WO2013125018A1 - 車両懸架装置 - Google Patents
車両懸架装置 Download PDFInfo
- Publication number
- WO2013125018A1 WO2013125018A1 PCT/JP2012/054461 JP2012054461W WO2013125018A1 WO 2013125018 A1 WO2013125018 A1 WO 2013125018A1 JP 2012054461 W JP2012054461 W JP 2012054461W WO 2013125018 A1 WO2013125018 A1 WO 2013125018A1
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- WIPO (PCT)
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- vehicle
- rigidity
- connecting portion
- braking
- relatively
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/41—Elastic mounts, e.g. bushings
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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
- B60G2400/30—Propulsion unit conditions
- B60G2400/39—Brake pedal position
Definitions
- the present invention relates to a vehicle suspension device.
- Patent Literature 1 discloses a suspension stiffness control device that can adjust the stiffness of a suspension provided in a vehicle.
- This suspension rigidity control device strengthens the suspension rigidity as the accelerator opening degree and the brake depression amount increase.
- the suspension rigidity control device can ensure stability by ensuring compliance steerability during normal times and ensuring turning performance while suppressing compliance steer during acceleration.
- the suspension rigidity control device described in Patent Document 1 as described above has room for further improvement in terms of, for example, more appropriate vibration reduction.
- the present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle suspension device that can appropriately reduce vibrations.
- a vehicle suspension device includes a suspension device body that supports vehicle wheels on a vehicle body of the vehicle, and a rigidity between a vertical upper portion of the suspension device body and the vehicle body.
- a variable device that varies a rigidity of a certain upper connecting portion and a rigidity of a lower connecting portion that is a rigidity between a vertical lower portion of the suspension device main body and the vehicle body, and controls the variable device during braking of the vehicle.
- a control device that executes control for relatively reducing the rigidity of the upper connecting portion and relatively increasing the rigidity of the lower connecting portion as compared to when the vehicle is not braked.
- variable device can change at least the rigidity of the upper connecting portion in the front-rear direction of the vehicle and the rigidity of the lower connecting portion in the front-rear direction of the vehicle.
- control device is configured such that the longitudinal force compliance of the spindle of the wheel during braking of the vehicle is equal to the longitudinal force compliance of the spindle during non-braking of the vehicle.
- the upper connecting part rigidity and the lower connecting part rigidity may be changed.
- the control device relatively reduces the rigidity of the upper connecting portion when the absolute value of the braking force of the vehicle is equal to or greater than a predetermined value, and the lower portion Control to relatively increase the connecting portion rigidity can be prohibited.
- control device may continuously change the upper connection portion rigidity and the lower connection portion rigidity in accordance with a change in the braking force of the vehicle.
- control device is configured such that the absolute value of the braking force of the vehicle is less than the predetermined value during sudden braking in which the absolute value of the braking force of the vehicle is equal to or greater than a predetermined value set in advance.
- the upper connecting portion rigidity can be relatively increased and the lower connecting portion rigidity can be relatively decreased as compared with the case of slow braking.
- control device may be configured so that the upper connecting portion is compared with a non-braking time when the vehicle is suddenly braked when an absolute value of a braking force of the vehicle is equal to or greater than a predetermined value.
- the rigidity can be relatively increased, and the lower connecting portion rigidity can be relatively decreased.
- the vehicle suspension device according to the present invention has an effect that vibration can be appropriately reduced.
- FIG. 1 is a schematic diagram illustrating a schematic configuration of the vehicle suspension device according to the first embodiment.
- FIG. 2 is a diagram showing an example of the relationship between the displacement of the rubber bush and the force.
- FIG. 3 is a schematic diagram showing a simplified side view of the suspension.
- FIG. 4 is a schematic diagram for explaining the relationship of the force applied to the unsprung braking torque.
- FIG. 5 is a schematic diagram for explaining the relationship between the elastic main shaft height and the longitudinal displacement of the spindle.
- FIG. 6 is a schematic diagram for explaining the relationship between the elastic main shaft height and the longitudinal displacement of the spindle.
- FIG. 7 is a diagram illustrating an example of the relationship between the elastic main shaft height and unsprung vibration.
- FIG. 8 is a diagram illustrating an example of the relationship between the longitudinal rigidity of the upper support, the longitudinal rigidity of the lower arm bush, and the elastic main shaft height.
- FIG. 9 is a diagram showing an example of a combination of longitudinal rigidity in which the longitudinal force compliance at the spindle position is constant.
- FIG. 10 is a flowchart illustrating an example of control by the ECU of the vehicle suspension apparatus.
- FIG. 11 is a schematic diagram illustrating a schematic configuration of the vehicle suspension device according to the second embodiment.
- FIG. 12 is a schematic diagram for explaining the operation of the vehicle suspension apparatus.
- FIG. 13 is a diagram illustrating an example of the relationship between the displacement and force of the upper support and the lower arm bush.
- FIG. 14 is a diagram illustrating an example of a control map of the vehicle suspension device.
- FIG. 15 is a flowchart illustrating an example of control by the ECU of the vehicle suspension apparatus.
- FIG. 16 is a schematic diagram illustrating a schematic configuration of a vehicle suspension device
- FIG. 1 is a schematic diagram illustrating a schematic configuration of a vehicle suspension device according to a first embodiment
- FIG. 2 is a diagram illustrating an example of a relationship between displacement and force of a rubber bush
- FIG. 3 is a simplified side view of the suspension.
- FIG. 4 is a schematic diagram for explaining the relationship of the force applied to the unsprung torque of the braking torque.
- FIGS. 5 and 6 are schematic diagrams for explaining the relationship between the elastic main shaft height and the longitudinal displacement of the spindle. Is a diagram showing an example of the relationship between the elastic main shaft height and unsprung vibration, FIG.
- FIG. 8 is a diagram showing an example of the relationship between the longitudinal rigidity of the upper support, the longitudinal rigidity of the lower arm bush, and the elastic main shaft height;
- FIG. 9 is a diagram illustrating an example of a combination of longitudinal rigidity in which longitudinal force compliance at the spindle position is constant, and
- FIG. 10 is a flowchart illustrating an example of control by the ECU of the vehicle suspension apparatus.
- the vehicle suspension device 1 is provided corresponding to each wheel 3 of the vehicle 2 as shown in FIG.
- the vehicle suspension device 1 includes a suspension 5 as a suspension device body that supports the wheels 3 of the vehicle 2 on the vehicle body 4 of the vehicle 2, an upper connection portion 6 that connects the suspension 5 to the vehicle body 4, a middle connection portion 7, and a lower connection.
- the unit 8 and the like are included.
- the vehicle suspension device 1 is provided with an upper connecting portion 6, a middle connecting portion 7, and a lower connecting portion 8 in order from the upper side in the vertical direction with respect to the suspension 5.
- the vehicle suspension device 1 according to the present embodiment is a vibration reduction device that reduces unsprung vibration during braking due to the elastic main shaft height of the suspension 5.
- each vehicle suspension apparatus 1 provided with respect to each wheel 3 is described as being used also as a control apparatus (ECU 50) described later, the present invention is not limited thereto, and may be provided separately.
- the elastic main axis of the suspension 5 typically means that when a force is applied along a specific axial direction, the direction of the force coincides with the direction of the elastic displacement of the applied point, and the applied force
- the elastic main shaft of the suspension 5 is typically determined by the characteristics of the suspension 5, and is determined according to, for example, the strength and arrangement of the spring of the suspension 5, the rigidity (spring constant) of the bush of each part, and the like.
- the unsprung vibration is typically a vibration generated on the unsprung state of the vehicle 2, that is, on the wheel 3 side from the suspension 5.
- the suspension 5 is interposed between the wheel 3 and the vehicle body 4, supports the wheel 3 on the vehicle body 4, and reduces shock and vibration transmitted from the road surface to the vehicle body 4 via the wheel 3.
