kyb Corporation | Damper control device |
JPWO2014142270A1 (ja) * | 2013-03-13 | 2017-02-16 | Kyb株式会社 | ダンパ制御装置 |
KR20190066253A (ko) * | 2017-12-05 | 2019-06-13 | 한국철도기술연구원 | 에너지 하베스팅이 가능한 가변 감쇠력 댐퍼 및 이를 포함한 진동 제어 시스템 |
KR102019372B1 (ko) * | 2017-12-05 | 2019-09-06 | 한국철도기술연구원 | 에너지 하베스팅이 가능한 가변 감쇠력 댐퍼 및 이를 포함한 진동 제어 시스템 |
Also Published As
Publication number | Publication date |
---|---|
JP5293822B2 (ja) | 2013-09-18 |
EP2452841B1 (en) | 2017-10-18 |
CN102421614B (zh) | 2014-06-11 |
US20120013277A1 (en) | 2012-01-19 |
CN102421614A (zh) | 2012-04-18 |
US8525453B2 (en) | 2013-09-03 |
EP2452841A1 (en) | 2012-05-16 |
JPWO2011004471A1 (ja) | 2012-12-13 |
EP2452841A4 (en) | 2014-03-12 |
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