JP2020050101A - サスペンション制御装置 - Google Patents
サスペンション制御装置 Download PDFInfo
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- JP2020050101A JP2020050101A JP2018180729A JP2018180729A JP2020050101A JP 2020050101 A JP2020050101 A JP 2020050101A JP 2018180729 A JP2018180729 A JP 2018180729A JP 2018180729 A JP2018180729 A JP 2018180729A JP 2020050101 A JP2020050101 A JP 2020050101A
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- contact load
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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
- B60G17/0162—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 a motion involving steering operation, e.g. cornering, overtaking
-
- 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
- B60G17/019—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 type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
-
- 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
-
- 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
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0512—Pitch angle
-
- 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
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0513—Yaw angle
-
- 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
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0514—Wheel angle detection
-
- 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
-
- 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
-
- 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
- B60G2400/208—Speed of wheel rotation
-
- 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
-
- 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
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- 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
- B60G2400/60—Load
- B60G2400/61—Load distribution
-
- 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
- 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
-
- 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
- B60G2800/019—Inclination due to load distribution or road gradient
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Ffl=Ff×Rf ...(1)
Ffr=Ff×(1−Rf) ...(2)
Frl=Fr×Rr ...(3)
Frr=Fr×(1−Rr) ...(4)
左前輪目標接地荷重Fflと右前輪目標接地荷重Ffrとの和は前輪目標接地荷重Ffに等しく(Ffl+Ffr=Ff)、左後輪目標接地荷重Frlと右後輪目標接地荷重Frrとの和は後輪目標接地荷重Frに等しい(Frl+Frr=Fr)。
2 :車輪
6 :ダンパ(減衰力可変ダンパ)
7 :サスペンション
8 :ECU
9 :車輪速センサ
10 :前後加速度センサ
11 :横加速度センサ
12 :ストロークセンサ
20 :サスペンション制御装置
31 :接地荷重演算部
32 :接地荷重分配部
33 :減衰力演算部
34 :目標電流演算部
35 :ピッチ制御部
Claims (8)
- 左右の前輪及び左右の後輪のそれぞれと車体との間に設けられた4つの減衰力可変ダンパを制御するサスペンション制御装置であって、
前後加速度に基づいて、左右の前記前輪の目標接地荷重の合計である前輪目標接地荷重及び左右の前記後輪の前記目標接地荷重の合計である後輪目標接地荷重を演算する接地荷重演算部と、
前後加速度の向き及び大きさと横加速度の向き及び大きさとに基づいて、前記前輪目標接地荷重の左右の前記前輪への分配量を変更して左右の前記前輪の前記目標接地荷重を演算すると共に、前記後輪目標接地荷重の左右の前記後輪への分配量を変更して左右の前記後輪の前記目標接地荷重を演算する接地荷重分配部と、
対応する前記前輪及び前記後輪の前記目標接地荷重に基づいて、前記減衰力可変ダンパの目標減衰力を演算する減衰力演算部とを有することを特徴とするサスペンション制御装置。 - 前記接地荷重分配部は、前後加速度の向き及び大きさと横加速度の向き及び大きさとに基づいて、前記前輪目標接地荷重の左右の前記前輪への分配比である前輪分配比を設定すると共に、前記後輪目標接地荷重の左右の前記後輪への分配比である後輪分配比を設定し、
前記前輪目標接地荷重と前記前輪分配比とに基づいて左右の前記前輪の前記目標接地荷重をそれぞれ演算すると共に、前記後輪目標接地荷重と前記後輪分配比とに基づいて左右の前記後輪の前記目標接地荷重をそれぞれ演算することを特徴とする請求項1に記載のサスペンション制御装置。 - 前記前輪が駆動輪であり、
前記接地荷重分配部は、前記前後加速度の向きが加速側であるときに、旋回方向外側の前記前輪の前記目標接地荷重を旋回方向内側の前記前輪の前記目標接地荷重よりも大きくすることを特徴とする請求項1又は請求項2に記載のサスペンション制御装置。 - 前記前輪が駆動輪であり、
前記接地荷重分配部は、前記前後加速度の向きが減速側であるときに、旋回方向内側の前記前輪の前記目標接地荷重を旋回方向外側の前記前輪の前記目標接地荷重よりも大きくすることを特徴とする請求項1〜請求項3のいずれか1つの項に記載のサスペンション制御装置。 - 前記接地荷重分配部は、前記前後加速度又は前記横加速度が大きいほど、左右の前記前輪の前記目標接地荷重の差を大きくすることを特徴とする請求項3又は請求項4に記載のサスペンション制御装置。
- 前記接地荷重分配部は、前記前後加速度の向きが加速側であるときに、旋回方向内側の前記後輪の前記目標接地荷重を旋回方向外側の前記後輪の前記目標接地荷重よりも大きくすることを特徴とする請求項3に記載のサスペンション制御装置。
