WO2014142065A1 - ダンパ制御装置 - Google Patents
ダンパ制御装置 Download PDFInfo
- Publication number
- WO2014142065A1 WO2014142065A1 PCT/JP2014/056150 JP2014056150W WO2014142065A1 WO 2014142065 A1 WO2014142065 A1 WO 2014142065A1 JP 2014056150 W JP2014056150 W JP 2014056150W WO 2014142065 A1 WO2014142065 A1 WO 2014142065A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- reference value
- damper
- value
- vibration level
- control device
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- 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
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/202—Piston speed; Relative velocity between vehicle body and wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
- B60G2400/91—Frequency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/188—Spectral analysis; Transformations
Definitions
- the damper control device reduces the control gain, thereby causing the damper to exhibit a low damping force and improving the road surface followability of the unsprung member. As a result, the ride comfort in the vehicle is improved (see JP 2007-210590A).
- an object of the present invention is to provide a damper control device that improves riding comfort in a vehicle.
- the first reference value a and the second reference value b processed in this way are taken as orthogonal coordinates as shown in FIG. 4, and the first reference value a and the second reference when the orthogonal coordinates are taken.
- the length of the combined vector U with the value b is calculated and obtained as the vibration level r.
- the amplitudes of the first reference value a and the second reference value b are equalized by the correction of the above procedure, and the phase between the first reference value a and the second reference value b is shifted by 90 degrees. Therefore, when the vibration of the object M is not attenuated and repeats the same vibration, the trajectory indicated by the first reference value a and the second reference value b ideally draws a perfect circle as shown in FIG. Therefore, it can be understood that the vibration level r is equal to the radius of this circle.
- the object M In addition to obtaining the vibration level r1 with the displacement of the object M as the first reference value a, the speed of the object M as the second reference value b, and the acceleration of the object M as the first reference value a, the object M The vibration level r2 is separately obtained by using the acceleration change rate as a second reference value b.
- the vibration level r1 obtained from the relationship between the displacement and speed of the object M, and the average value of the vibration level r and 2 obtained from the relationship between the acceleration of the object M and the change rate of acceleration are used as the final vibration. You may make it obtain
- the vibration level detector 1 detects the vibration level r of the unsprung member W.
- the vibration level detection unit 1 acquires the stroke speed Vd of the damper D output from the stroke speed detection unit 2 as the first reference value.
- the stroke speed Vd of the damper D obtained from the stroke speed detection unit 2 Since the first reference value is the stroke speed Vd of the damper D obtained from the stroke speed detection unit 2, the stroke speed Vd output from the stroke speed detection unit 2 is input to the filter 23 as it is.
- the first reference value is differentiated and integrated to obtain the second reference value and the third reference value.
- the filtering process may be performed only on the damper displacement Xd before obtaining one reference value.
- the output of the stroke sensor 26 may be directly filtered, or the filtering process may be performed only on the first reference value before obtaining the second reference value and the third reference value.
- the first reference value, the second reference value, and the third reference value thus obtained are adjusted by the adjustment unit 24 using the angular frequency ⁇ that matches the resonance frequency of the unsprung member W.
- the command value calculation unit 3 selects a map M2 corresponding to the category “medium” from the map group, and uses the selected map M2 to select the map M2.
- the current value I is obtained from the stroke speed Vd.
- the map M3 is a map used in a state where the vibration level r is small and the damper D slightly vibrates.
- the current value I is larger than the other maps such as the map M2 so that the damper D can positively exert a damping force when the stroke speed Vd changes in the vicinity of 0 (zero). Is set to the value of Thereby, the vibration which shakes with the buzz of the unsprung member W can fully be suppressed. For this reason, it is not necessary for the vehicle occupant to perceive vibrations that tremble.
- the current value I when the stroke speed Vd is close to 0 is set to a predetermined value that can suppress the feeling of a leopard, that is, a current value that is smaller than the map M3.
- the characteristic indicated by the solid line in FIG. 7 is the attenuation characteristic when the map M1 is selected, and the characteristic indicated by the broken line in FIG. 7 is the attenuation characteristic when the map M2 is selected. Further, the characteristic indicated by the one-dot chain line in FIG. 7 is an attenuation characteristic when the map M3 is selected, and the characteristic indicated by the two-dot chain line in FIG. 7 is an attenuation characteristic when the map M4 is selected. .