- the suspension 5 includes a coil spring 9, a shock absorber 10, an upper arm 11, a lower arm 12, a knuckle 13, and the like, and supports the wheel 3 on the vehicle body 4 so as to be steerable and rotatable.
- the coil spring 9 elastically supports the unsprung portion on the spring, that is, the vehicle body 4, supports the weight of the sprung portion of the vehicle 2, and prevents vibration and impact from the road surface from being transmitted to the vehicle body 4 through the wheels 3.
- the shock absorber 10 has a coil spring 9 attached to the piston rod 14 and attenuates vertical vibration of the vehicle body 4 caused by the coil spring 9.
- the shock absorber 10 is disposed along the vertical direction, the upper end in the vertical direction of the piston rod 14 is connected to the vehicle body 4 via the upper connecting portion 6, and the lower end in the vertical direction of the cylinder 15 is a joint portion 16 such as a ball joint.
- the upper arm 11 and the lower arm 12 are suspension arms that support the shock absorber 10, the knuckle 13, and the like.
- the upper arm 11 is disposed on the upper side in the vertical direction
- the lower arm 12 is disposed on the lower side in the vertical direction.
- the upper arm 11 has one end (end on the outer side in the vehicle width direction) connected to the upper end of the knuckle 13 via a joint 17 such as a ball joint, and the other end (end on the inner side in the vehicle width direction) is the middle. It is connected to the vehicle body 4 via the connecting portion 7.
- the lower arm 12 has one end portion (end portion on the outer side in the vehicle width direction) connected to the lower end portion of the knuckle 13 via a joint portion 18 such as a ball joint, and the other end (end portion on the inner side in the vehicle width direction) at the lower portion. It is connected to the vehicle body 4 via the connecting portion 8.
- the knuckle 13 is a non-rotating part, and is a wheel support member that rotatably supports the wheel 3 with the spindle 19 as a rotation center. Further, the knuckle 13 is provided with a caliper of a braking device that generates a braking force on the vehicle 2.
- the upper connecting part 6 connects the upper part of the suspension 5 in the vertical direction and the vehicle body 4.
- the upper connection part 6 connects the piston rod 14 of the shock absorber 10 to the vehicle body 4 as the upper part in the vertical direction of the suspension 5 as described above.
- the upper connecting portion 6 is configured to include an upper support 60 as an upper interposed member interposed between the vertical upper end portion of the piston rod 14 and the vehicle body 4.
- the upper connecting portion 6 connects the piston rod 14 to the vehicle body 4 via the upper support 60.
- the upper support 60 elastically supports the upper end of the piston rod 14 in the vertical direction on the vehicle body 4.
- the middle connecting portion 7 connects the vertical middle portion of the suspension 5 and the vehicle body 4.
- the middle connecting portion 7 connects the upper arm 11 to the vehicle body 4 as a vertical intermediate portion of the suspension 5.
- the middle connecting portion 7 is configured to include an upper arm bush 70 as a middle interposed member interposed between one end of the upper arm 11 (the end opposite to the knuckle 13) and the vehicle body 4.
- the middle connecting portion 7 connects the upper arm 11 to the vehicle body 4 via the upper arm bush 70.
- the upper arm bush 70 elastically supports one end of the upper arm 11 on the vehicle body 4.
- the lower connecting portion 8 connects the lower portion of the suspension 5 in the vertical direction and the vehicle body 4.
- the lower connecting portion 8 connects the lower arm 12 to the vehicle body 4 as the vertical lower portion of the suspension 5 as described above.
- the lower connecting portion 8 is configured to include a lower arm bush 80 as a lower interposed member interposed between one end portion of the lower arm 12 (end portion opposite to the knuckle 13) and the vehicle body 4.
- the lower connecting portion 8 connects the lower arm 12 to the vehicle body 4 via the lower arm bush 80.
- the lower arm bush 80 elastically supports one end of the lower arm 12 on the vehicle body 4.
- the upper support 60, the upper arm bush 70, and the lower arm bush 80 include, for example, a so-called rubber bush made of an elastomer such as rubber.
- the upper support 60, the upper arm bush 70, and the lower arm bush 80 allow vibration in the vehicle front-rear direction and the like by allowing displacement while preventing rattling of the upper connecting portion 6, the middle connecting portion 7, and the lower connecting portion 8, respectively. It functions as a so-called compliance bush that absorbs.
- the upper support 60, the upper arm bush 70, and the lower arm bush 80 reduce, for example, the action resistance between members having different movable shafts, and ensure steering stability and riding comfort.
- the rigidity (spring constant) of the upper connecting part 6, the middle connecting part 7, and the lower connecting part 8 is determined according to the rigidity of the upper support 60, the upper arm bush 70, and the lower arm bush 80, respectively.
- the vehicle suspension device 1 may deteriorate the riding comfort performance as a contradiction. There is. Focusing on the phenomenon at the time of braking of the vehicle 2, in this case, the vehicle suspension device 1 may increase the vibration due to the fluctuation of the braking torque, and transmits unnecessary vibration to the driver through the steering. There is a risk that.
- the vehicle suspension device 1 increases the rigidity of the lower arm bush 80 to reduce the brake vibration phenomenon during braking, the vehicle suspension device 1 can be used to reduce the harshness characteristics (such as when the vehicle 2 rides over a road surface protrusion while traveling).
- the rubber bush used for the upper support 60, the lower arm bush 80, or the like has a characteristic in which the relationship between the displacement and the force is non-linear as illustrated in FIG. Therefore, if the vehicle suspension device 1 simply increases the rigidity of the bush in order to reduce the brake vibration during braking of the vehicle 2, the rigidity of the service area when the vehicle 2 is not braked is increased accordingly. As a result, the above-described various contradictions may occur.
- the vehicle suspension device 1 of the present embodiment controls the upper connecting portion rigidity and the lower connecting portion rigidity between the vehicle body 4 and the suspension 5 so as to have a predetermined relationship according to the braking state of the vehicle 2. For example, when a braking torque is applied, the geometry of the suspension 5 is changed by control to reduce the unsprung vibration in the vehicle longitudinal direction.
- the vehicle suspension device 1 includes a variable device 30 that makes the upper connecting portion rigidity and the lower connecting portion rigidity variable, and an ECU 50 as a control device that controls the variable device 30.
- the upper connecting portion rigidity is the rigidity between the upper portion in the vertical direction of the suspension 5, that is, the vertical upper end portion of the piston rod 14 and the vehicle body 4, and is typically the rigidity of the upper connecting portion 6. That is, the upper connecting portion rigidity corresponds to the rigidity of the upper support 60.
- the lower connecting portion rigidity is the lower portion in the vertical direction of the suspension 5, that is, the rigidity between the lower arm 12 and the vehicle body 4, and is typically the rigidity of the lower connecting portion 8. That is, the lower connecting portion rigidity corresponds to the rigidity of the lower arm bush 80.
- the upper support 60 and the lower arm bush 80 are the objects of rigidity control.
- the rigidity control target is the lower arm bush 80 of the lower arm 12 that mainly receives a load.
- the rigidity control target is the lower arm bush 80 of the lower arm No2 that mainly receives a load.
- the variable device 30 makes the upper connecting portion rigidity and the lower connecting portion rigidity variable.
- the variable device 30 according to the present embodiment has an upper variable mechanism 31 that changes the rigidity of the upper connecting part by changing the rigidity of the upper support 60, and a lower connecting part rigidity by changing the rigidity of the lower arm bush 80. And a lower variable mechanism 32 that is variable.
- the upper variable mechanism 31 and the lower variable mechanism 32 change at least the upper connecting portion rigidity and the lower connecting portion rigidity in the front-rear direction of the vehicle 2.
- the upper variable mechanism 31 of the present embodiment changes the rigidity of the upper support 60 by applying a current to the upper support 60 via a variable resistor or the like to change the temperature of the upper support 60, for example.
- the rigidity of the upper support 60 becomes relatively small when the temperature of the upper support 60 is relatively high.
