JP4197794B2 - Control device for variable damping characteristic damper for vehicle - Google Patents

Control device for variable damping characteristic damper for vehicle Download PDF

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Publication number
JP4197794B2
JP4197794B2 JP9302899A JP9302899A JP4197794B2 JP 4197794 B2 JP4197794 B2 JP 4197794B2 JP 9302899 A JP9302899 A JP 9302899A JP 9302899 A JP9302899 A JP 9302899A JP 4197794 B2 JP4197794 B2 JP 4197794B2
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Prior art keywords
vehicle
attenuation characteristic
characteristic
acceleration
attenuation
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JP2000280901A (en
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努 鈴木
一臣 三宅
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KYB Corp
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KYB Corp
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Description

【０００１】
【発明の属する技術分野】
本発明は、車両用減衰特性可変式ダンパーの制御装置に関するものである。
【０００２】
【従来の技術とその課題】
従来、鉄道車両等の同一軌道を走行する車両の懸架装置に用いられるダンパーは、所定条件下で乗員の乗心地と車両の走行安定性を最大限に両立する減衰特性を有するダンパーが用いられるのが通常である。
【０００３】
つまりダンパーの内部に組み込まれた減衰特性を決定するオリフィスは上記所定条件下での乗心地と走行安定性の両立を考慮した最大公約数的な特性を有する、一種類のオリフィスですべての走行条件に対応することになる。
【０００４】
したがって、走行位置、走行条件（例えば、直線かコーナーか）あるいは走行時の走行速度によって要求減衰特性は変えることが望ましいにもかかわらず、減衰特性が一種類に固定されるために、乗心地や走行安定性は必ずしも最善ではないという問題が考えられる。
【０００５】
本発明は、これらの問題を解決する車両用減衰特性可変式ダンパーの制御装置を提供することを目的とする。
【０００６】
【課題を解決するための手段】
第１の発明では、減衰特性可変式ダンパーが具備される同一軌道を走行する車両において、車両走行時の車両位置を検出する車両位置検出手段と、車両走行時の車体の振動加速度を検出する加速度検出手段と、前記車両位置とそのときの車速に応じて設定され、基準加速度に対応する減衰特性の基準値を演算する減衰特性演算手段と、前記基準値に基づいてダンパーの減衰特性を制御する減衰特性制御手段と、前記検出した加速度に基づいて減衰特性を算出し、この算出値と基準値を比較し、比較結果に基づき算出した減衰特性を新たな基準値として更新する減衰特性学習手段と、を備えた。
【０００７】
第２の発明は、第１の発明において、前記車両位置検出手段は、出発地点からの距離から求めることとした。
【０００８】
第３の発明は、第１の発明において、前記車両位置検出手段は、車両位置をＧＰＳ（グローバルポジショニングシステム）から求めることとした。
【０００９】
第４の発明は、第１から３のいずれか一つに記載の発明において、前記減衰特性演算手段は、前記車両位置に応じて記憶された基準減衰特性と車両速度との関係に基づいて減衰特性の基準値を演算することとした。
【００１０】
第５の発明は、第１から４のいずれか一つに記載の発明において、前記減衰特性演算手段は、前記車両位置に応じて記憶された基準減衰特性と車両重量との関係に基づいて減衰特性の基準値を演算することとした。
【００１１】
【発明の作用および効果】
第１から３の発明では、車両位置検出手段によって車両の走行位置を検出し、その走行位置での基準減衰特性と車両速度を読込み、減衰特性を演算する。減衰特性は車両が曲線軌道走行時と直線軌道走行時とでは要求減衰特性は異なり、一般に曲線軌道走行時の方が要求減衰特性は高くする必要がある。
【００１２】
鉄道車両では、走行位置が分かればカーブ、直線路走行などの判別ができ、したがって車両の走行位置に対応して要求される減衰特性を演算して、減衰特性可変式ダンパーにフィードバックすることにより、走行条件に適した減衰特性によって車両が走行することができ、走行安定性と乗心地を高次元で両立することができる。
【００１３】
また本発明では、車両走行時の加速度を検出し、そのときの減衰特性と基準減衰特性を比較し、その比較結果に基づき演算した減衰特性を基準減衰特性として更新する学習機能を備えている。このため演算した減衰特性は実際に要求される減衰特性に近づき、より一層性能を向上することが可能となる。
【００１４】
第４と５の発明では、車両走行時の走行速度と車両重量で減衰特性の基準値を補正することとしたので、車速や車重に応じてより一層精度よく減衰特性を制御できる。
【００１５】
【発明の実施の形態】
以下、本発明の実施形態を添付図面に基づいて説明する。
【００１６】
