WO2017086015A1 - サスペンション装置 - Google Patents
サスペンション装置 Download PDFInfo
- Publication number
- WO2017086015A1 WO2017086015A1 PCT/JP2016/077663 JP2016077663W WO2017086015A1 WO 2017086015 A1 WO2017086015 A1 WO 2017086015A1 JP 2016077663 W JP2016077663 W JP 2016077663W WO 2017086015 A1 WO2017086015 A1 WO 2017086015A1
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- WIPO (PCT)
- Prior art keywords
- vehicle body
- force
- pitch
- roll
- suspension device
- 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
- B60G17/0165—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 to an external condition, e.g. rough road surface, side wind
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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
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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
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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
- B60G17/0152—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
- B60G17/0157—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 non-fluid unit, e.g. electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/413—Hydraulic actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/416—Fluid actuator using a pump, e.g. in the line connecting the lower chamber to the upper chamber of the actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/102—Acceleration; Deceleration vertical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
- B60G2400/1042—Acceleration; Deceleration lateral or transversal with regard to vehicle using at least two sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
- B60G2400/2042—Lateral speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/014—Pitch; Nose dive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/304—Acceleration sensors
Definitions
- the present invention relates to a suspension device.
- This type of suspension device includes, for example, four fluid pressures interposed between a vehicle body and four front, rear, left and right wheels of the vehicle as disclosed in JPH03070616 (A) and JPH03070617 (A).
- a cylinder and a controller for controlling the fluid pressure cylinder are provided.
- the controller includes vertical acceleration sensors that detect vertical acceleration at four locations directly above the fluid pressure cylinder of the vehicle body, and calculates a roll angular velocity or pitch angular velocity from the four vertical accelerations.
- the controller calculates a command value for suppressing the roll or pitch from the roll angular velocity or the pitch angular velocity for each of the four fluid pressure cylinders, and controls the fluid pressure cylinder.
- the controller multiplies the roll angular velocity by a gain to cause the fluid pressure cylinder to exert a force proportional to the roll angular velocity, or the pitch angular velocity to a gain to cause the fluid pressure cylinder to exert a force proportional to the pitch angular velocity. To suppress the roll or pitch.
- the fluid pressure cylinder exerts a force to suppress these, and the vehicle body roll and pitch are controlled. Suppressed.
- the present invention was created to improve the above-mentioned problems, and the object of the present invention is to provide a suspension device that can improve the vibration suppression effect of the vehicle body.
- the suspension device of the present invention obtains a pitch restraining force and a roll restraining force that cancel each moment of the roll and pitch of the vehicle body, and takes these into consideration to obtain a target control force to control the actuator. .
- FIG. 1 is a diagram showing the configuration of the suspension device of the present invention.
- FIG. 2 is a diagram illustrating a configuration example of the actuator.
- FIG. 3 is a diagram illustrating the center of gravity, wheel base, and tread of the vehicle.
- FIG. 4 is a diagram for explaining a moment by the pitch restraining force and the roll restraining force and a balanced state of the pitch moment and the roll moment.
- FIG. 5 is a diagram illustrating a configuration example of a road surface input reduction control calculation unit.
- FIG. 6 is a diagram showing another variation of the configuration of the suspension device.
- the suspension apparatus S includes four actuators interposed between a vehicle body B of a vehicle V and four wheels W FR , W FL , W RR , W RL on the front, rear, left and right sides of the vehicle V.
- a FR , A FL , A RR , A RL and a controller C for controlling the actuators A FR , A FL , A RR , A RL are provided.
- the actuators A FR , A FL , A RR , A RL are provided between the extendable cylinder device AC, the pump 4, and between the cylinder device AC and the pump 4 to discharge from the pump 4.
- a hydraulic circuit FC that supplies the liquid to the cylinder device AC and expands and contracts the cylinder device AC.
- the cylinder apparatus AC is movable into the cylinder 1, the piston 2 that is movably inserted into the cylinder 1 and divides the cylinder 1 into an expansion side chamber R1 and a compression side chamber R2, and the cylinder 1.
- the rod 3 is inserted into the piston 2 and connected to the piston 2.
- the rod 3 is inserted only into the extension side chamber R1, and the cylinder device AC is a so-called single rod type cylinder device.
- the reservoir R is provided independently of the cylinder device AC.