- the upper variable mechanism 31 can change the rigidity of the upper support 60, and hence the rigidity of the upper connecting portion, in two stages of a relatively large value and a relatively small value.
- the lower variable mechanism 32 of the present embodiment applies a current to the lower arm bush 80 via a variable resistor or the like to change the temperature of the lower arm bush 80, thereby changing the lower arm bush 80.
- the rigidity of the lower connecting part is changed.
- the lower variable mechanism 32 can change the rigidity of the lower arm bush 80, and consequently the rigidity of the lower connecting portion, in two stages, a relatively large value and a relatively small value.
- the upper variable mechanism 31 and the lower variable mechanism 32 change the rigidity of the upper support 60 and the lower arm bush 80 using, for example, a magnetic fluid in addition to the above-described configuration, so that the upper connecting portion rigidity and the lower connecting portion rigidity are increased.
- the structure to change may be sufficient.
- the ECU 50 controls driving of each part of the vehicle 2 and includes an electronic circuit mainly composed of a known microcomputer including a CPU, a ROM, a RAM, and an interface.
- the ECU 50 is attached to various parts of the vehicle 2 such as a brake sensor 51 that detects ON / OFF of a braking operation (brake operation) by a driver, and each wheel speed sensor 52 that detects a wheel speed that is a rotational speed of each wheel 3.
- Various sensors and detection devices are electrically connected, and an electric signal corresponding to the detection result is input.
- Each wheel speed sensor 52 is used as a sensor for detecting and estimating the braking force (or deceleration) of the vehicle 2 as will be described later.
- the ECU 50 outputs a drive signal to each part of the vehicle 2 including the vehicle suspension device 1 by executing a stored control program based on various input signals and various maps input from various sensors. To control.
- ECU50 of this embodiment controls the upper variable mechanism 31 and the lower variable mechanism 32 of the variable apparatus 30 according to the braking state of the vehicle 2, and controls the upper connection part rigidity and the lower connection part rigidity variably.
- the ECU 50 controls the upper variable mechanism 31 and the lower variable mechanism 32 during braking of the vehicle, relatively lowers the upper connecting portion rigidity compared to when the vehicle 2 is not braked, and Control for relatively increasing the rigidity of the lower connecting portion is executed.
- the ECU 50 controls the upper variable mechanism 31 and the lower variable mechanism 32 at the time of slow braking of the vehicle 2 and relatively lowers the rigidity of the upper connecting portion compared to when the vehicle 2 is not braked.
- control for relatively increasing the rigidity of the lower connecting portion is executed.
- the ECU 50 prohibits the control of relatively decreasing the upper connecting portion rigidity and relatively increasing the lower connecting portion rigidity during sudden braking of the vehicle 2.
- the vehicle suspension device 1 suppresses the driver's uncomfortable feeling due to the change in the harshness characteristic, and at the same time, balances steering stability (straight travel stability) and brake vibration reduction, and appropriately reduces unsprung vibration. Yes.
- the time when the vehicle 2 is not braked is a state where the braking force of the vehicle 2 is not generated and a state where the deceleration of the vehicle 2 is zero.
- the slow braking is a state in which the absolute value of the braking force of the vehicle 2 is relatively small and the absolute value of the deceleration of the vehicle 2 is relatively small.
- the slow braking of the vehicle 2 is a state in which a braking force and a deceleration with a magnitude that causes a brake vibration are applied.
- the specifications of the vehicle 2, the braking device, etc. It depends on.
- the deceleration of the vehicle 2 is a slow braking region in which the deceleration of the vehicle 2 is about 0G to about 0.3G at the initial stage of braking, more specifically, the deceleration at which the brake vibration can reach a peak.
- a slow braking range from 0G to around 0.2G.
- the sudden braking of the vehicle 2 is a state in which the absolute value of the braking force of the vehicle 2 is equal to or greater than a predetermined value set in advance, and the deceleration of the vehicle 2 is set to a predetermined value. This is the case of the above sudden braking range.
- the upper support 60 is controlled so that the longitudinal rigidity of the vehicle 2 becomes relatively smaller when the vehicle 2 is gently braked than when the vehicle 2 is not braked, by the ECU 50 controlling the upper variable mechanism 31. Is done. Further, since the above-described control of the upper support 60 is prohibited when the vehicle 2 is suddenly braked, the rigidity of the vehicle 2 in the front-rear direction is relatively larger than that when the vehicle 2 is gently braked. As a result, the rigidity of the upper connecting portion is relatively small when the vehicle 2 is gently braked compared to when the vehicle 2 is not braked, and relative to when the vehicle 2 is suddenly braked compared to when the vehicle 2 is slowly braked. Become bigger.
- the lower arm bush 80 is controlled so that the ECU 50 controls the lower variable mechanism 32 so that the longitudinal rigidity of the vehicle 2 becomes relatively larger when the vehicle 2 is gently braked than when the vehicle 2 is not braked. Controlled.
- the rigidity in the front-rear direction of the vehicle 2 is relatively smaller than that when the vehicle 2 is gently braked.
- the rigidity of the lower connecting portion is relatively large when the vehicle 2 is gently braked, compared to when the vehicle 2 is not braked, and relatively low when the vehicle 2 is suddenly braked, compared with when the vehicle 2 is slowly braked. Become smaller.
- the ECU 50 controls the upper variable mechanism 31 and the lower variable mechanism 32 as described above, thereby making the rigidity of the upper support 60 and the lower arm bush 80 variable according to the braking state of the vehicle 2. And the vehicle suspension apparatus 1 can reduce the brake vibration by using the change in the elastic main shaft height of the suspension 5 by adjusting the bush rigidity by making the upper connecting portion rigidity and the lower connecting portion rigidity variable.
- FIG. 3 is a simplified view of the arrangement of the suspension 5 in a side view.
- H is the elastic main shaft height
- B is the vehicle height
- K s is the shock absorber spring characteristic
- K Z is the elastic main shaft vertical rigidity
- K X is the elastic main shaft longitudinal rigidity.
- X is the longitudinal displacement of the spindle 19 (the unsprung center of gravity)
- Z is the vertical displacement of the spindle 19 (the unsprung center of gravity)
- ⁇ is the shock absorber tilt with respect to the vertical direction
- ⁇ is Elastic main axis inclination with respect to the horizontal direction
- T represents torque input during braking
- F represents input from the road surface (input during harshness).
- the elastic main shaft height H corresponds to the relative distance along the vertical direction from the reference point on the wheel 3 side (for example, the spindle 19) to the reference point on the elastic main shaft.
- the vehicle height B corresponds to a relative distance along a vertical direction from a reference point on the wheel 3 side (for example, the spindle 19) to a reference point on the vehicle body 4 side (for example, a mounting bolt on the vehicle body 4 side of the lower arm bush 80). .
- a reference point on the wheel 3 side for example, the spindle 19
- a reference point on the vehicle body 4 side for example, a mounting bolt on the vehicle body 4 side of the lower arm bush 80.
- the braking torque input of the braking device is used as an input source.
- the relationship of the force exerted on the unsprung portion of the braking torque can be considered, for example, as shown in FIG. 4 from the torque input acting on the rotating portion (tire) and the non-rotating portion (knuckle 13) of the wheel 3, respectively. That is, the input acting on the rotating portion of the wheel 3 is the braking torque input T to the rotating portion, the front-rear direction braking force F X acting on the contact surface between the tire of the wheel 3 and the road surface, and the front-rear direction acting on the contact surface.
- the reaction force -F X of the braking force is shown in FIG. 4 from the torque input acting on the rotating portion (tire) and the non-rotating portion (knuckle 13) of the wheel 3, respectively. That is, the input acting on the rotating portion of the wheel 3 is the braking torque input T to the rotating portion, the front-rear direction braking force F X acting on the contact surface between the tire of the wheel 3 and
- r 0 represents the relative distance along the vertical direction between the spindle 19 and the ground contact surface.