図１には本発明の構成を示している。これについて説明すると、車両は乗員が乗車する車体１と、レール上を回転移動する車輪２と路面等からの振動、衝撃を吸収する懸架装置３から構成される台車４と、車体１と台車４との間に配置される空気ばね５とから構成される。
【００１７】
懸架装置３は、各車輪２毎に、減衰特性可変式ダンパー６とばね７が並列に設けられ、４つの懸架装置と４つの車輪２を１組として台車４が構成される。
【００１８】
前記ダンパー６は制御信号に応じて発生減衰特性を任意に調整できる構成を有している。
【００１９】
車体１の中央部には加速度センサ１２が配置され車両の上下加速度（振動加速度）を検出し、コントローラー２０に出力する。
【００２０】
また車体１内には、車両の走行速度を検出する速度センサ１３、車両が出発してからの走行距離を検出する走行距離検出装置１４、車両の進行方向が上り方向か下り方向かを検出する進行方向判断手段１５が設けられており、これらもコントローラー２０に接続されており、これらの検出値を用いて車両の走行位置を判断する。
【００２１】
なお車両の走行位置を検出するにあたっては、ＧＰＳ（グローバルポジショニングシステム）から車両の位置情報を得ることで、より精度よく車両の走行位置を検出することも可能である。
【００２２】
鉄道車両は目的地まで同一軌道を通り、その走行位置により途中のカーブか直線路走行かなどの走行条件が分かり、さらに走行位置が分かればそのときの車速等も予め設定されているので把握できる。要求される減衰特性はカーブ走行や直線路走行などで変化し、したがって予め走行位置からこれらの判別を行い、減衰特性を変化させることで、最適な減衰特性に設定できる。
【００２３】
コントローラ２０は走行位置に応じて基準の減衰特性を記憶しており、車両の位置が変化するのに応じて、この記憶した基準減衰特性と一致するように減衰特性を設定する。ただし、同一のカーブ走行時でもそのときの車速によって要求特性は異なり、カーブ走行時に車速が高ければ減衰特性も高い特性が必要となり、したがって、演算された減衰特性は車速によって補正される。
【００２４】
一方、実際の車両の減衰特性は要求減衰特性とは一致せず、個々にバラツキがある。そこでコントローラー２０は車体振動の基準加速度とそれに対応する基準減衰特性を記憶しており、これら基準値と走行位置に基づき、車両の加速度が所定の加速度範囲内になるように減衰特性を演算する。その結果は、減衰特性を決定するオリフィスの形状を指示するオリフィス信号としてダンパー６に出力され、オリフィス信号を入力したダンパー６はオリフィスを切換え、減衰特性を変更する。
【００２５】
コントローラー２０は減衰特性変更後の減衰特性を学習し、記憶する。
【００２６】
以上のような構成で次に減衰特性の制御内容について図２の制御構成図および図３のフローチャートを用いて説明する。
【００２７】
図２はコントローラー２０で行われる制御内容についての構成図である。
【００２８】
２１は車両に備えられた各検出装置１３〜１５より出力された検出値に基づき車両の位置を判断する車両位置検出手段２１でこれによって演算された車両位置が減衰特性演算手段２２に出力される。
【００２９】
減衰特性演算手段２２は走行位置とそのときの車速に応じて設定した基準減衰特性に基づき、検出した振動加速度が基準加速度になるように減衰特性を演算する。
【００３０】
この減衰特性に基づき、減衰特性制御手段２３がダンパ−６の減衰特性を所定値に変更する。
【００３１】
次に減衰特性演算手段２２により算出された減衰特性での車両加速度を加速度検出手段２４により検出する。
【００３２】
減衰特性学習手段２５が検出された車両加速度と基準加速度を比較して、その結果に基づいて減衰特性を修正し、これを更新する。
【００３３】
次に図３のフローチャートを用いて詳細を説明する。
【００３４】
まずステップＳ１では車体１に取付けられた速度センサ１３、走行距離検出装置１４、進行方向判断手段１５から出力された信号に基づいてコントローラー２０が車両の走行位置を演算する。
【００３５】
ステップＳ２ではステップＳ１で算出された車両の走行位置にしたがって、基準減衰特性を読込み、これをそのときの車速に基づいて補正し、この補正減衰特性に基づき、コントローラー２０によって減衰特性を演算する。
【００３６】
ステップＳ３では算出された減衰特性に対応するオリフィス形状を指示するオリフィス信号がコントローラー２０より可変式ダンパー６に出力され、ダンパー６はオリフィス特性を変更し、減衰特性が変更される。
【００３７】
ステップＳ４に進み、減衰特性変更後の可変式ダンパー６を備えた車両の振動加速度を加速度センサ１３により検出する。
【００３８】
ステップＳ５ではステップＳ４で検出された減衰特性変更後の車体加速度検出値とコントローラー２０に記憶された基準値との比較を行い、走行性能と乗心地の両立の観点からより所定値に近い振動加速度を判定する。
【００３９】
このようにすることによって、次回走行時に基準となる加速度はより所定値に近い加速度となり、次回走行時の減衰特性はより加速度が所定値に近い特性となることが可能となる。
【００４０】
ステップＳ５での判定の結果、今回の加速度が基準値に対し所定範囲内にない場合には、ステップＳ６に進み、範囲内の場合には、ステップＳ７に進む。
【００４１】
ステップＳ６で、今回の加速度とその減衰特性を新たな基準値としてコントローラー２０に読込ませる。
【００４２】
今回の加速度が所定値内の場合にはステップＳ７でコントローラー２０が今回の加速度と減衰特性を削除し、基準値の変更を行わない。
【００４３】
以上のような制御内容とすることで、車両の走行位置によって可変式ダンパー６の減衰特性を変更することが可能となり、走行性能と乗心地の両立が困難であるという課題を解決することができる。
【００４４】
また走行時の振動加速度を検出し、より加速度が所定加速度に近い減衰特性を学習し、学習した減衰特性に基づいて次回の走行時に減衰特性を演算することにより、さらに性能を向上することができる。
【００４５】