- an outer cylinder disposed on the outer peripheral side of the cylinder 1 in the cylinder device AC is provided. It may be provided and formed with an annular gap between the cylinder 1 and the outer cylinder.
- Cylinder device AC can body B and the wheels W FR of the cylinder 1 the vehicle V, W FL, W RR, connected to one of W RL, the vehicle body B and wheel W FR rod 3, W FL, W RR, W coupled to the other of the RL, the vehicle body B and the wheels W FR, W FL, W RR , is interposed between the W RL.
- a suspension spring Sp is interposed between the vehicle body B and the wheels W FR , W FL , W RR , W RL in parallel with the cylinder device AC.
- the extension side chamber R1 and the pressure side chamber R2 are filled with a liquid such as hydraulic oil, for example, and the reservoir R stores the liquid.
- the reservoir R is also filled with a liquid and pressurizes the liquid filled by a gas spring and / or a spring.
- a liquid such as water or an aqueous solution can be used in addition to the hydraulic oil.
- the chamber compressed during the expansion stroke is referred to as an expansion side chamber R1
- the chamber compressed during the contraction stroke is referred to as a compression side chamber R2.
- the pump 4 is set to a one-way discharge type that sucks liquid from the suction side and discharges liquid from the discharge side, and is driven by a motor 13.
- Various types of motors such as brushless motors, induction motors, synchronous motors and the like can be adopted as the motor 13 regardless of whether they are direct current or alternating current.
- the suction side of the pump 4 is connected to the reservoir R by the pump passage 14, and the discharge side is connected to the hydraulic circuit FC. Therefore, when the pump 4 is driven by the motor 13, the pump 4 sucks the liquid from the reservoir R and discharges the liquid to the hydraulic circuit FC.
- the motor 13 that drives the pump 4 is controlled by the controller C.
- the controller C can adjust the amount of current supplied to the motor 13 and can control not only the driving and stopping of the pump 4 but also the rotational speed of the pump 4. That is, the drive of the pump 4 is controlled by the controller C.
- the hydraulic circuit FC includes an electromagnetic valve controlled by the controller C, and can supply the liquid discharged from the pump 4 to the expansion side chamber R1 and the pressure side chamber R2 in the cylinder device AC. Further, the hydraulic circuit FC is configured to discharge the surplus portion of the liquid discharged from either the expansion side chamber R1 or the pressure side chamber R2 and the liquid discharged from the pump 4 to the reservoir R. Then, the hydraulic circuit FC controls the thrust of the cylinder device AC by adjusting the pressure in the extension side chamber R1 and the pressure side chamber R2 according to a command from the controller C, and causes the cylinder device AC to function as an active suspension. . In this way, the controller C can control the thrust in each actuator A FR , A FL , A RR , A RL according to the target control force determined by itself.
- the controller C is installed in the vehicle body B and includes three acceleration sensors 21, 22, and 23 that detect the vertical accelerations G 1 , G 2 , and G 3 , respectively.
- an acceleration sensor 24 for detecting a lateral acceleration G lat of an acceleration sensor 25 for detecting the longitudinal acceleration G long of the vehicle body B is placed on the vehicle body B, the four wheels W FR, W FL, W RR , W RL Acceleration sensors 26, 27, 28, and 29 for detecting vertical accelerations G UFR , G UFL , G URR , and G URL , a vehicle body control calculation unit 30, a road surface input reduction control calculation unit 31, and a target control force calculation unit 32 and a motor 33 and a driver 33 for driving an electromagnetic valve in the hydraulic circuit FC.
- the acceleration sensors 21, 22, and 23 detect vertical accelerations G 1 , G 2 , and G 3 in the vertical direction of the vehicle body B, and any three locations that are not on the same straight line in the front-rear direction or the horizontal direction of the vehicle body B Is installed.
- the acceleration sensors 21, 22, and 23 output the detected vertical accelerations G 1 , G 2 , and G 3 to the vehicle body control calculation unit 30.
- the acceleration sensor 24 and the acceleration sensor 25 input the detected lateral acceleration G lat and longitudinal acceleration G long to the vehicle body control calculation unit 30, respectively.
- the acceleration sensors 26, 27, 28, and 29 input the detected vertical accelerations G UFR , G UFL , G URR , and G URL to the road surface input reduction control calculation unit 31, respectively.