- inputs acting on the non-rotating part of the wheel 3 are a braking torque input ⁇ T to the non-rotating part and a reaction force F X in the front-rear direction from the rotating part to the non-rotating part. Considering these in combination, the force exerted on the unsprung torque of the braking torque becomes the front / rear input F X to the unsprung surface on the contact surface between the tire of the wheel 3 and the road surface.
- the unsprung vibration will be described with reference to FIGS. 5 and 6 from the relationship between the geometry of the suspension 5 and the braking torque input.
- the displacement amount of the position of the spindle 19 relative to the longitudinal direction of the vehicle (hereinafter sometimes referred to as “spindle position”) is the same amount of force (for example, the above-described longitudinal direction) on the ground plane.
- spindle position the displacement amount of the position of the spindle 19 relative to the longitudinal direction of the vehicle
- the input F X the height of the elastic main shaft is relatively high, and here, it is positioned above the spindle position in the vertical direction.
- FIG. 5 the height of the elastic main shaft is relatively high, and here, it is positioned above the spindle position in the vertical direction.
- the height of the elastic main shaft is relatively low, and here, it is located on the lower side in the vertical direction than the spindle position.
- K X ′ represents the elastic main shaft longitudinal rigidity
- K W ′ represents the windup rigidity (the rigidity when the knuckle 13 rotates around the spindle 19).
- the displacement amount L11 of the spindle position is a value obtained by adding the translational displacement amount L12 and the rotational displacement amount L13 to the acting force.
- the elastic main shaft height is relatively low as shown in FIG. 6, the displacement L21 of the spindle position cancels out the translational displacement L22 and the rotational displacement L23 with respect to the acting force, It tends to be relatively small. Therefore, the unsprung longitudinal vibration during braking is reduced by decreasing the displacement amount of the spindle 19 as the elastic main shaft height decreases, as illustrated in FIG. FIG. 7 shows changes in unsprung longitudinal vibration when the characteristics of the suspension 5 are changed and the elastic main shaft height is changed. When the elastic main shaft height is relatively high, the unsprung longitudinal vibration is relatively This indicates that the unsprung longitudinal vibration becomes relatively small when the elastic main shaft height is relatively low.
- the ECU 50 controls the upper variable mechanism 31 and the lower variable mechanism 32 as the characteristics of the suspension 5, so that the upper support 60 and the lower arm bush 80 according to the braking state.
- the elastic main shaft height can be changed by changing the rigidity of the upper connecting portion and the lower connecting portion rigidity. As illustrated in FIG. 8, the elastic main shaft height decreases as the upper connecting portion rigidity (the rigidity of the upper support 60) decreases, and as the lower connecting portion rigidity (the rigidity of the lower arm bush 80) increases. It tends to be lower.
- the spindle position is set.
- the upper connecting portion rigidity and the lower connecting portion rigidity are adjusted so that the longitudinal force compliance corresponding to the displacement amount of the spindle position when the longitudinal force is applied is kept constant.
- FIG. 9 shows an example of a combination of the longitudinal rigidity (upper coupling rigidity) of the upper support 60 and the longitudinal rigidity (lower coupling rigidity) of the lower arm bush 80 in which the longitudinal force compliance at the spindle position is constant. .
- the longitudinal force compliance changes according to the longitudinal rigidity of the upper support 60 and the longitudinal rigidity of the lower arm bush 80.
- the solid line L is a set of combinations of the longitudinal rigidity of the upper support 60 and the longitudinal rigidity of the lower arm bush 80 at which the longitudinal force compliance is constant at a predetermined value.
- the ECU 50 of the present embodiment controls the upper variable mechanism 31 and the lower variable mechanism 32 when the vehicle 2 is gently braked, and compared with the rigidity of the upper connecting portion compared to when the vehicle 2 is not braked. Is controlled to be relatively small and the rigidity of the lower connecting portion is relatively large.
- the vehicle suspension device 1 has an operating point where the elastic main shaft height indicates the elastic main shaft height during slow braking from the operating point P1 indicating the elastic main shaft height when the vehicle 2 is not braked. It changes to P2, and the said elastic principal axis height can be reduced.
- the ECU 50 adjusts the upper connecting force so that the longitudinal force compliance of the spindle 19 during braking of the vehicle 2, here, during slow braking, and the longitudinal force compliance of the spindle 19 during non-braking of the vehicle 2 are equal.
- the part rigidity and the lower connecting part rigidity are changed. That is, the upper support 60 and the lower arm bush 80 are, as shown in FIG. 9, a combination of the longitudinal rigidity of the upper support 60 and the longitudinal rigidity of the lower arm bush 80 at the operating point P1, and the upper support 60 at the operating point P2.
- the front-rear direction rigidity is adjusted so that the combination of the front-rear direction rigidity and the front-rear direction rigidity of the lower arm bush 80 is located on the solid line L.
- the vehicle suspension device 1 can reduce the height of the elastic main shaft while keeping the longitudinal force compliance constant during the slow braking of the vehicle 2.
- the ECU 50 prohibits the control of relatively decreasing the upper connecting portion rigidity and relatively increasing the lower connecting portion rigidity during sudden braking of the vehicle 2 during braking.
- the upper support 60 has a relatively large longitudinal rigidity of the vehicle 2 when the vehicle 2 is suddenly braked compared to when it is gently braked, and the lower arm bush 80 is gently braked when the vehicle 2 is suddenly braked.
- the longitudinal rigidity of the vehicle 2 is relatively small.
- the vehicle suspension device 1 returns the operating point P2 shown in FIGS. 8 and 9 to the operating point P1.
- the ECU 50 controls the upper variable mechanism 31 and the lower variable mechanism 32, so that the upper connecting portion rigidity is relatively large in a normal range such as when the vehicle 2 is not braked.
- the lower connecting portion rigidity is relatively small (see the operating point P1 in FIGS. 8 and 9).
- the vehicle suspension device 1 can ensure the steering stability by relatively increasing the height of the elastic main shaft of the suspension 5 in the normal range such as when the vehicle 2 is not braked.
- the vehicle suspension device 1 controls the upper variable mechanism 31 and the lower variable mechanism 32 as described above when the braking torque is applied in the slow braking region such as when the vehicle 2 is gently braked.
- the rigidity of the upper connecting portion becomes relatively small, the rigidity of the lower connecting portion becomes relatively large (see the operating point P2 in FIG. 8), and the geometry of the suspension 5 changes.
- the longitudinal rigidity of the upper support 60 and the lower arm bush 80 is changed while the longitudinal force compliance of the spindle 19 is substantially constant (see operation point P ⁇ b> 2 in FIG. 9).
- the vehicle suspension apparatus 1 not only simply increases the rigidity of the lower connecting portion by changing only the rigidity of the lower connecting portion during slow braking, but also changes the upper connecting portion corresponding to the increase in the rigidity of the lower connecting portion accordingly.
- the vehicle suspension device 1 can suppress the influence on the harshness characteristic by reducing the brake vibration by reducing the height of the elastic main shaft and maintaining the longitudinal force compliance constant.
- the ECU 50 relatively reduces the rigidity of the upper connecting portion in the sudden braking area such as during the sudden braking of the vehicle 2 in which the braking force of the vehicle 2 is relatively large, and the lower connecting portion.
- the rigidity of the upper joint becomes relatively large and the rigidity of the lower joint becomes relatively small, both of which return to the same value as in the normal range. (Refer to the operating point P2 in FIGS. 8 and 9).
- the vehicle suspension device 1 can increase the elastic main shaft height at the time of sudden braking of the vehicle 2 that does not need to consider the influence on the brake vibration, the harshness characteristic, etc., and can improve the steering stability.
- control routines are repeatedly executed at a control cycle of several ms to several tens of ms.
- the ECU 50 determines whether or not the braking operation by the driver is turned on based on the detection result by the brake sensor 51 (ST1).
- the ECU 50 determines whether or not the vehicle 2 is under slow braking based on the detection results by the wheel speed sensors 52 (ST2). ).