なお車両走行条件のバラツキを考えると、減衰特性演算時に車両の重量（すなわち乗員数）の差異を考慮の上、減衰特性を演算すればより一層車両の加速度を低減することが可能である。
【００４６】
上記実施形態では加速度センサを車体１に設けたが、このほか台車４あるいは懸架装置３に直接設けるとより精度の高い減衰特性の制御が行える。
【図面の簡単な説明】
【図１】本発明の実施形態の構成を示す正面図。
【図２】同じく制御内容構成図。
【図３】同じく制御内容を示すフローチャート。
【符号の説明】
１ 車体
３ 懸架装置
４ 台車
５ 空気ばね
６ 減衰特性可変式ダンパー
７ ばね
１２ 加速度センサ
１３ 速度センサ
１４ 走行距離検出装置
１５ 進行方向検出装置
２０ コントローラー[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device for a variable damping characteristic damper for a vehicle.
[0002]
[Prior art and its problems]
Conventionally, a damper used for a suspension system of a vehicle traveling on the same track such as a railway vehicle is a damper having a damping characteristic that maximizes both the ride comfort of the passenger and the running stability of the vehicle under a predetermined condition. Is normal.
[0003]
In other words, the orifice that determines the damping characteristics built into the damper has the greatest common divisor characteristics that take into account both ride comfort and running stability under the above specified conditions. It will correspond to.
[0004]
Therefore, although it is desirable to change the required attenuation characteristic depending on the traveling position, the traveling condition (for example, straight line or corner) or the traveling speed at the time of traveling, the damping characteristic is fixed to one type. The problem is that the running stability is not always the best.
[0005]
An object of the present invention is to provide a control device for a damping characteristic variable damper for a vehicle that solves these problems.
[0006]
[Means for Solving the Problems]
According to the first aspect of the present invention, in a vehicle traveling on the same track provided with a variable damping characteristic damper, vehicle position detection means for detecting the vehicle position during vehicle travel, and acceleration for detecting vibration acceleration of the vehicle body during vehicle travel A detecting means, a damping characteristic calculating means for calculating a reference value of the damping characteristic corresponding to the reference acceleration, which is set according to the vehicle position and the vehicle speed at that time, and controlling the damping characteristic of the damper based on the reference value An attenuation characteristic control unit; an attenuation characteristic learning unit that calculates an attenuation characteristic based on the detected acceleration; compares the calculated value with a reference value; and updates the attenuation characteristic calculated based on the comparison result as a new reference value; , With.
