WO2016129648A1 - 模擬コイルばね装置と、その制御方法 - Google Patents
模擬コイルばね装置と、その制御方法 Download PDFInfo
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- WO2016129648A1 WO2016129648A1 PCT/JP2016/054012 JP2016054012W WO2016129648A1 WO 2016129648 A1 WO2016129648 A1 WO 2016129648A1 JP 2016054012 W JP2016054012 W JP 2016054012W WO 2016129648 A1 WO2016129648 A1 WO 2016129648A1
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- coil spring
- attachment member
- spring device
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- simulated coil
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- 238000000034 method Methods 0.000 title claims description 5
- 238000006073 displacement reaction Methods 0.000 claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000006243 chemical reaction Methods 0.000 description 20
- 239000000725 suspension Substances 0.000 description 14
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000013598 vector Substances 0.000 description 4
- 239000006096 absorbing agent Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 238000011835 investigation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/08—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for statics or dynamics
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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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
- F16F1/00—Springs
- F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
- F16F1/04—Wound springs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
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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
- F16F2230/00—Purpose; Design features
- F16F2230/0017—Calibrating
Definitions
- the present invention relates to a simulated coil spring device capable of generating a reaction force corresponding to a coil spring such as a suspension coil spring and a control method thereof.
- a McPherson strut type suspension device is known as an example of a vehicle suspension device.
- the McPherson strut type suspension device includes a coil spring and a strut (shock absorber) disposed inside the coil spring.
- the coil spring is compressed by a load applied from above the coil spring, the coil spring expands and contracts according to the magnitude of the load, and the struts expand and contract.
- the position of the reaction line of the coil spring is offset from the center of the coil spring in order to reduce the sliding resistance of the strut.
- the reaction force line position of the coil spring is set at a position where the friction of the strut is minimized. For this reason, it is necessary to know the relationship between the position of the reaction force line of the coil spring and the sliding resistance of the strut.
- Patent Document 1 a simulated coil spring device disclosed in US Pat. No. 7,606,690 (Patent Document 1) is known. Also, from the 21st to 24th pages of the Preliminary Proceedings published at the Spring Society of Japan (Nagoya) on November 1, 2013, “Investigation of the Effect of Coil Spring Reaction Force Lines on Universal Vehicles” ), Or SAE2014 “Experimental Study on the Effect of Coil Spring Reaction Force Vector on Suspension Characteristics (Non-Patent Document 2) announced in the US (Detroit) on April 8, 2014
- These simulated coil spring devices have a Stewart platform type parallel mechanism having six hydraulic cylinders, and each hydraulic cylinder is operated by hydraulic pressure, thereby providing a reaction corresponding to a coil spring. Can generate power.
- the length (deflection) of the coil spring changes according to the compression load applied in the axial direction.
- the length (deflection) increases in proportion to the magnitude of the load.
- characteristics eg, strut sliding resistance and kingpin moment
- the spring constant is not always constant. For example, there is a coil spring in which the spring constant increases as the amount of compression increases.
- the present invention provides a simulated coil spring device capable of generating a reaction force corresponding to the compressed amount in each hydraulic cylinder and simulating various coil springs, and a control method therefor. It is in.
- One embodiment of the present invention is a simulated coil spring device provided in a strut having a lower spring seat and an upper spring seat, the first attachment member disposed on the lower spring seat, and the upper spring A second attachment member disposed on the seat; an actuator unit disposed between the first attachment member and the second attachment member; and an expansion / contraction operation; a spring height detection mechanism; and a control unit.
- the spring height detection mechanism detects a displacement amount related to a distance between the first attachment member and the second attachment member.
- the control unit controls the actuator unit according to the amount of displacement detected by the spring height detection mechanism.
- An example of the actuator unit is composed of a Stewart platform type parallel mechanism having six hydraulic cylinders arranged with the inclination alternately changed between the first attachment member and the second attachment member.
- An example of the spring height detection mechanism is constituted by a linear displacement meter provided in each of the hydraulic cylinders. Each of these displacement meters detects the amount of displacement from the reference length of each hydraulic cylinder.
- One example of a displacement meter is an LVDT (linear variable differential) with a plunger. Furthermore, you may provide in the guide rod which guides the linear motion of each said plunger.