- the ECU 50 is, for example, a predetermined value (for example, the braking force (or deceleration) of the vehicle 2 estimated based on the wheel speed of each wheel 3 detected by each wheel speed sensor 52 and the amount of change thereof (for example, It is possible to determine whether or not the vehicle 2 is under slow braking based on whether or not the value is equal to or less than 0.2G.
- the ECU 50 is not limited to the above, and may detect the braking force (or deceleration) of the vehicle 2 based on various sensors and methods.
- the ECU 50 determines that the vehicle 2 is under slow braking (ST2: Yes)
- the ECU 50 controls the upper variable mechanism 31 and the lower variable mechanism 32 to lower the rigidity of the upper support 60 and increase the rigidity of the lower arm bush 80.
- the upper connecting portion rigidity is made relatively small and the lower connecting portion rigidity is made relatively large (ST3)
- the current control cycle is terminated, and the next control cycle is started.
- the upper variable mechanism 31 and the lower variable mechanism. 32 to increase the rigidity of the upper support 60 and lower the rigidity of the lower arm bush 80, thereby relatively increasing the upper connecting portion rigidity and lowering the lower connecting portion rigidity (ST4), End the current control cycle and move to the next control cycle.
- the vehicle suspension device 1 includes a suspension 5, a variable device 30, and an ECU 50.
- the suspension 5 supports the wheel 3 of the vehicle 2 on the vehicle body 4 of the vehicle 2.
- the variable device 30 can vary the rigidity of the upper connecting portion, which is the rigidity between the upper portion in the vertical direction of the suspension 5 and the vehicle body 4, and the rigidity of the lower connecting portion, which is the rigidity between the lower portion in the vertical direction of the suspension 5 and the vehicle body 4.
- the ECU 50 controls the variable device 30 at the time of braking of the vehicle 2, relatively lowers the upper connecting portion rigidity and relatively lowers the lower connecting portion rigidity than when the vehicle 2 is not braked. Execute control.
- the upper connecting portion rigidity front-rear direction rigidity of the upper support 60
- the lower connecting portion rigidity front-rear direction rigidity of the lower arm bush 80
- the elastic main shaft height of the suspension 5 can be reduced while maintaining a small change in the longitudinal force compliance.
- the vehicle suspension device 1 can both improve steering stability and reduce brake vibration while suppressing the driver's uncomfortable feeling due to the change in harshness characteristics, and can appropriately reduce unsprung vibration.
- the ECU 50 has been described as prohibiting the control of relatively decreasing the upper connecting portion rigidity and relatively increasing the lower connecting portion rigidity when the vehicle 2 is suddenly braked.
- the present invention is not limited to this, and this control may be executed even when the vehicle 2 is suddenly braked.
- FIG. 11 is a schematic diagram illustrating a schematic configuration of the vehicle suspension device according to the second embodiment
- FIG. 12 is a schematic diagram illustrating the operation of the vehicle suspension device
- FIG. 13 illustrates the displacement and force of the upper support and the lower arm bush.
- FIG. 14 is a diagram illustrating an example of a control map of a vehicle suspension system
- FIG. 15 is a flowchart illustrating an example of control by the ECU of the vehicle suspension system
- FIG. 16 is a modification example.
- It is a schematic diagram showing schematic structure of the vehicle suspension apparatus which concerns.
- the vehicle suspension device according to the second embodiment is different from the first embodiment in the content of control by the control device.
- the overlapping description is abbreviate
- the vehicle suspension apparatus 201 of the present embodiment includes an upper variable mechanism 231 and a lower variable mechanism in which the variable device 30 is replaced with the upper variable mechanism 31 and the lower variable mechanism 32 (see FIG. 1) of the first embodiment. 232. 11 and 12, the upper support 60 and the lower arm bush 80 are configured in substantially the same manner, and the upper variable mechanism 231 and the lower variable mechanism 232 are configured in substantially the same manner. ing. In the following description, the common configurations of the upper support 60, the lower arm bush 80, the upper variable mechanism 231 and the lower variable mechanism 232 will be described as common as possible.
- the upper variable mechanism 231 and the lower variable mechanism 232 of the present embodiment can linearly change the rigidity of the upper support 60 and the rigidity of the lower arm bush 80 between a relatively large value and a relatively small value, respectively. It can be configured. 11 and 12 show a configuration in the case where the central axes of the cylindrical members of the upper support 60 and the lower arm bush 80 are arranged along the front-rear direction of the vehicle 2.
- the upper support 60 includes an outer cylinder 61, an inner cylinder 62, and an elastic body 63
- the lower arm bush 80 includes an outer cylinder 81, an inner cylinder 82, an elastic body 83, and the like.
- the outer cylinders 61 and 81 and the inner cylinders 62 and 82 are cylindrical members extending along the front-rear direction of the vehicle body 4.
- the inner cylinders 62 and 82 are inserted inside the outer cylinders 61 and 81.
- One of the outer cylinder 61 and the inner cylinder 62 is provided on the piston rod 14 side, and the other is provided on the vehicle body 4 side.
- the outer cylinder 61 is provided on the bracket on the vehicle body 4 side, and the inner cylinder 62 is provided on the piston rod 14 side.
- One of the outer cylinder 81 and the inner cylinder 82 is provided on the lower arm 12 side, and the other is provided on the vehicle body 4 side.
- the outer cylinder 81 is provided on the bracket on the lower arm 12 side, and the inner cylinder 82 is provided on the vehicle body 4 side.
- the elastic bodies 63 and 83 are made of an elastomer such as rubber, and are provided in a cylindrical shape so as to be interposed between the outer cylinders 61 and 81 and the inner cylinders 62 and 82 in the radial direction.
- the elastic bodies 63 and 83 are disposed on the inner peripheral side of the outer cylinders 61 and 81 and on the outer peripheral side of the inner cylinders 62 and 82.
- the outer cylinders 61 and 81 and the inner cylinders 62 and 82 are relatively displaced along the axial direction (front-rear direction) during braking.
- the upper support 60 and the lower arm bush 80 are provided with annular projecting edge portions 61a, 81a, 61b, 81b on both end surfaces in the front-rear direction of the outer cylinders 61, 81, respectively.
- Disc-shaped stopper portions 62a, 82a, 62b, and 82b are provided on both end surfaces, respectively.
- the stopper portions 62a, 82a, 62b, and 82b are configured to be movable relative to the inner cylinders 62 and 82 in the front-rear direction.
- the upper support 60 and the lower arm bush 80 are provided with annular projecting edge portions 63a, 83a, 63b, 83b on both end surfaces in the front-rear direction of the elastic bodies 63, 83, respectively.
- the upper support 60 and the lower arm bush 80 are assembled with the outer cylinders 61 and 81, the inner cylinders 62 and 82, and the elastic bodies 63 and 83 in the following positional relationship.
- the stopper portions 62a and 82a and the protruding edge portions 61a and 81a face each other with a predetermined interval with respect to the front-rear direction, and the stopper portions 62b and 82b and the protruding edge portion 61b, 81b opposes at a predetermined interval.
- the protrusion edges 63a and 83a are located between the stopper parts 62a and 82a and the protrusion edges 61a and 81a, and the protrusion edges 63b and 83b are the stopper edges 62b and 83b and the protrusion edges.
- the upper support 60 and the lower arm bush 80 are adjusted by adjusting the interval between the stopper portions 62a and 82a and the protruding edge portions 61a and 81a, the interval between the stopper portions 62b and 82b and the protruding edge portions 61b and 81b, and the like.
- the amount of crushing of the protrusion edges 63a, 83a, 63b, and 83b is adjusted, and the bush rigidity utilization range and the bush characteristics are adjusted.
- the upper variable mechanism 231 and the lower variable mechanism 232 include a motor that moves the stopper portions 62a, 82a, 62b, and 82b in the front-rear direction.