[0007]
In a second aspect based on the first aspect, the vehicle position detection means is determined from a distance from a departure point.
[0008]
In a third aspect based on the first aspect, the vehicle position detection means obtains the vehicle position from a GPS (global positioning system).
[0009]
According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the attenuation characteristic calculating means attenuates based on a relationship between a reference attenuation characteristic stored in accordance with the vehicle position and a vehicle speed. The characteristic reference value was calculated.
[0010]
According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the attenuation characteristic calculating means attenuates based on a relationship between a reference attenuation characteristic stored in accordance with the vehicle position and a vehicle weight. The characteristic reference value was calculated.
[0011]
Operation and effect of the invention
In the first to third aspects of the invention, the vehicle position detecting means detects the traveling position of the vehicle, reads the reference attenuation characteristic and the vehicle speed at the traveling position, and calculates the attenuation characteristic. As for the damping characteristic, the required damping characteristic is different between when the vehicle is traveling on a curved track and when traveling on a straight track, and generally, the required damping property needs to be higher when traveling on a curved track.
[0012]
In railway vehicles, if the running position is known, it is possible to discriminate curves, straight roads, etc.Therefore, by calculating the damping characteristics required corresponding to the running position of the vehicle and feeding back to the damping characteristic variable damper, The vehicle can travel with the damping characteristic suitable for the traveling conditions, and both traveling stability and riding comfort can be achieved at a high level.
[0013]
In addition, the present invention includes a learning function that detects acceleration during vehicle travel, compares the attenuation characteristic at that time with a reference attenuation characteristic, and updates the attenuation characteristic calculated based on the comparison result as the reference attenuation characteristic. For this reason, the calculated attenuation characteristic approaches the actually required attenuation characteristic, and the performance can be further improved.
[0014]
In the fourth and fifth inventions, since the reference value of the attenuation characteristic is corrected by the traveling speed and the vehicle weight when the vehicle is traveling, the attenuation characteristic can be controlled with higher accuracy according to the vehicle speed and the vehicle weight.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
[0016]
FIG. 1 shows the configuration of the present invention. To explain this, the vehicle includes a vehicle body 1 on which an occupant rides, a wheel 2 that rotates on a rail, a suspension 4 that absorbs vibrations and shocks from a road surface, etc., and a vehicle body 1 and a vehicle 4. And an air spring 5 disposed between the two.
[0017]
In the suspension device 3, a damping characteristic variable damper 6 and a spring 7 are provided in parallel for each wheel 2, and a carriage 4 is configured by combining four suspension devices and four wheels 2.
[0018]
The damper 6 has a configuration capable of arbitrarily adjusting the generated attenuation characteristic in accordance with a control signal.
[0019]
An acceleration sensor 12 is arranged at the center of the vehicle body 1 to detect the vertical acceleration (vibration acceleration) of the vehicle and output it to the controller 20.
[0020]
In the vehicle body 1, a speed sensor 13 that detects the travel speed of the vehicle, a travel distance detection device 14 that detects a travel distance from the departure of the vehicle, and detects whether the traveling direction of the vehicle is an upward or downward direction Traveling direction determination means 15 is provided, and these are also connected to the controller 20, and the travel position of the vehicle is determined using these detected values.
[0021]
In detecting the travel position of the vehicle, it is also possible to detect the travel position of the vehicle more accurately by obtaining the position information of the vehicle from the GPS (global positioning system).
[0022]
Railcars travel on the same track to their destination and know the driving conditions such as whether they are driving on a curve or a straight road depending on their driving position. If the driving position is known, the vehicle speed at that time can also be determined in advance. . The required attenuation characteristics change when traveling on a curve or traveling on a straight road. Therefore, it is possible to set the optimum attenuation characteristics by previously determining these from the travel position and changing the attenuation characteristics.