- a first internal load cell for detecting an axial force applied to the lower spring seat and a moment around the axis; and a second internal load cell for detecting an axial force applied to the upper spring seat and a moment around the axis.
- a load cell may be further provided.
- the coil spring simulator equipped with the displacement meter calculates the vertical displacement from the reference height based on the displacement amount of each hydraulic cylinder detected by the displacement meter.
- a vertical load obtained by multiplying the vertical displacement by a spring constant is added to the initial vertical load.
- load control reaction force control
- a spring constant is performed in the same manner as an actual coil spring.
- the reaction force corresponding to the compressed amount can be generated in each hydraulic cylinder in the same manner as an actual coil spring having a spring constant. Even if a spring is not used, a characteristic test equivalent to a suspension device provided with a coil spring can be performed.
- FIG. 1 is a cross-sectional view of a McPherson strut type suspension device.
- FIG. 2 is a perspective view of a simulated coil spring device according to one embodiment.
- FIG. 3 is a side view of the simulated coil spring device shown in FIG. 4 is a bottom view of the simulated coil spring device shown in FIG.
- FIG. 5 is a sectional view taken along line F5-F5 in FIG.
- FIG. 6 is a block diagram showing an outline of the configuration of the simulated coil spring device shown in FIG.
- FIG. 7 is a perspective view schematically showing a part of the simulated coil spring device shown in FIG.
- FIG. 8 is a graph showing the relationship between the displacement amount of the hydraulic cylinder and the hydraulic pressure.
- FIG. 1 shows a McPherson strut type suspension device 1 which is an example of a suspension device used in a vehicle.
- the suspension device 1 includes a shock absorber as a strut 2 and a suspension coil spring 3 (hereinafter simply referred to as a coil spring 3).
- the strut 2 includes an outer cylinder 4 as a first strut element and a rod 5 as a second strut element.
- the rod 5 is inserted into the outer cylinder 4.
- a damping force generating mechanism is provided at the tip of the rod 5 inserted into the outer cylinder 4.
- the outer cylinder 4 and the rod 5 can move in the direction of the axis L 1 (strut axis).
- a lower spring seat 10 is provided on the outer cylinder 4.
- a bracket 11 is provided at the lower end of the outer cylinder 4.
- a knuckle member 12 is attached to the bracket 11.
- the wheel shaft is supported by the knuckle member 12.
- An upper spring seat 15 is provided at the upper end of the rod 5.
- a mount insulator 17 is provided between the upper spring seat 15 and the body member 16.
- FIG. 2 is a perspective view of the simulated coil spring device 20.
- FIG. 3 is a side view of the simulated coil spring device 20.
- FIG. 4 is a bottom view of the simulated coil spring device 20.
- FIG. 5 is a sectional view taken along line F5-F5 in FIG.
- a strut 2A (shown in FIG. 5) used in the simulated coil spring device 20 includes an outer cylinder 4A as a first strut element, a rod 5A as a second strut element, a lower spring seat 10A, and a bracket. 11A and the upper spring seat 15A.
- the lower spring seat 10A is attached to the outer cylinder 4A.
- the upper spring seat 15A is disposed near the upper end of the rod 5A above the lower spring seat 10A.
- the rod 5A can move in the direction of the axis L 1 (strut axis) with respect to the outer cylinder 4A.
- the simulated coil spring device 20 includes a first attachment member 21, a second attachment member 22, a first seat adapter 27, a second seat adapter 28, and an actuator unit 30 including a Stewart platform type parallel mechanism.
- the hydraulic pressure supply device 37, the first internal load cell 41, the second internal load cell 42, the base member 45, the rotation support mechanism 50, the control unit 70, and the like are included.
- the first attachment member 21 is fixed to the lower spring seat 10A.
- the first attachment member 21 includes a first disc portion 21a disposed above the lower spring seat 10A, and a cylindrical first extension portion 21b extending downward from the first disc portion 21a. And a first flange portion 21c protruding outward from the lower end of the first extension portion 21b. That is, the first attachment member 21 has a substantially hat shape.
- Lower joint connection portions 25 are respectively provided at six locations in the circumferential direction of the first flange portion 21c.
- the second attachment member 22 is fixed to the upper spring seat 15A.