- the upper variable mechanism 231 and the lower variable mechanism 232 move the stopper portions 62a, 82a, 62b, and 82b along the front-rear direction by the power generated by the motor. Accordingly, the upper variable mechanism 231 and the lower variable mechanism 232 can change the distance between the stopper portions 62a and 82a and the projection edge portions 61a and 81a and the distance between the stopper portions 62b and 82b and the projection edge portions 61b and 81B.
- the upper variable mechanism 231 and the lower variable mechanism 232 can linearly change the rigidity of the upper support 60 and the rigidity of the lower arm bush 80 from A to B, respectively.
- the connecting portion rigidity and the lower connecting portion rigidity can be linearly changed between a relatively large value and a relatively small value.
- the upper variable mechanism 231 and the lower variable mechanism 232 include a distance between the stopper portions 62a and 82a and the protrusion edge portions 61a and 81a, and a distance between the stopper portions 62b and 82b and the protrusion edge portions 61b and 81B.
- the crushing amount of the projection edges 63a, 83a, 63b, 83b can be reduced, and the upper connecting portion rigidity and the lower connecting portion rigidity can be relatively reduced.
- the upper variable mechanism 231 and the lower variable mechanism 232 include a distance between the stopper portions 62a and 82a and the protruding edge portions 61a and 81a, and the stopper portions 62b and 82b and the protruding edge portions 61b and 81B. Is relatively narrowed, the amount of crushing of the projecting edge portions 63a, 83a, 63b, 83b can be increased, and the upper connecting portion rigidity and the lower connecting portion rigidity can be relatively increased.
- the ECU 50 controls the upper variable mechanism 231 and the lower variable mechanism 232 of the variable apparatus 30 according to the braking state of the vehicle 2, and controls the upper connection part rigidity and the lower connection part rigidity variably.
- the ECU 50 of this embodiment controls the upper variable mechanism 231 and the lower variable mechanism 232 based on the braking force of the vehicle 2 (or the deceleration of the vehicle 2), and linearly changes the upper connecting portion rigidity and the lower connecting portion rigidity. To do.
- the ECU 50 controls the upper variable mechanism 231 and the lower variable mechanism 232 in accordance with the change in the braking force of the vehicle 2 (or the deceleration of the vehicle 2), and adjusts the upper connecting portion rigidity and the lower connecting portion rigidity. Change continuously.
- the ECU 50 controls the upper variable mechanism 231 and the lower variable mechanism 232 during braking of the vehicle, relatively lowers the upper connecting portion rigidity compared to when the vehicle 2 is not braked, and Control for relatively increasing the rigidity of the lower connecting portion is executed.
- the ECU 50 controls the upper variable mechanism 31 and the lower variable mechanism 32 at the time of slow braking of the vehicle 2 and relatively lowers the rigidity of the upper connecting portion compared to when the vehicle 2 is not braked.
- control for relatively increasing the rigidity of the lower connecting portion is executed.
- the ECU 50 prohibits the control of relatively lowering the upper connecting portion rigidity and lowering the lower connecting portion rigidity at the time of sudden braking out of the braking of the vehicle 2, and is higher than at the time of slow braking.
- the connecting portion rigidity is relatively increased, and the lower connecting portion rigidity is relatively decreased.
- the vehicle suspension device 1 suppresses the driver's uncomfortable feeling due to the change in the harshness characteristic, and at the same time, balances steering stability (straight travel stability) and brake vibration reduction, and appropriately reduces unsprung vibration. Yes.
- the ECU 50 controls the upper variable mechanism 231 and the lower variable mechanism 232 based on, for example, a control map illustrated in FIG. 14, and the upper connecting portion rigidity and the lower connecting portion rigidity according to the braking force of the vehicle 2.
- Change to The control map as illustrated in FIG. 14 is a map in which the combination of the upper connecting portion rigidity and the lower connecting portion rigidity that makes the longitudinal force compliance at the spindle position constant and the braking force of the vehicle 2 are associated with each other.
- a control map as illustrated in FIG. 14 is created in advance according to the actual vehicle evaluation and stored in the storage unit of the ECU 50.
- the ECU 50 estimates the braking force (or deceleration) of the vehicle 2 based on the wheel speed of each wheel 3 detected by each wheel speed sensor 52 and estimates based on the control map illustrated in FIG.
- the upper connecting portion rigidity and the lower connecting portion rigidity corresponding to the braking force are calculated.
- the ECU 50 controls the upper variable mechanism 231 and the lower variable mechanism 232 so that the calculated upper connecting portion rigidity and lower connecting portion rigidity are obtained.
- the ECU 50 is described as calculating the upper connecting portion rigidity and the lower connecting portion rigidity using the control map illustrated in FIG. 14, but the present embodiment is not limited to this.
- the ECU 50 may calculate the upper connecting portion rigidity and the lower connecting portion rigidity based on a mathematical model corresponding to the control map illustrated in FIG.
- the ECU 50 controls the upper variable mechanism 231 and the lower variable mechanism 232, so that the rigidity of the upper connecting portion is relatively large in a normal range such as when the vehicle 2 is not braked.
- the lower connecting portion rigidity is relatively small (see the operating point P1 in FIG. 14).
- the vehicle suspension device 1 can ensure the steering stability by relatively increasing the height of the elastic main shaft of the suspension 5 in the normal range such as when the vehicle 2 is not braked.
- the vehicle suspension device 201 controls the upper variable mechanism 231 and the lower variable mechanism 232 in accordance with the braking force of the vehicle 2 when the braking torque is applied in the slow braking region such as when the vehicle 2 is gently braked.
- the rigidity of the upper connecting portion is relatively reduced and the rigidity of the lower connecting portion is relatively increased according to the braking force (see the operating point P2 in FIG. 14), and the geometry of the suspension 5 is changed.
- the vehicle suspension device 201 changes the longitudinal rigidity of the upper support 60 and the lower arm bush 80 while the longitudinal force compliance of the spindle 19 is substantially constant (see the operating point P2 in FIG. 14).
- the vehicle suspension device 201 not only simply increases the rigidity of the lower connecting portion by changing only the rigidity of the lower connecting portion during slow braking, but also changes the upper connecting portion corresponding to the increase in the rigidity of the lower connecting portion accordingly.
- the vehicle suspension apparatus 201 can suppress the influence on the harshness characteristic by reducing the brake vibration by reducing the height of the elastic main shaft and maintaining the longitudinal force compliance constant.
- the ECU 50 controls the upper variable mechanism 231 and the lower variable in the sudden braking region such as during sudden braking of the vehicle 2 where the braking force of the vehicle 2 is relatively large.
- the mechanism 232 By controlling the mechanism 232, the upper connecting portion rigidity is relatively increased and the lower connecting portion rigidity is relatively decreased in accordance with the braking force (see the operating point P3 in FIG. 14).
- the upper connecting portion rigidity and the lower connecting portion rigidity are controlled to values according to the braking force of the vehicle 2. Accordingly, the vehicle suspension device 201 can increase the elastic main shaft height when the vehicle 2 is suddenly braked so that the influence on the brake vibration or the like need not be taken into consideration, thereby improving the steering stability.
- the vehicle suspension device 1 continuously changes and adjusts the upper connecting portion rigidity and the lower connecting portion rigidity in accordance with the change in the braking force, so that the elastic main shaft height is adjusted. It is possible to achieve both reduction of brake vibration and steering stability with high accuracy.
- the vehicle suspension device 201 can also maintain the longitudinal force compliance at this time and adjust the elastic main shaft height, the influence on the harshness characteristic can be suppressed.
- the ECU 50 determines whether or not the braking operation by the driver is turned on based on the detection result by the brake sensor 51 (ST201).
- the ECU 50 detects the braking force (or deceleration) of the vehicle 2 based on the detection result by each wheel speed sensor 52 (ST202). .
- the ECU 50 controls the upper variable mechanism 231 and the lower variable mechanism 232 to change the rigidity of the upper support 60 and the lower arm bush 80 so that the elastic main shaft height suitable for the braking force of the vehicle 2 detected in ST202 is obtained.