- 前記接地荷重分配部は、前記前後加速度の向きが減速側であるときに、旋回方向外側の前記後輪の前記目標接地荷重を旋回方向内側の前記後輪の前記目標接地荷重よりも大きくすることを特徴とする請求項4に記載のサスペンション制御装置。
- 前記接地荷重分配部は、前記前後加速度又は前記横加速度が大きいほど、左右の前記後輪の前記目標接地荷重の差を大きくすることを特徴とする請求項6又は請求項7に記載のサスペンション制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018180729A JP7025314B2 (ja) | 2018-09-26 | 2018-09-26 | サスペンション制御装置 |
US16/553,580 US20200094644A1 (en) | 2018-09-26 | 2019-08-28 | Suspension control system |
CN201910910972.7A CN110949082B (zh) | 2018-09-26 | 2019-09-25 | 悬架控制*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2018180729A JP7025314B2 (ja) | 2018-09-26 | 2018-09-26 | サスペンション制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2020050101A true JP2020050101A (ja) | 2020-04-02 |
JP7025314B2 JP7025314B2 (ja) | 2022-02-24 |
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JP2018180729A Active JP7025314B2 (ja) | 2018-09-26 | 2018-09-26 | サスペンション制御装置 |
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US (1) | US20200094644A1 (ja) |
JP (1) | JP7025314B2 (ja) |
CN (1) | CN110949082B (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102126229B1 (ko) * | 2014-01-08 | 2020-06-25 | 주식회사 만도 | 감속 기어의 마찰 정도에 따라 전류 맵을 변경하는 조향 제어 장치 및 방법 |
JP7310703B2 (ja) * | 2020-05-18 | 2023-07-19 | トヨタ自動車株式会社 | 四輪駆動力分配装置 |
KR20210146685A (ko) * | 2020-05-27 | 2021-12-06 | 현대자동차주식회사 | 차량의 액티브 서스펜션 제어 시스템 및 방법 |
CN114572014B (zh) * | 2022-02-07 | 2023-12-22 | 达闼机器人股份有限公司 | 设备控制方法、装置、电子设备及存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10297239A (ja) * | 1997-04-23 | 1998-11-10 | Honda Motor Co Ltd | 接地荷重制御装置 |
JP2005186866A (ja) * | 2003-12-26 | 2005-07-14 | Toyota Motor Corp | 車両懸架装置 |
JP2006044523A (ja) * | 2004-08-06 | 2006-02-16 | Honda Motor Co Ltd | サスペンションの制御装置 |
JP2008189008A (ja) * | 2007-01-31 | 2008-08-21 | Hitachi Ltd | 車両統合制御装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4761022A (en) * | 1986-03-08 | 1988-08-02 | Toyota Jidosha Kabushiki Kaisha | Suspension controller for improved turning |
JP4114679B2 (ja) * | 2005-05-24 | 2008-07-09 | トヨタ自動車株式会社 | 車両の減衰力制御装置 |
EP2105330B1 (en) * | 2008-03-26 | 2011-04-27 | Honda Motor Co., Ltd. | Control device for a wheel suspension system |
US8838336B2 (en) * | 2010-07-29 | 2014-09-16 | Hitachi Automotive Systems, Ltd. | Vehicle body attitude control apparatus |
JP5809506B2 (ja) * | 2011-09-27 | 2015-11-11 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置及びサスペンション制御装置 |
BR112014032887A2 (pt) * | 2012-06-29 | 2017-06-27 | Honda Motor Co Ltd | sistema de controle de suspensão |
US20170240017A1 (en) * | 2016-02-24 | 2017-08-24 | Tenneco Automotive Operating Company Inc. | System and method for controlling dampers of an active suspension system |
DE102016110851B4 (de) * | 2016-06-14 | 2023-11-02 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zum Betreiben eines Kraftfahrzeugs |
-
2018
- 2018-09-26 JP JP2018180729A patent/JP7025314B2/ja active Active
-
2019
- 2019-08-28 US US16/553,580 patent/US20200094644A1/en not_active Abandoned
- 2019-09-25 CN CN201910910972.7A patent/CN110949082B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10297239A (ja) * | 1997-04-23 | 1998-11-10 | Honda Motor Co Ltd | 接地荷重制御装置 |
JP2005186866A (ja) * | 2003-12-26 | 2005-07-14 | Toyota Motor Corp | 車両懸架装置 |
JP2006044523A (ja) * | 2004-08-06 | 2006-02-16 | Honda Motor Co Ltd | サスペンションの制御装置 |
JP2008189008A (ja) * | 2007-01-31 | 2008-08-21 | Hitachi Ltd | 車両統合制御装置 |
Also Published As
Publication number | Publication date |
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JP7025314B2 (ja) | 2022-02-24 |
CN110949082B (zh) | 2023-04-11 |
US20200094644A1 (en) | 2020-03-26 |
CN110949082A (zh) | 2020-04-03 |
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