- the second attachment member 22 includes a second disc portion 22a disposed below the upper spring seat 15A, a cylindrical second extending portion 22b extending upward from the second disc portion 22a, It has the 2nd collar part 22c which protrudes outside from the upper end of the 2nd extension part 22b. That is, the second attachment member 22 has an inverted hat shape.
- Upper joint connection portions 26 are respectively provided at six locations in the circumferential direction of the second flange portion 22c.
- the first seat adapter 27 is disposed on the lower spring seat 10A.
- the first sheet adapter 27 is made of a light alloy that is lighter than iron, such as an aluminum alloy, and has a flat upper surface 27a.
- the lower surface 27b of the first seat adapter 27 has a shape that fits with the lower spring seat 10A.
- the second seat adapter 28 is disposed under the upper spring seat 15A.
- the second sheet adapter 28 is also made of a light alloy such as an aluminum alloy, for example, and has a flat lower surface 28a.
- the upper surface 28b of the second seat adapter 28 has a shape that makes surface contact with the upper spring seat 15A.
- the lower surface 28 a of the second sheet adapter 28 is parallel to the lower surface 27 b of the first sheet adapter 27.
- the flange portion 21c of the first attachment member 21 is located below the lower spring seat 10A.
- the flange portion 22c of the second attachment member 22 is located above the upper spring seat 15A.
- An actuator unit 30 that expands and contracts by hydraulic pressure is disposed between the flanges 21c and 22c.
- An example of the actuator unit 30 includes a Stewart platform type parallel mechanism.
- FIG. 6 is a block diagram showing the configuration of the simulated coil spring device 20.
- FIG. 7 is a perspective view schematically showing a part of the simulated coil spring device 20.
- the actuator unit 30 composed of a Stewart platform type parallel mechanism has six hydraulic cylinders 31 1 to 31 6 . These hydraulic cylinders 31 1 to 31 6 are arranged with their inclinations alternately changed so that the angles with respect to the vertical line H (shown in FIG. 6) are alternately + ⁇ and ⁇ between adjacent hydraulic cylinders. ing.
- Hydraulic cylinders 31 1 a piston rod 32 which is driven by a hydraulic (e.g. oil), a first hydraulic chamber 33 to move the piston rod 32 in a first direction (extension side), a piston rod 32 And a second hydraulic chamber 34 moved in the second direction (contraction side).
- the first hydraulic pressure chamber 33 and the second hydraulic pressure chamber 34 are connected to a hydraulic pressure supply device 37 via hoses 35 and 36, respectively.
- the hydraulic pressure hydraulic supply device 37 By supplying the hydraulic pressure hydraulic supply device 37 is generated in the first hydraulic chamber 33 or second hydraulic chamber 34, it can be moved to the side expansion side and contraction of the hydraulic cylinder 31 1.
- the lower end of the hydraulic cylinders 31 1, the universal joint 38 which is represented by a ball joint, are connected pivotably to the joint connection 25 of the first attachment member 21.
- the upper end of the hydraulic cylinder 31. 1, the universal joint 39 which is represented by a ball joint, is swingably connected to the joint connection 26 of the second attachment member 22.
- Linear displacement meters 40 1 to 40 6 are provided in the hydraulic cylinders 31 1 to 31 6 , respectively. These displacement meters 40 1 to 40 6 constitute a spring height detection mechanism 40A. Since each construction of the displacement meter 40 1 to 40 6 are common to each other, it will be described here as a representative of the first displacement gauge 40 1 provided on the first hydraulic cylinder 31 1.
- An example of a displacement meter 40 1 is a LVDT having a plunger 54 (linear variable differential transformer).
- the displacement meter 40 1 detects the linear displacement of the hydraulic cylinder 31 1 of the reference length (reference position of the piston rod 32).
- Other examples of the displacement meter 40 1 for example, an optical linear encoder, the linear displacement sensor such as a magnetic linear scale may be employed.
- a linear displacement meter based on a detection principle other than these may be employed.
- Displacement meter 40 1 is mounted to the hydraulic cylinders 31 1 by a mounting plate 55.
- Displacement meter 40 1 of the plunger 54 is connected to the distal end of the hydraulic cylinder 31 1 of the piston rod 32 by a coupling member 56.
- a guide rod 57 is inserted into the mounting plate 55.
- the guide rod 57 is connected to the plunger 54 by a connecting member 56.
- a piston rod 32, a plunger 54, the guide rod 57 in a state keeping the parallel relationship with each other, to move in the axial direction of the hydraulic cylinder 31 1.