- the damping coefficient increases according to the magnitude of the vibration level r, and the damping characteristic of the damper D is optimized according to the vibration level r.
- the damping force when the absolute value of the stroke speed Vd is close to 0 decreases as the vibration level r increases, so that the ride comfort in the vehicle is improved while avoiding sudden changes in the damping force when switching the expansion and contraction of the damper D. Can be made.
- the damper control device E in the present embodiment when the vibration level r is large, the gradient in the characteristics of the control command value and the stroke speed Vd becomes large.
- the damper control device E in the present embodiment when the vibration level r becomes small, the inclination in the characteristics of the control command value and the stroke speed Vd becomes small. Therefore, when the stroke speed Vd is high and the vibration level r is large. The unsprung member W can be firmly damped. On the contrary, when the vibration level r is large, the damping force of the damper D is not excessively increased when the stroke speed Vd is in the low speed range, and the ride comfort in the vehicle is improved when the stroke speed Vd is in the high speed range. Can be made.
- a stroke sensor 26 is provided in the damper D, and the cylinder 12 and the piston rod 14 detected by the stroke sensor 26 are relative to each other. Any parameter of the displacement, the relative velocity obtained by differentiating this, and the relative acceleration obtained by differentiating the relative velocity is defined as a first reference value a. Then, the filter 23 extracts a component that matches the resonance frequency of the unsprung member W included in the first reference value a, thereby obtaining any one of the vertical displacement, speed, and acceleration of the unsprung member W. Can do. Alternatively, a sensor may be attached to the unsprung member W to directly detect the vertical acceleration of the unsprung member W, and the first reference value may be obtained using this acceleration.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Claims (5)
- 車両における、ばね上部材とばね下部材との間に介装されるダンパの減衰力を制御して前記ばね下部材を制振するダンパ制御装置であって、
前記ばね下部材の振動の大きさである振動レベルを検知する振動レベル検知部と、
前記ダンパのストローク速度を検知するストローク速度検知部と、
前記ばね下部材の前記振動レベルと前記ダンパのストローク速度とに基づいて、前記ダンパの減衰力を制御する制御指令値を求める指令値演算部と、
を備えるダンパ制御装置。 - 請求項1に記載のダンパ制御装置であって、
前記指令値演算部は、前記ばね下部材の前記振動レベルが大きくなるほど、前記制御指令値と前記ダンパのストローク速度との特性線における傾きが大きくなるように、前記制御指令値を求める、
ダンパ制御装置。 - 請求項1に記載のダンパ制御装置であって、
前記制御指令値と前記ストローク速度との関係を示すマップを複数保有し、
前記指令値演算部は、前記ばね下部材の前記振動レベルに基づいて前記複数のマップからマップを選択し、当該選択されたマップと前記ストローク速度検出部で検出されるストローク速度とから、前記制御指令値を求める、
ダンパ制御装置。 - 請求項1に記載のダンパ制御装置であって、
前記振動レベル検知部は、
少なくとも前記ばね下部材の変位、速度および加速度のうちのいずれか一つのパラメータの値を第一参照値として得る第一参照値取得部と、
前記第一参照値取得部で得た第一参照値の微分値または積分値に相当する第二参照値を得る第二参照値取得部と、
前記第一参照値と前記第二参照値とに基づいて、前記ばね下部材の前記振動レベルを求める振動レベル演算部と、を備える、
ダンパ制御装置。 - 請求項4に記載のダンパ制御装置であって、
前記振動レベル演算部は、前記第一参照値と前記第二参照値とを直交座標に取った際の前記第一参照値と第二参照値との合成ベクトルの長さを認識可能な値から、前記振動レベルを求める、
ダンパ制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/443,074 US9452656B2 (en) | 2013-03-13 | 2014-03-10 | Damper control apparatus |
DE112014000244.5T DE112014000244T5 (de) | 2013-03-13 | 2014-03-10 | Dämpfersteuervorrichtung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013-050130 | 2013-03-13 | ||