- Vehicle control calculation unit 30 processes the acceleration G 1, G 2, G 3 , bounce velocity V B of the vehicle body B, a speed calculating unit 30a for obtaining the pitch angular velocity V P and roll angular velocity V R, the speed calculation unit 30a bounce velocity V B obtained by the pitch angular velocity V P, the roll angular velocity V R and the lateral acceleration G lat and four actuator a FR from the longitudinal acceleration G long, a FL, a RR , a RL is the vehicle should take control force F FR, F FL, F RR , and a control force calculating unit 30b for obtaining the F RL.
- the speed calculation unit 30a integrates accelerations G 1 , G 2 , and G 3 to obtain three speeds in the vertical direction. If the vehicle body B is regarded as a rigid body and three vertical speeds are obtained that are not on the same straight line in the front-rear or left-right direction of the vehicle body B, each of the vertical direction, the front-rear direction rotation, and the lateral direction rotation of the vehicle body B is obtained. Speed is obtained.
- a bounce velocity V B is the vertical velocity at the center of gravity of the vehicle body B from these speeds
- the pitch angular velocity V P is the angular velocity of the longitudinal rotation of the position of the center of gravity of the position of the center of gravity obtain an angular velocity
- the roll angular velocity V R of the lateral rotation is the speed calculating section 30a.
- Control force calculating unit 30b is bounce velocity V B calculated by the speed calculating part 30a, the pitch angular velocity V P and roll angular velocity V R and the lateral acceleration G lat and longitudinal acceleration G detected by the acceleration sensor 24 and the acceleration sensor 25 Long input is received. Then, the control force calculation unit 30b calculates the vehicle body control forces F FR , F FL , F RR , and F RL from the bounce velocity V B , the pitch angular velocity V P , the roll angular velocity V R , the lateral acceleration Glat, and the longitudinal acceleration G long. Ask.
- Control force calculating unit 30b calculates the control force for damping a vertical vibration of the vehicle body B by multiplying a gain to bounce velocity V B.
- the control force calculating unit 30b obtains the pitch direction of the damping moment is multiplied by a gain in the pitch angular velocity V P, control the vibration due to the pitch of the vehicle body B by dividing the attenuation moment wheelbase (L F + L R) Find the control force to shake.
- control force calculating unit 30b obtains the roll direction of the damping moment is multiplied by a gain roll velocity V R, the control force for damping the vibration caused by the roll of the vehicle body B by dividing the attenuation moment tread W Ask for.
- control force calculation unit 30b multiplies the input longitudinal acceleration G long by a gain to obtain a control force necessary for preventing the pitch of the vehicle body B due to an inertial force acting in the longitudinal direction.
- the control force calculation unit 30b multiplies the input lateral acceleration G lat by a gain to obtain a control force necessary to prevent the vehicle body B from being rolled by centrifugal force.
- the control force calculation unit 30b obtains the control force from the bounce velocity V B , the pitch angular velocity V P , the roll angular velocity V R , the longitudinal acceleration G long, and the lateral acceleration G lat .
- the control force is obtained by setting the sign of the downward force as positive and the sign of the upward force as negative.
- the control force calculation unit 30b obtains the vehicle body control forces F FR , F FL , F RR , F RL that should be generated by the actuators A FR , A FL , A RR , A RL from these five control forces.
- the actuators A FR , A FL , A RR , and A RL need to generate control forces having the same magnitude in the same direction.
- the front actuators A FR and A FL and the rear actuators A RR and A RL must exhibit the same magnitude and opposite control forces.
- the right actuators A FR and A RR and the left actuators A FL and A RL must exhibit the same magnitude and opposite control force.
- the control force calculating unit 30b the control force determined from bouncing velocity V B, the control force was determined from the pitch angular velocity V P and lateral acceleration G lat, control force determined from the roll angular velocity V R and the lateral acceleration G long
- Vehicle body control forces F FR , F FL , F RR , F RL that should be generated by the actuators A FR , A FL , A RR , A RL are added to suppress the bounce, pitch and roll of the vehicle body B.
- the obtained vehicle body control forces F FR , F FL , F RR , and F RL are input to the target control force calculator 32.
- the road surface input reduction control calculation unit 31 obtains road surface input reduction control forces F CFR , F CFL , F CRR , and F CRL from the vertical accelerations G UFR , G UFL , G URR , and G URL .