[0023]
The controller 20 stores a reference attenuation characteristic in accordance with the travel position, and sets the attenuation characteristic so as to coincide with the stored reference attenuation characteristic as the position of the vehicle changes. However, even when traveling on the same curve, the required characteristics differ depending on the vehicle speed at that time, and if the vehicle speed is high when traveling on a curve, a characteristic having a high damping characteristic is required. Therefore, the calculated damping characteristic is corrected by the vehicle speed.
[0024]
On the other hand, the actual vehicle damping characteristics do not match the required damping characteristics, and there are variations. Therefore, the controller 20 stores the reference acceleration of the vehicle body vibration and the reference attenuation characteristic corresponding thereto, and calculates the attenuation characteristic based on the reference value and the travel position so that the acceleration of the vehicle is within a predetermined acceleration range. The result is output to the damper 6 as an orifice signal that indicates the shape of the orifice that determines the attenuation characteristic, and the damper 6 that receives the orifice signal switches the orifice and changes the attenuation characteristic.
[0025]
The controller 20 learns and stores the attenuation characteristics after changing the attenuation characteristics.
[0026]
Next, the control content of the attenuation characteristic with the above configuration will be described with reference to the control configuration diagram of FIG. 2 and the flowchart of FIG.
[0027]
FIG. 2 is a configuration diagram of the control content performed by the controller 20.
[0028]
21 is a vehicle position detection means 21 for determining the position of the vehicle based on the detection values output from the detection devices 13 to 15 provided in the vehicle, and the vehicle position calculated thereby is output to the attenuation characteristic calculation means 22. .
[0029]
The damping characteristic calculation means 22 calculates the damping characteristic so that the detected vibration acceleration becomes the reference acceleration based on the reference damping characteristic set according to the travel position and the vehicle speed at that time.
[0030]
Based on this attenuation characteristic, the attenuation characteristic control means 23 changes the attenuation characteristic of the damper 6 to a predetermined value.
[0031]
Next, the vehicle acceleration with the attenuation characteristic calculated by the attenuation characteristic calculating means 22 is detected by the acceleration detecting means 24.
[0032]
The attenuation characteristic learning means 25 compares the detected vehicle acceleration with the reference acceleration, corrects the attenuation characteristic based on the result, and updates it.
[0033]
Next, details will be described with reference to the flowchart of FIG.
[0034]
First, in step S1, the controller 20 calculates the travel position of the vehicle based on signals output from the speed sensor 13, the travel distance detection device 14, and the traveling direction determination means 15 attached to the vehicle body 1.
[0035]
In step S2, the reference attenuation characteristic is read in accordance with the vehicle travel position calculated in step S1, corrected based on the vehicle speed at that time, and the controller 20 calculates the attenuation characteristic based on the corrected attenuation characteristic.
[0036]
In step S3, an orifice signal indicating an orifice shape corresponding to the calculated attenuation characteristic is output from the controller 20 to the variable damper 6, and the damper 6 changes the orifice characteristic, thereby changing the attenuation characteristic.
[0037]
Proceeding to step S4, the acceleration sensor 13 detects the vibration acceleration of the vehicle provided with the variable damper 6 after changing the damping characteristic.
[0038]
In step S5, the vehicle body acceleration detection value after the change of the attenuation characteristic detected in step S4 is compared with the reference value stored in the controller 20, and the vibration acceleration closer to the predetermined value from the viewpoint of both driving performance and riding comfort. Determine.
[0039]
By doing so, the reference acceleration for the next run becomes an acceleration closer to a predetermined value, and the attenuation characteristic for the next run can become a characteristic closer to the predetermined value.
[0040]
As a result of the determination in step S5, if the current acceleration is not within the predetermined range with respect to the reference value, the process proceeds to step S6, and if within the range, the process proceeds to step S7.
[0041]
In step S6, the controller 20 reads the current acceleration and its attenuation characteristic as a new reference value.
[0042]
If the current acceleration is within the predetermined value, the controller 20 deletes the current acceleration and attenuation characteristics in step S7 and does not change the reference value.
[0043]
By setting the control content as described above, it becomes possible to change the damping characteristic of the variable damper 6 according to the traveling position of the vehicle, and it is possible to solve the problem that it is difficult to achieve both traveling performance and riding comfort. .
[0044]
Further, it is possible to further improve the performance by detecting the vibration acceleration at the time of traveling, learning the attenuation characteristic whose acceleration is closer to the predetermined acceleration, and calculating the attenuation characteristic at the next traveling based on the learned attenuation characteristic. .