- the upper connection portion rigidity and the lower connection portion rigidity are changed (ST203), the current control cycle is terminated, and the process proceeds to the next control cycle.
- the ECU 50 determines that the braking operation by the driver is OFF in ST201 (ST201: No)
- the ECU 50 controls the upper variable mechanism 231 and the lower variable mechanism 232 to increase the rigidity of the upper support 60 and the rigidity of the lower arm bush 80.
- the upper connecting portion rigidity is relatively increased and the lower connecting portion rigidity is relatively decreased (ST204), the current control cycle is terminated, and the process proceeds to the next control cycle.
- the lower connecting portion rigidity (lower arm bushing 80) is lower in the upper connecting portion rigidity (the longitudinal rigidity of the upper support 60) than in the non-braking state when the vehicle 2 is gently braked.
- the rigidity of the suspension 5 can be reduced while maintaining a small change in the longitudinal force compliance.
- the vehicle suspension device 201 can both improve the steering stability and reduce the brake vibration while suppressing the driver's uncomfortable feeling due to the change in the harshness characteristic, and can appropriately reduce the unsprung vibration.
- the ECU 50 changes the upper connecting portion rigidity and the lower connecting portion rigidity based on the braking force of the vehicle 2. Therefore, the vehicle suspension apparatus 201 can achieve both improvement in steering stability and reduction in brake vibration while suppressing a driver's uncomfortable feeling due to a change in harshness characteristics with higher accuracy.
- FIG. 16 shows a schematic configuration of a vehicle suspension device 301 according to a modification.
- the variable device 30 includes an upper variable mechanism 331 and a lower variable mechanism 332 in place of the upper variable mechanism 231 and the lower variable mechanism 232 (see FIG. 11) of the second embodiment.
- the upper variable mechanism 331 and the lower variable mechanism 332 can each change the rigidity of the upper support 60 and the rigidity of the lower arm bush 80 linearly between a relatively large value and a relatively small value. It has become.
- FIG. 16 shows a configuration in a case where the central axes of the cylindrical members of the upper support 60 and the lower arm bush 80 intersect with the front-rear direction of the vehicle 2.
- the upper support 60 includes an outer cylinder 61, an inner cylinder 62, and an elastic body 63
- the lower arm bush 80 includes an outer cylinder 81, an inner cylinder 82, an elastic body 83, and the like.
- the outer cylinders 61 and 81 and the inner cylinders 62 and 82 are cylindrical members that extend along a direction intersecting with the front-rear direction of the vehicle body 4.
- the inner cylinders 62 and 82 are inserted inside the outer cylinders 61 and 81.
- the elastic bodies 63 and 83 are made of an elastomer such as rubber and are disposed on the inner peripheral side of the outer cylinders 61 and 81 and on the outer peripheral side of the inner cylinders 62 and 82.
- the outer cylinders 61 and 81 and the inner cylinders 62 and 82 are relatively displaced along the radial direction during braking.
- a pair of currants (recessed hollow portions) 64 and 84 and currants 65 and 85 are formed on the elastic bodies 63 and 83.
- the upper variable mechanism 331 and the lower variable mechanism 332 are configured to include insertion members 66 and 86 provided in the currants 64 and 84, respectively.
- the insertion members 66 and 86 are configured in a member and shape that can be changed in size.
- the ECU 50 controls the upper variable mechanism 331 and the lower variable mechanism 332 to adjust the size and the like of the insertion members 66 and 86, thereby adjusting the bush rigidity utilization range and the bush characteristics. Therefore, the upper variable mechanism 331 and the lower variable mechanism 332 can change the rigidity of the upper support 60 and the rigidity of the lower arm bush 80 linearly by changing the sizes of the insertion members 66 and 86, respectively.
- the upper connecting portion rigidity and the lower connecting portion rigidity can be linearly changed between a relatively large value and a relatively small value.
- the vehicle suspension device 301 can achieve both improvement in steering stability and reduction in brake vibration while suppressing the driver's uncomfortable feeling due to the change in harshness characteristics with higher accuracy.
- the ECU 50 relatively increases the rigidity of the upper connecting portion at the time of sudden braking in which the absolute value of the braking force of the vehicle 2 is equal to or greater than a predetermined value, compared to when the vehicle 2 is not braked, and In addition, it is possible to improve the steering stability by relatively reducing the rigidity of the lower connecting portion.
- the suspension device main body described above is not limited to the above-described configuration.
- the upper arm 11 is not provided, and the lower end in the vertical direction of the cylinder 15 is connected to the upper end of the knuckle 13 via a joint such as a ball joint. It may be configured.
- control device for the vehicle suspension device has been described as an ECU that controls each part of the vehicle.
- the present invention is not limited to this, and for example, the control device is configured separately from the ECU and mutually detects the detection signal. Alternatively, it may be configured to exchange information such as drive signals and control commands.
- variable device described above is not limited to the configuration described above.
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Abstract
Description
図1は、実施形態1に係る車両懸架装置の概略構成を表す模式図、図2は、ラバーブッシュの変位と力との関係の一例を表す線図、図3は、サスペンションの側面視を簡略化した模式図、図4は、制動トルクのバネ下に与える力の関係を説明する模式図、図5、図6は、弾性主軸高とスピンドル前後変位との関係を説明する模式図、図7は、弾性主軸高とバネ下振動との関係の一例を表す線図、図8は、アッパサポートの前後方向剛性とロアアームブッシュの前後方向剛性と弾性主軸高との関係の一例を表す線図、図9は、スピンドル位置の前後力コンプライアンスが一定となる前後方向剛性の組み合わせの一例を表す線図、図10は、車両懸架装置のECUによる制御の一例を説明するフローチャートである。
図11は、実施形態2に係る車両懸架装置の概略構成を表す模式図、図12は、車両懸架装置の動作を説明する模式図、図13は、アッパサポート、ロアアームブッシュの変位と力との関係の一例を表す線図、図14は、車両懸架装置の制御マップの一例を表す線図、図15は、車両懸架装置のECUによる制御の一例を説明するフローチャート、図16は、変形例に係る車両懸架装置の概略構成を表す模式図である。実施形態2に係る車両懸架装置は、制御装置による制御内容等が実施形態1とは異なる。その他、上述した実施形態と共通する構成、作用、効果については、重複した説明はできるだけ省略する。