- the road surface input reduction control forces F CFR , F CFL , F CRR , and F CRL are forces that counteract the force that excites the vehicle body B that is exerted by the suspension spring Sp expanding and contracting.
- the pitch moment M SP and the roll moment M SR due to the force generated by the suspension spring Sp include the pitch angle ⁇ , the roll angle ⁇ , the spring constant K F of the front-wheel suspension spring Sp, and the spring constant K R of the rear-wheel suspension spring.
- the vertical displacements (vertical displacements) of the wheels W FR , W FL , W RR , W RL are X UFR , X UFL , X URR , X URL , the following (Formula 1) and (Formula 2) Indicated.
- the first term on the right side in (Expression 1) and (Expression 2) is the restoring force against the rolling and pitching of the vehicle body B
- the second and third terms are the wheels W FR , W FL , W RR , W It can be considered as a moment input for vibrating the vehicle body B when the RL is displaced.
- the actuator A FR of the front of the vehicle V, A FL and the rear side of the actuator A RR, size and A RL is the same direction of action of the pitch restraining force F P opposite
- size and a RL is the working direction the same giving roll restraining force F R of the opposite
- moment M PC counteracting moment M P, M R think about the M RC.
- moments M PC and M RC are expressed by the following (formula 5) and (formula 6).
- the spring constants K F and K R of the suspension spring Sp, the distances L F and L R from the center of gravity, and the tread W are known.
- the vertical displacements X UFR , X UFL , X URR , and X URL of the wheels W FR , W FL , W RR , W RL are the vertical accelerations G UFR , G input from the acceleration sensors 26, 27, 28, 29 .
- UFL, G URR, are required if twice integrating the G URL.
- the road surface input reduction control calculation unit 31 calculates the road surface input from the spring constants K F and K R of the suspension spring Sp, the distances L F and L R , the tread W, and the vertical accelerations G UFR , G UFL , G URR , and G URL. Reduction control forces F CFR , F CFL , F CRR , and F CRL are obtained.
- the road surface input reduction control calculation unit 31 integrates the vertical accelerations G UFR , G UFL , G URR , and G URL input from the acceleration sensors 26, 27, 28, and 29 twice. , 41, 42, 43, and multipliers 44, 45 for multiplying the front wheel side vertical displacements X UFR , X UFL obtained by the integrators 40, 41 by spring constants K F to obtain forces F UFR , F UFL , vertical displacement X URR the rear wheels obtained by the integrator 42, 43, force each X URL multiplied by a spring constant K R F URR, a multiplier 46 and 47 to determine the F URL, the force F UFR, the F UFL an adder 48 for adding force F URR, an adder 49 for adding the F URL, an adder 50 for adding the value obtained by subtracting the force F URL minus a force F UFL from the force F UFR from the force F URR And A multiplier 51 that multiplies the value output from the calculator 48 by L F / ⁇ (2
- the target control force calculation unit 32 receives the vehicle body control forces F FR , F FL , F RR , and F RL in addition to the road surface input reduction control forces F CFR , F CFL , F CRR , and F CRL. .
- the target control force calculating unit 32 adds the road surface input reduction control forces F CFR , F CFL , F CRR , and F CRL corresponding to the vehicle body control forces F FR , F FL , F RR , and F RL , respectively, and adds each actuator A FR, a FL, a RR, target control force a RL F TFR, F TFL, F TRR, seek F TRL.
- the driver 33 is provided for each of the actuators A FR , A FL , A RR , A RL, and a drive circuit for PWM driving the electromagnetic valve in the hydraulic circuit FC and a drive for PWM driving the motor 13 for driving the pump 4. It has a circuit.
- a command input of the target control force F TFR , F TFL , F TRR , or F TRL is received from the target control force calculation unit 32, current is supplied to the solenoid valve and the motor 13 as commanded.
- Each drive circuit in the driver 33 may be a drive circuit other than the drive circuit that performs PWM driving.
- the controller C controls the electromagnetic valve of the hydraulic circuit FC and the liquid discharged from the pump 4 was supplied to the compression side chamber R2, the target control force F TFR, F TFL, F TRR , controls the pressure of the compression side chamber R2 in accordance with the size of the F TRL.
- the controller C controls the electromagnetic valve of the hydraulic circuit FC and is discharged from the pump 4. The liquid is supplied to the extension side chamber R1, and the pressure of the extension side chamber R1 is controlled in accordance with the magnitudes of the target control forces F TFR , F TFL , F TRR , and F TRL .