[0045]
In consideration of variations in vehicle travel conditions, it is possible to further reduce the acceleration of the vehicle by calculating the damping characteristics in consideration of the difference in vehicle weight (that is, the number of passengers) when calculating the damping characteristics.
[0046]
In the above embodiment, the acceleration sensor is provided on the vehicle body 1. However, if the acceleration sensor is directly provided on the carriage 4 or the suspension device 3, the damping characteristic can be controlled with higher accuracy.
[Brief description of the drawings]
FIG. 1 is a front view showing a configuration of an embodiment of the present invention.
FIG. 2 is also a control content configuration diagram.
FIG. 3 is a flowchart showing the same control content.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Car body 3 Suspension apparatus 4 Carriage 5 Air spring 6 Damping characteristic variable damper 7 Spring 12 Acceleration sensor 13 Speed sensor 14 Travel distance detection apparatus 15 Travel direction detection apparatus 20 Controller

Claims (5)

減衰特性可変式ダンパーが具備される同一軌道を走行する車両において、
車両走行時の車両位置を検出する車両位置検出手段と、
車両走行時の車体の振動加速度を検出する加速度検出手段と、
前記車両位置とそのときの車速に応じて設定され、基準加速度に対応する減衰特性の基準値を演算する減衰特性演算手段と、
前記基準値に基づいてダンパーの減衰特性を制御する減衰特性制御手段と、
前記検出した加速度に基づいて減衰特性を算出し、この算出値と基準値を比較し、比較結果に基づき算出した減衰特性を新たな基準値として更新する減衰特性学習手段と、
を備えたことを特徴とする車両用減衰特性可変式ダンパーの制御装置。In a vehicle traveling on the same track provided with a damping characteristic variable damper,
Vehicle position detection means for detecting a vehicle position during vehicle travel;
Acceleration detecting means for detecting vibration acceleration of the vehicle body during vehicle travel;
Attenuation characteristic calculating means which is set according to the vehicle position and the vehicle speed at that time and calculates a reference value of the attenuation characteristic corresponding to the reference acceleration,
Damping characteristic control means for controlling the damping characteristic of the damper based on the reference value;
Attenuation characteristic learning means for calculating an attenuation characteristic based on the detected acceleration, comparing the calculated value with a reference value, and updating the attenuation characteristic calculated based on the comparison result as a new reference value;
An apparatus for controlling a damping characteristic variable damper for vehicles. 前記車両位置検出手段は、出発地点からの距離から求めることを特徴とする請求項１に記載の車両用減衰特性可変式ダンパーの制御装置。  2. The vehicle damping characteristic variable damper control device according to claim 1, wherein the vehicle position detection means is obtained from a distance from a departure point. 前記車両位置検出手段は、車両位置をＧＰＳ（グローバルポジショニングシステム）から求めることを特徴とする請求項１に記載の車両用減衰特性可変式ダンパーの制御装置。  2. The vehicle damping characteristic variable damper control device according to claim 1, wherein the vehicle position detecting means obtains the vehicle position from a GPS (global positioning system). 前記減衰特性演算手段は、前記車両位置に応じて記憶された基準減衰特性と、車両速度との関係に基づいて減衰特性の基準値を演算することを特徴とする請求項１から３のいずれか一つに記載の車両用減衰特性可変式ダンパーの制御装置。4. The attenuation characteristic calculating means calculates a reference value of an attenuation characteristic based on a relationship between a reference attenuation characteristic stored according to the vehicle position and a vehicle speed. The control device for a damping characteristic variable damper for a vehicle according to one. 前記減衰特性演算手段は、前記車両位置に応じて記憶された基準減衰特性と、車両重量との関係に基づいて減衰特性の基準値を演算することを特徴とする請求項１から４のいずれか一つに記載の車両用減衰特性可変式ダンパーの制御装置。5. The attenuation characteristic calculation means calculates a reference value of the attenuation characteristic based on a relationship between a reference attenuation characteristic stored according to the vehicle position and a vehicle weight. 6. The control device for a damping characteristic variable damper for a vehicle according to one.
JP9302899A 1999-03-31 1999-03-31 Control device for variable damping characteristic damper for vehicle Expired - Fee Related JP4197794B2 (en)

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