- the guide rod 57 guides the linear motion of the piston rod 32 and the plunger 54. Since the other displacement meters 40 2 to 40 6 have the same configuration as that of the first displacement meter 40 1 , common parts are denoted by common reference numerals in FIGS. 2 to 5.
- a first internal load cell 41 is disposed between the disc portion 21 a of the first attachment member 21 and the first seat adapter 27.
- the first internal load cell 41 is housed inside the first attachment member 21 and is disposed above the lower spring seat 10A.
- the first inner load cell 41 includes a through hole 41a into which the outer cylinder 4A is inserted, a flat upper surface 41b in contact with the lower surface of the first disc portion 21a, and a flat surface in contact with the upper surface 27a of the first seat adapter 27. It has a lower surface 41c and has a ring shape as a whole.
- the first internal load cell 41 so that its upper surface 41b and lower surface 41c the axial L 1 and right angle, and is fixed to the first sheet adapter 27.
- the first internal load cell 41 detects an axial force acting on the upper surface 27a of the first seat adapter 27 and a moment around the axis.
- the first internal load cell 41 includes an outer cylinder 4A, and the lower spring seat 10A, a first sheet adapter 27, the first attachment member 21, can pivot about the shaft L 1.
- a second internal load cell 42 is disposed between the disc part 22 a of the second attachment member 22 and the second seat adapter 28.
- the second internal load cell 42 is accommodated in the second attachment member 22 and is disposed below the upper spring seat 15A.
- the second internal load cell 42 includes a through hole 42a into which the rod 5A is inserted, a flat lower surface 42b in contact with the upper surface of the second disc portion 22a, and a flat upper surface in contact with the lower surface 28a of the second seat adapter 28. 42c, and has a ring shape as a whole. Second internal load cell 42, so that its lower surface 42b and upper surface 42c the axial L 1 and right angle, and is fixed to the second sheet adapter 28.
- Second internal load cell 42 like the first internal load cell 41, the rotation support mechanism 50 coaxially, that is, the center of the internal load cell 42 is arranged to coincide with the axis L 1.
- the second internal load cell 42 detects an axial force acting on the lower surface 28a of the second seat adapter 28 and a moment around the axis.
- Second internal load cell 42, an upper spring seat 15A, the second attachment member 22, together with the second sheet adapters 28 can rotate about the shaft L 1.
- a rotation support mechanism 50 is disposed between the upper spring seat 15 ⁇ / b> A and the base member 45.
- Rotation support mechanism 50 relative to the base member 45, and the actuator unit 30 and supported rotatably about the axis L 1.
- An example of the rotation support mechanism 50 is a ball bearing, and includes a lower ring member 51, an upper ring member 52, and a plurality of rolling members 53 accommodated between the ring members 51 and 52. .
- the lower ring member 51 is disposed on the upper surface of the upper spring seat 15A.
- the upper ring member 52 is disposed on the lower surface of the base member 45.
- the actuator unit 30 composed of a Stewart platform type parallel mechanism forms an arbitrary force field with six degrees of freedom by synthesizing the six axial forces P 1 to P 6 shown in FIG. That is, among the force vectors generated by the six hydraulic cylinders 31 1 to 31 6 , the resultant force of the component in the direction of the axis L 1 becomes a reaction force corresponding to the coil spring. For example, if the value obtained by combining the six axial forces P 1 to P 6 is positive, an upward force P Z along the axis L 1 is generated.
- the six-axis force P 1 ⁇ P 6 is the sum of the moments exerted about the shaft L 1 becomes a moment Mz around the axis L 1.
- three hydraulic cylinders 31 1, 31 3, 31 force 5 is produced the sum of (generating a positive Mz axial force), the other three hydraulic cylinders 31 2, 31 4, 31 If it is larger than the sum of the forces generated by 6 (the axial force that generates negative Mz), a positive value Mz is generated at the upper end (upper spring seat 15A) of the actuator unit 30. That is, the component around the axis of the force vector generated by the six hydraulic cylinders 31 1 to 31 6 is the moment (Mz) around the axis L 1 .
- the displacement meters 40 1 to 40 6 detect the displacement amounts from the reference lengths of the hydraulic cylinders 31 1 to 31 6 .