- the actuators A FR , A FL , A RR , A RL are hydraulic actuators including the cylinder device AC and the hydraulic circuit FC, but the actuators A FR , A FL , A RR , The ARL may be an electric actuator using a motor.
- the actuators A FR , A FL , A RR , A RL may be pneumatic actuators that are driven by air pressure.
- the moment M P of roll and pitch of the vehicle body B obtains the pitch restraining force F P and the roll restraining force F R to cancel the M R, the target control force F TFR in consideration of these , F TFL, F TRR, seeking F TRL, the actuator a FR, a FL, a RR , so as to control the a RL.
- the pitch restrain force F P and the roll restraining force F R of the actuator A FR, A FL, A RR when the output to the A RL, the actuator A FR, A FL, A RR , A RL is the force acting on the vehicle body B Demonstrate the control power to cancel in advance rather than after the fact.
- the suspension device S of the present invention has the vibration of the vehicle body B in advance.
- the control force to suppress can be exhibited, and the vehicle body B can be effectively damped.
- the vibration suppression effect of the vehicle body B can be improved because the vibration of the vehicle body B caused by the vibrations of the wheels W FR , W FL , W RR , W RL can be canceled.
- the suspension device S of the present embodiment suppresses the vehicle body control force F FR of the vibration by detecting the vibration of the vehicle body B, F FL, F RR, the F RL, the pitch restraining force F P and the roll restraining force F R
- the target control forces F TFR , F TFL , F TRR , and F TRL are obtained by adding the road surface input reduction control forces F CFR , F CFL , F CRR , and F CRL that are obtained based on the above. Therefore, according to the suspension device S of the present example, in addition to the control force for detecting the vibration of the vehicle body B and suppressing the vibration, the control force for suppressing the vibration of the vehicle body B in advance can be exhibited. Therefore, in the suspension device S of this example, the vibration suppression effect of the vehicle body B is dramatically improved as compared with the conventional suspension device.
- the controller C obtains the roll moment M PC and the pitch moment M RC acting on the vehicle body B from the vertical displacements X UFR , X UFL , X URR , X URL of the four wheels W FR , W FL , W RR , W RL , from these and obtains the pitch restrain force F P and the roll restraining force F R.
- the roll moment M PC and the pitch moment M RC acting on the vehicle body B are obtained from the vertical displacements X UFR , X UFL , X URR , X URL , the vehicle body is caused by the vibrations of the four wheels W FR , W FL , W RR , W RL.
- the controller C is the actuator A FR, the actuator A RR, together size pitch restraining force F P to exhibit the A RL disposed pitch restrain force F P and a rear exert the A FL is disposed in front There so oriented the same becomes opposite, further actuator a FR, the actuator a FL disposed roll restraining force F R and the left to exhibit the a RR, the roll restraining force to be exerted a RL is disposed on the right side F R mutually magnitude is in the same direction so that the opposite. In this way, since the pitch and roll of the vehicle body B can be suppressed without affecting the vertical vibration of the vehicle body B, the pitch vibration and roll vibration of the vehicle body B can be greatly reduced.
- the vertical displacements X UFR , X UFL , X URR , X URL of the wheels W FR , W FL , W RR , W RL are the vertical accelerations G 1 , detected by the acceleration sensors 21, 22, 23 provided on the vehicle body B, It is also obtained from the relative displacements of G 2 and G 3 and the vehicle body B and the wheels W FR , W FL , W RR and W RL .
- relative displacement between the vehicle body B and the wheels W FR , W FL , W RR , W RL can be obtained by providing stroke sensors 60, 61, 62, 63 between them. .
- the stroke sensors 60, 61, 62, and 63 may be incorporated in the cylinder device AC.
- the wheels W FR, W FL, W RR , W RL of the vertical acceleration G UFR, G UFL, G URR it is not necessary to detect the G URL, the acceleration sensor 26 , 27, 28 and 29 can be abolished.
- the vertical acceleration G 1, G 2, bounce velocity V B from G 3 vehicle body B, and the pitch angular velocity V P and roll angular velocity V R is determined by the acceleration sensor 21, 22 is detected.