JP2013050130A JP5746246B2 (ja) | 2013-03-13 | 2013-03-13 | ダンパ制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014142065A1 true WO2014142065A1 (ja) | 2014-09-18 |
Family
ID=51536722
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2014/056150 WO2014142065A1 (ja) | 2013-03-13 | 2014-03-10 | ダンパ制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9452656B2 (ja) |
JP (1) | JP5746246B2 (ja) |
DE (1) | DE112014000244T5 (ja) |
WO (1) | WO2014142065A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6499417B2 (ja) * | 2014-10-27 | 2019-04-10 | Kyb株式会社 | ダンパ制御装置 |
JP6345724B2 (ja) * | 2016-03-16 | 2018-06-20 | 本田技研工業株式会社 | 車両のサスペンション装置 |
CN105978288B (zh) * | 2016-06-14 | 2018-09-07 | 瑞声声学科技(常州)有限公司 | 线性电机系统 |
JP6747239B2 (ja) * | 2016-10-25 | 2020-08-26 | アイシン精機株式会社 | サスペンションの減衰力制御装置 |
DE102018202313A1 (de) * | 2018-02-15 | 2019-05-09 | Zf Friedrichshafen Ag | Verfahren zur Steigerung eines Komforts eines Fahrzeugnutzers eines Fahrzeugs |
US11919357B2 (en) | 2022-02-14 | 2024-03-05 | Ree Automotive Ltd | Adaptive suspension system |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0399919A (ja) * | 1989-09-12 | 1991-04-25 | Mitsubishi Motors Corp | 車両用アクティブサスペンション |
JPH06247121A (ja) * | 1993-02-24 | 1994-09-06 | Unisia Jecs Corp | 車両懸架装置 |
JP2007210590A (ja) * | 2006-01-16 | 2007-08-23 | Honda Motor Co Ltd | 可変減衰力ダンパの制御装置 |
JP2007302211A (ja) * | 2006-05-15 | 2007-11-22 | Toyota Motor Corp | サスペンションシステム |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2962046B2 (ja) * | 1992-05-15 | 1999-10-12 | 日産自動車株式会社 | サスペンションの振動入力推定装置 |
JP4697507B2 (ja) | 2000-08-31 | 2011-06-08 | 日立オートモティブシステムズ株式会社 | サスペンション制御装置 |
US7333882B2 (en) * | 2004-02-12 | 2008-02-19 | Hitachi, Ltd. | Suspension control apparatus |
US7340334B2 (en) | 2006-06-07 | 2008-03-04 | Honda Motor Co., Ltd. | Control device of variable damping force damper |
JP4930346B2 (ja) * | 2007-11-29 | 2012-05-16 | トヨタ自動車株式会社 | サスペンションシステム |
US7991529B2 (en) * | 2008-06-23 | 2011-08-02 | GM Global Technology Operations LLC | Method and system for detecting a vibration level of a wheel within a resonating frequency range of a vehicle suspension |
JP5702200B2 (ja) * | 2011-03-16 | 2015-04-15 | カヤバ工業株式会社 | 緩衝器の制御装置 |
CN104080628B (zh) * | 2012-01-25 | 2016-07-06 | 日产自动车株式会社 | 车辆的控制装置和车辆的控制方法 |
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2013
- 2013-03-13 JP JP2013050130A patent/JP5746246B2/ja active Active
-
2014
- 2014-03-10 WO PCT/JP2014/056150 patent/WO2014142065A1/ja active Application Filing
- 2014-03-10 US US14/443,074 patent/US9452656B2/en not_active Expired - Fee Related
- 2014-03-10 DE DE112014000244.5T patent/DE112014000244T5/de not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0399919A (ja) * | 1989-09-12 | 1991-04-25 | Mitsubishi Motors Corp | 車両用アクティブサスペンション |
JPH06247121A (ja) * | 1993-02-24 | 1994-09-06 | Unisia Jecs Corp | 車両懸架装置 |
JP2007210590A (ja) * | 2006-01-16 | 2007-08-23 | Honda Motor Co Ltd | 可変減衰力ダンパの制御装置 |
JP2007302211A (ja) * | 2006-05-15 | 2007-11-22 | Toyota Motor Corp | サスペンションシステム |
Also Published As
Publication number | Publication date |
---|---|
JP2014172592A (ja) | 2014-09-22 |
DE112014000244T5 (de) | 2015-12-03 |
US20160031286A1 (en) | 2016-02-04 |
US9452656B2 (en) | 2016-09-27 |
JP5746246B2 (ja) | 2015-07-08 |
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