2 車両
3 車輪
4 車体
5 サスペンション(懸架装置本体)
6 上部連結部
7 中部連結部
8 下部連結部
9 コイルスプリング
10 ショックアブソーバ
11 アッパアーム
12 ロアアーム
13 ナックル
14 ピストンロッド
15 シリンダ
16、17、18 ジョイント部
19 スピンドル
30 可変装置
31、231、331 上部可変機構
32、232、233 下部可変機構
50 ECU(制御装置)
60 アッパサポート
70 アッパアームブッシュ
80 ロアアームブッシュ
Claims (7)
- 車両の車輪を当該車両の車体に支持する懸架装置本体と、
前記懸架装置本体の鉛直方向上部と前記車体との間の剛性である上部連結部剛性、及び、前記懸架装置本体の鉛直方向下部と前記車体との間の剛性である下部連結部剛性を可変とする可変装置と、
前記車両の制動時に、前記可変装置を制御し、前記車両の非制動時と比較して、前記上部連結部剛性を相対的に小さくし、かつ、前記下部連結部剛性を相対的に大きくする制御を実行する制御装置とを備えることを特徴とする、
車両懸架装置。 - 前記可変装置は、少なくとも前記車両の前後方向の前記上部連結部剛性、及び、前記車両の前後方向の前記下部連結部剛性を可変とする、
請求項1に記載の車両懸架装置。 - 前記制御装置は、前記車両の制動時の前記車輪のスピンドルの前後力コンプライアンスと、前記車両の非制動時の前記スピンドルの前後力コンプライアンスとが同等となるように、前記上部連結部剛性と前記下部連結部剛性とを変更する、
請求項1又は請求項2に記載の車両懸架装置。 - 前記制御装置は、前記車両の制動力の絶対値が予め設定される所定値以上である場合に、前記上部連結部剛性を相対的に小さくし、かつ、前記下部連結部剛性を相対的に大きくする制御を禁止する、
請求項1乃至請求項3のいずれか1項に記載の車両懸架装置。 - 前記制御装置は、前記車両の制動力の変化に応じて前記上部連結部剛性と前記下部連結部剛性とを連続的に変更する、
請求項1乃至請求項4のいずれか1項に記載の車両懸架装置。 - 前記制御装置は、前記車両の制動力の絶対値が予め設定される所定値以上である急制動時に、前記車両の制動力の絶対値が前記所定値未満である緩制動時と比較して、前記上部連結部剛性を相対的に大きくし、かつ、前記下部連結部剛性を相対的に小さくする、
請求項1乃至請求項5のいずれか1項に記載の車両懸架装置。 - 前記制御装置は、前記車両の制動力の絶対値が予め設定される所定値以上である急制動時に、前記車両の非制動時と比較して、前記上部連結部剛性を相対的に大きくし、かつ、前記下部連結部剛性を相対的に小さくする、
請求項1乃至請求項6のいずれか1項に記載の車両懸架装置。
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Application Number | Priority Date | Filing Date | Title |
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PCT/JP2012/054461 WO2013125018A1 (ja) | 2012-02-23 | 2012-02-23 | 車両懸架装置 |
EP12869577.2A EP2818344B1 (en) | 2012-02-23 | 2012-02-23 | Vehicle suspension device |
JP2014500825A JP5787023B2 (ja) | 2012-02-23 | 2012-02-23 | 車両懸架装置 |
CN201280070342.XA CN104136244B (zh) | 2012-02-23 | 2012-02-23 | 车辆悬架装置 |
US14/379,922 US9139063B2 (en) | 2012-02-23 | 2012-02-23 | Vehicle suspension device |
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PCT/JP2012/054461 WO2013125018A1 (ja) | 2012-02-23 | 2012-02-23 | 車両懸架装置 |
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PCT/JP2012/054461 WO2013125018A1 (ja) | 2012-02-23 | 2012-02-23 | 車両懸架装置 |
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Country | Link |
---|---|
US (1) | US9139063B2 (ja) |
EP (1) | EP2818344B1 (ja) |
JP (1) | JP5787023B2 (ja) |
CN (1) | CN104136244B (ja) |
WO (1) | WO2013125018A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102429549B1 (ko) * | 2015-05-18 | 2022-08-05 | 주식회사 만도 | 전자제어 현가장치 및 그의 감쇠력 제어 방법 |
EP3954556A1 (en) * | 2020-08-11 | 2022-02-16 | Volvo Truck Corporation | Bushing for a suspension and vehicle comprising such a bushing |
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JPH04154420A (ja) | 1990-10-18 | 1992-05-27 | Mitsubishi Motors Corp | サスペンション剛性制御装置 |
JPH06316211A (ja) * | 1992-08-17 | 1994-11-15 | Nissan Motor Co Ltd | 車両用サスペンション装置 |
JPH09240235A (ja) * | 1996-03-13 | 1997-09-16 | Nissan Motor Co Ltd | 車両用サスペンション |
JPH1142919A (ja) * | 1997-07-25 | 1999-02-16 | Nissan Motor Co Ltd | サスペンション装置 |
JP2009040355A (ja) * | 2007-08-10 | 2009-02-26 | Toyota Motor Corp | サスペンション |
JP2010139012A (ja) * | 2008-12-12 | 2010-06-24 | Toyota Motor Corp | ブレーキキャリパ結合構造、及び車両用懸架装置の制御装置 |
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JPH09142121A (ja) | 1995-11-21 | 1997-06-03 | Mitsubishi Motors Corp | 車両構造 |
US5609353A (en) * | 1996-01-11 | 1997-03-11 | Ford Motor Company | Method and apparatus for varying the stiffness of a suspension bushing |
US5816587A (en) * | 1996-07-23 | 1998-10-06 | Ford Global Technologies, Inc. | Method and apparatus for reducing brake shudder |
US5974856A (en) * | 1997-05-27 | 1999-11-02 | Ford Global Technologies, Inc. | Method for allowing rapid evaluation of chassis elastomeric devices in motor vehicles |
US5814999A (en) * | 1997-05-27 | 1998-09-29 | Ford Global Technologies, Inc. | Method and apparatus for measuring displacement and force |
JP2000272317A (ja) | 1999-03-29 | 2000-10-03 | Unisia Jecs Corp | 車両懸架装置 |
WO2001089863A2 (en) * | 2000-05-25 | 2001-11-29 | Holland Neway International, Inc. | Height control system and sensor therefor |
CN2471588Y (zh) * | 2001-01-12 | 2002-01-16 | 孙普 | 机动车磁力减震器 |
US6598885B2 (en) * | 2001-10-23 | 2003-07-29 | Liquidspring Technologies, Inc. | Single valve control of damping and stiffness in a liquid spring system |
JP2005096587A (ja) | 2003-09-24 | 2005-04-14 | Toyota Motor Corp | 車両懸架装置 |
US7243934B2 (en) * | 2003-12-06 | 2007-07-17 | Hyundai Motor Company | Multi-link rear suspension system |
ITBO20040278A1 (it) * | 2004-05-03 | 2004-08-03 | Ferrari Spa | Sospensione automobilistica con controllo della risposta dell'assieme molla-ammortizzatore. |
CN101296811B (zh) * | 2005-10-26 | 2010-05-19 | 丰田自动车株式会社 | 用于车辆的悬架系统 |
US7984915B2 (en) * | 2009-05-12 | 2011-07-26 | Honda Motor Co., Ltd. | Rear suspension with semi-active toe force compliance control |
JP2013095309A (ja) * | 2011-11-02 | 2013-05-20 | Ntn Corp | インホイールモータ車両用サスペンションシステム |
-
2012
- 2012-02-23 WO PCT/JP2012/054461 patent/WO2013125018A1/ja active Application Filing
- 2012-02-23 EP EP12869577.2A patent/EP2818344B1/en not_active Not-in-force
- 2012-02-23 US US14/379,922 patent/US9139063B2/en not_active Expired - Fee Related
- 2012-02-23 JP JP2014500825A patent/JP5787023B2/ja not_active Expired - Fee Related
- 2012-02-23 CN CN201280070342.XA patent/CN104136244B/zh not_active Expired - Fee Related
Patent Citations (6)
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JPH04154420A (ja) | 1990-10-18 | 1992-05-27 | Mitsubishi Motors Corp | サスペンション剛性制御装置 |
JPH06316211A (ja) * | 1992-08-17 | 1994-11-15 | Nissan Motor Co Ltd | 車両用サスペンション装置 |
JPH09240235A (ja) * | 1996-03-13 | 1997-09-16 | Nissan Motor Co Ltd | 車両用サスペンション |
JPH1142919A (ja) * | 1997-07-25 | 1999-02-16 | Nissan Motor Co Ltd | サスペンション装置 |
JP2009040355A (ja) * | 2007-08-10 | 2009-02-26 | Toyota Motor Corp | サスペンション |
JP2010139012A (ja) * | 2008-12-12 | 2010-06-24 | Toyota Motor Corp | ブレーキキャリパ結合構造、及び車両用懸架装置の制御装置 |
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See also references of EP2818344A4 * |
Also Published As
Publication number | Publication date |
---|---|
US9139063B2 (en) | 2015-09-22 |
CN104136244A (zh) | 2014-11-05 |
US20140375001A1 (en) | 2014-12-25 |
EP2818344A4 (en) | 2015-03-04 |
EP2818344B1 (en) | 2016-05-18 |
CN104136244B (zh) | 2016-08-24 |
EP2818344A1 (en) | 2014-12-31 |
JP5787023B2 (ja) | 2015-09-30 |
JPWO2013125018A1 (ja) | 2015-07-30 |
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