- the vertical displacement X SG , the pitch angle ⁇ , and the roll angle ⁇ at the center of gravity of the vehicle body B are obtained. Since the distances L F , L R and the tread W are known, the displacements X SFR , X SFL , X SRR , X SRL of the vehicle body B immediately above each wheel are calculated from the following (Equation 13) to (Equation 16). Is required.
- the relative displacements detected by the stroke sensors 60, 61, 62, and 63 are respectively S FR , S FL , S RR , and S RL, and using the calculation results of (Equation 13) to (Equation 16), the following (Equation 17 ) To calculate (Expression 20), vertical displacements X UFR , X UFL , X URR , and X URL are obtained.
- the vertical displacements X UFR , X UFL , X URR , X URL are detected by the acceleration sensors 21, 22, 23 provided on the vehicle body B, and the vertical sensors G 1 , G 2 , G 3, and the stroke sensors 60, 61. , 62, 63 may be obtained from the relative displacements S FR , S FL , S RR , S RL detected.
- the vertical displacements X UFR , X UFL , X URR , X URL may be obtained from the vertical accelerations G UFR , G UFL , G URR , G URL , or relative to the vertical accelerations G 1 , G 2 , G 3 of the vehicle body B You may obtain
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Claims (5)
- サスペンション装置であって、
車両の車体と前記車両の前後左右の四つの車輪との間に介装される四つのアクチュエータと、
前記アクチュエータを制御するコントローラとを備え、
前記コントローラは、
前記車両における前後左右四つの車輪の上下変位に基づいて、前記車体のロールとピッチの各モーメントを打ち消すピッチ抑制力とロール抑制力を求め、
前記ピッチ抑制力と前記ロール抑制力に基づいて前記アクチュエータの目標制御力を求めて、前記アクチュエータを制御する、
サスペンション装置。 - 請求項1に記載のサスペンション装置であって、
前記コントローラは、
前記四輪の上下変位から前記車体に作用するピッチモーメントとロールモーメントを求め、
前記ピッチモーメントと前記ロールモーメントに基づいて、前記ピッチ抑制力と前記ロール抑制力を求める、
サスペンション装置。 - 請求項1に記載のサスペンション装置であって、
前記コントローラは、
前記車両において前側に配置される前記アクチュエータに発揮させる前記ピッチ抑制力と前記車両において後側に配置される前記アクチュエータに発揮させる前記ピッチ抑制力が互いに大きさが同じで向きが反対となるようにし、
前記車両において右側に配置される前記アクチュエータに発揮させる前記ロール抑制力と前記車両において左側に配置される前記アクチュエータに発揮させる前記ロール抑制力を、互いに大きさが同じで向きが反対となるようにした、
サスペンション装置。 - 請求項1に記載のサスペンション装置であって、
前記コントローラは、
前記車輪に設けた加速度センサで検知する前記車輪の上下加速度から前記車輪の上下変位を求めるか、
或いは、前記車体に設けた加速度センサが検知する前記車体の上下加速度と、前記車輪と前記車体の間に設けたストロークセンサが検知する前記車体と前記車輪の相対変位から前記車輪の上下変位を求める、
サスペンション装置。 - 請求項1に記載のサスペンション装置であって、
コントローラは、
前記車体の振動を検知して前記振動に基づいて車体制御力を求め、
前記ロール抑制力と前記ピッチ抑制力に基づいて路面入力低減制御力を求め、
前記車体制御力と前記路面入力低減制御力を加えて前記目標制御力を求める、
サスペンション装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/773,631 US20180326809A1 (en) | 2015-11-19 | 2016-09-20 | Suspension system |
EP16866018.1A EP3378682A1 (en) | 2015-11-19 | 2016-09-20 | Suspension device |
CN201680066312.XA CN108290470A (zh) | 2015-11-19 | 2016-09-20 | 悬架装置 |
KR1020187012491A KR20180063241A (ko) | 2015-11-19 | 2016-09-20 | 서스펜션 장치 |
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JP2015226990A JP6879661B2 (ja) | 2015-11-19 | 2015-11-19 | サスペンション装置 |
JP2015-226990 | 2015-11-19 |
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WO2017086015A1 true WO2017086015A1 (ja) | 2017-05-26 |
Family
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PCT/JP2016/077663 WO2017086015A1 (ja) | 2015-11-19 | 2016-09-20 | サスペンション装置 |