- the hydraulic pressure supply device 37 supplies the hydraulic pressure corresponding to the displacement detected by the displacement gauges 40 1 to 40 6 to the hydraulic cylinders 31 1 to 31 6 . Since the displacement gauge 40 1 to 40 6 functions are common to each other, it will be described here as a representative of the first displacement gauge 40 1 provided on the first hydraulic cylinder 31 1.
- Control unit 70 based on the displacement of the hydraulic cylinders 31 1 detected by the displacement gauge 40 1 calculates the vertical displacement from the reference height of the hydraulic cylinders 31 1. A vertical load obtained by multiplying the vertical displacement by a spring constant is added to the initial vertical load. By controlling the hydraulic cylinders 31 1 of the hydraulic using this added value, like the actual coil springs, performs load control remembering the spring constant (the control of the reaction force).
- the hydraulic A1 is supplied to the hydraulic cylinders 31 1.
- hydraulic A2 (A2> A1) is supplied to the hydraulic cylinders 31 1.
- the hydraulic A3 (A3> A2) is supplied to the hydraulic cylinders 31 1.
- simulated coil spring device 20 of the present embodiment based on the amount of displacement of each hydraulic cylinder 31 1 to 31 6 detected by the displacement gauge 40 1 to 40 6, in the same way as the actual coil spring, Load control (control of reaction force) with a spring constant is performed.
- a linear displacement meter 40B indicated by a two-dot chain line in FIG. 5 is disposed between the attachment members 21 and 22, and the vertical displacement is directly detected by the linear displacement meter 40B. May be.
- the performance test of the strut 2A (for example, measurement of the sliding resistance and kingpin moment of the strut 2A) can be performed using the simulated coil spring device 20 of the present embodiment.
- 5 and 6 show a part 80 of the load tester.
- a predetermined load is applied to the simulated coil spring device 20 by this load testing machine. Due to this load, the distance between the lower spring seat 10A and the upper spring seat 15A is reduced, and a vertical reaction force is generated.
- the base member 45 is moved up and down with a waveform having a vertical stroke of ⁇ 5 mm and 0.5 Hz, and the load is measured by the external load cell 81.
- the frictional force generated in the strut 2A can be evaluated by a value half of the measured load hysteresis.
- the actuator unit 30 is supported by the rotation support mechanism 50.
- the friction of the rotation support mechanism 50 determines the magnitude of the kingpin moment.
- the generated kingpin moment is detected in a state where a predetermined vertical reaction force is generated between the lower spring seat 10A and the upper spring seat 15A.
- the simulated coil spring device according to the embodiment of the present invention is not limited to the McPherson strut type, but can be applied to other types of suspension devices having struts.
- the actuator unit is not limited to the Stewart platform type parallel mechanism, and in short, an actuator unit having a cylinder that expands and contracts by the pressure of fluid (liquid or gas) can be adopted.
- a linear actuator including a ball screw and a servo motor may be employed, or a differential transformer type linear actuator may be employed.
- An actuator unit having a cylinder that expands and contracts by hydraulic pressure can be employed.
- each of the components constituting the simulated coil spring device such as the first and second attachment members, the displacement meter constituting the spring height detection mechanism, the constitution and shape and arrangement of the hydraulic pressure supply device, etc.
- the elements can be modified in various ways.