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US (1) | US20180326809A1 (ja) |
EP (1) | EP3378682A1 (ja) |
JP (1) | JP6879661B2 (ja) |
KR (1) | KR20180063241A (ja) |
CN (1) | CN108290470A (ja) |
WO (1) | WO2017086015A1 (ja) |
Cited By (1)
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CN111284287A (zh) * | 2018-12-06 | 2020-06-16 | 现代自动车株式会社 | 主动式悬架控制单元及方法 |
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JP7180638B2 (ja) * | 2020-06-08 | 2022-11-30 | トヨタ自動車株式会社 | 車両の走行状態制御装置及び方法 |
JP6756068B1 (ja) * | 2020-06-23 | 2020-09-16 | 株式会社ショーワ | 較正装置、懸架システム、鞍乗型車両および較正方法 |
JP7314904B2 (ja) * | 2020-10-30 | 2023-07-26 | トヨタ自動車株式会社 | 制振制御装置 |
CN117799374A (zh) * | 2022-09-26 | 2024-04-02 | 比亚迪股份有限公司 | 半主动悬架控制方法、装置、存储介质和车辆 |
Citations (5)
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JPH0370616A (ja) | 1989-08-09 | 1991-03-26 | Nissan Motor Co Ltd | 能動型サスペンション |
JPH0370617A (ja) | 1989-08-09 | 1991-03-26 | Nissan Motor Co Ltd | 能動型サスペンション |
JPH07315028A (ja) * | 1994-05-24 | 1995-12-05 | Nissan Motor Co Ltd | サスペンション予見制御装置 |
JPH08127213A (ja) * | 1994-10-28 | 1996-05-21 | Nissan Motor Co Ltd | サスペンション制御装置 |
JP2005081912A (ja) * | 2003-09-05 | 2005-03-31 | Toyota Motor Corp | 車両用サスペンションシステム |
Family Cites Families (4)
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JP4960715B2 (ja) * | 2007-02-01 | 2012-06-27 | 本田技研工業株式会社 | 減衰力可変式ダンパ装着車両 |
EP2052891B1 (en) * | 2007-10-26 | 2013-02-27 | Honda Motor Co., Ltd. | Control device for a variable damper |
KR101836490B1 (ko) * | 2010-07-29 | 2018-03-08 | 히다치 오토모티브 시스템즈 가부시키가이샤 | 차체 자세 제어 장치 |
WO2014002444A1 (ja) * | 2012-06-29 | 2014-01-03 | 本田技研工業株式会社 | サスペンション制御装置 |
-
2015
- 2015-11-19 JP JP2015226990A patent/JP6879661B2/ja active Active
-
2016
- 2016-09-20 US US15/773,631 patent/US20180326809A1/en not_active Abandoned
- 2016-09-20 WO PCT/JP2016/077663 patent/WO2017086015A1/ja active Application Filing
- 2016-09-20 CN CN201680066312.XA patent/CN108290470A/zh active Pending
- 2016-09-20 KR KR1020187012491A patent/KR20180063241A/ko not_active Application Discontinuation
- 2016-09-20 EP EP16866018.1A patent/EP3378682A1/en not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0370616A (ja) | 1989-08-09 | 1991-03-26 | Nissan Motor Co Ltd | 能動型サスペンション |
JPH0370617A (ja) | 1989-08-09 | 1991-03-26 | Nissan Motor Co Ltd | 能動型サスペンション |
JPH07315028A (ja) * | 1994-05-24 | 1995-12-05 | Nissan Motor Co Ltd | サスペンション予見制御装置 |
JPH08127213A (ja) * | 1994-10-28 | 1996-05-21 | Nissan Motor Co Ltd | サスペンション制御装置 |
JP2005081912A (ja) * | 2003-09-05 | 2005-03-31 | Toyota Motor Corp | 車両用サスペンションシステム |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111284287A (zh) * | 2018-12-06 | 2020-06-16 | 现代自动车株式会社 | 主动式悬架控制单元及方法 |
Also Published As
Publication number | Publication date |
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EP3378682A1 (en) | 2018-09-26 |
JP2017094807A (ja) | 2017-06-01 |
KR20180063241A (ko) | 2018-06-11 |
CN108290470A (zh) | 2018-07-17 |
US20180326809A1 (en) | 2018-11-15 |
JP6879661B2 (ja) | 2021-06-02 |
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