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Abstract
Description
スチュワートプラットフォーム形パラレル機構からなるアクチュエータユニット30は、図7に示す6つの軸力P1~P6を合成することで、6自由度の任意な力の場を形成する。すなわち、6つの液圧シリンダ311~316が発生する力のベクトルのうち、軸L1方向の成分の合力が、コイルばねに相当する反力となる。例えば6つの軸力P1~P6を合成した値が正であれば、軸L1に沿う上向きの力PZが発生する。
Claims (6)
- 下側ばね座(10A)と上側ばね座(15A)とを有するストラット(2A)に設ける模擬コイルばね装置(20)であって、
前記下側ばね座(10A)に配置された第1のアタッチメント部材(21)と、
前記上側ばね座(15A)に配置された第2のアタッチメント部材(22)と、
前記第1のアタッチメント部材(21)と前記第2のアタッチメント部材(22)との間に配置され、伸縮動作するアクチュエータユニット(30)と、
前記第1のアタッチメント部材(21)と前記第2のアタッチメント部材(22)との間の距離に関する変位量を検出するばね高さ検出機構(40A)と、
前記ばね高さ検出機構(40A)によって検出された前記変位量に応じて、前記アクチュエータユニット(30)をコントロールする制御部(70)と、
を具備した模擬コイルばね装置(20)。 - 請求項1に記載の模擬コイルばね装置(20)において、
前記アクチュエータユニット(30)が、前記第1のアタッチメント部材(21)と前記第2のアタッチメント部材(22)との間に交互に傾きを変えて配置された6つの液圧シリンダ(311-316)を有するスチュワートプラットフォーム形パラレル機構からなる模擬コイルばね装置(20)。 - 請求項2に記載の模擬コイルばね装置(20)において、
前記ばね高さ検出機構(40A)は、
前記各液圧シリンダ(311-316)に設けられ、前記各液圧シリンダ(311-316)の基準長さからの変位量をそれぞれ検出する変位計(401-406)によって構成された模擬コイルばね装置(20)。 - 請求項3に記載の模擬コイルばね装置(20)において、
前記変位計(401-406)がそれぞれプランジャ(54)を備えたLVDTであり、かつ、前記各プランジャ(54)と平行に配置されて該プランジャ(54)の直線運動を案内するガイドロッド(57)に備えた模擬コイルばね装置(20)。 - 請求項1に記載の模擬コイルばね装置(20)において、
前記下側ばね座(10A)に加わる軸方向の力と軸まわりのモーメントを検出する第1の内部ロードセル(41)と、前記上側ばね座(15A)に加わる軸方向の力と軸まわりのモーメントを検出する第2の内部ロードセル(42)とをさらに備えた模擬コイルばね装置(20)。 - 模擬コイルばね装置(20)のための制御方法であって、
前記模擬コイルばね装置(20)が、下側ばね座(10A)に配置された第1のアタッチメント部材(21)と上側ばね座(15A)に配置された第2のアタッチメント部材(22)との間に配置された液圧シリンダ(311-316)を含み、
前記各液圧シリンダ(311-316)の基準長さからの変位量を検出し、
前記変位量に応じた液圧を、前記各液圧シリンダ(311-316)に供給すること、
を具備した模擬コイルばね装置(20)の制御方法。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16749291.7A EP3258233B1 (en) | 2015-02-12 | 2016-02-10 | Model coiled spring device and control method for same |
PL16749291.7T PL3258233T3 (pl) | 2015-02-12 | 2016-02-10 | Urządzenie do modelowania sprężyny śrubowej i sposób sterowania nim |
ES16749291T ES2946182T3 (es) | 2015-02-12 | 2016-02-10 | Dispositivo de modelado de muelles helicoidales y procedimiento de control del mismo |
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CN201680010278.4A CN107250750B (zh) | 2015-02-12 | 2016-02-10 | 模拟线圈弹簧装置及其控制方法 |
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CN108275039A (zh) * | 2018-02-13 | 2018-07-13 | 天津大学 | 一种基于Stewart机构和智能材料的工程机械减振座椅 |
CN111299703B (zh) * | 2019-11-21 | 2022-02-08 | 深圳大学 | 加工装置及精密加工机床 |
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JP2007256019A (ja) * | 2006-03-22 | 2007-10-04 | Railway Technical Res Inst | 磁気浮上式鉄道の連接車両用振動模型装置 |
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JP2805387B2 (ja) * | 1990-09-17 | 1998-09-30 | 三菱自動車工業株式会社 | 車両用アクティブサスペンション装置 |
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EP3258233A1 (en) | 2017-12-20 |
JPWO2016129648A1 (ja) | 2017-09-28 |
KR101917553B1 (ko) | 2019-01-24 |
PL3258233T3 (pl) | 2023-10-02 |
HUE062104T2 (hu) | 2023-09-28 |
EP3258233B1 (en) | 2023-05-24 |
CN107250750A (zh) | 2017-10-13 |
EP3258233A4 (en) | 2018-11-07 |
ES2946182T3 (es) | 2023-07-13 |
CN107250750B (zh) | 2020-02-18 |
KR20170106378A (ko) | 2017-09-20 |
US20160239004A1 (en) | 2016-08-18 |
US9811067B2 (en) | 2017-11-07 |
JP6326511B2 (ja) | 2018-05-16 |
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