JP4421330B2 - スタビライザ制御装置 - Google Patents
スタビライザ制御装置 Download PDFInfo
- Publication number
- JP4421330B2 JP4421330B2 JP2004051296A JP2004051296A JP4421330B2 JP 4421330 B2 JP4421330 B2 JP 4421330B2 JP 2004051296 A JP2004051296 A JP 2004051296A JP 2004051296 A JP2004051296 A JP 2004051296A JP 4421330 B2 JP4421330 B2 JP 4421330B2
- Authority
- JP
- Japan
- Prior art keywords
- lateral acceleration
- vehicle
- calculated
- turning
- stabilizer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
- B60G21/0555—Mounting means therefor adjustable including an actuator inducing vehicle roll
-
- 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
- B60G17/018—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
- B60G17/0182—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 involving parameter estimation, e.g. observer, Kalman filter
-
- 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
- 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
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- 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
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- 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
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/822—Road friction coefficient determination affecting wheel traction
-
- 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
- B60G2600/17—Proportional control, i.e. gain control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/187—Digital Controller Details and Signal Treatment
- B60G2600/1877—Adaptive Control
-
- 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
- B60G2800/0122—Roll rigidity ratio; Warping
-
- 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
- B60G2800/24—Steering, cornering
-
- 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
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Description
Rmv =K1・Gye+K2・dGye+K3・Gya+K4・dGya
Gye =(Vx2・δf)/{L・N・(1+Kh・Vx2)}…(1)
ここで、Lはホイールベース、Nはステアリングギア比、Khはスタビリティファクタである。
Rmv =K1・Gye+K2・dGye+K3・Gya+K4・dGya …(2)
上記のK1、K2、K3、K4は制御ゲインであり、下記の背景下で,後述するように設定される。
SBfr,SBfl 前輪側スタビライザバー
SBr 後輪側スタビライザ
FT,RT スタビライザアクチュエータ
SW ステアリングホイール
SA 操舵角センサ
WHfr, WHfl, WHrr, WHrl 車輪
WSfr,WSfl,WSrr,WSrl 車輪速度センサ
YR ヨーレイトセンサ
XG 前後加速度センサ
YG 横加速度センサ
ECU 電子制御装置
Claims (3)
- 車両の左右車輪間に配設されるスタビライザのねじり剛性を制御し、前記車両の旋回状態に応じて車体のロール運動を能動的に制御するスタビライザ制御装置において、前記車両の実横加速度情報を検出又は演算する実横加速度情報取得手段と、前記車両のステアリングホイールの操作に応じて演算横加速度情報を演算する演算横加速度取得手段と、前記車両の旋回状態を表す旋回指標を設定する旋回指標設定手段とを備え、該旋回指標設定手段が設定した旋回指標に基づき、前記車両が直進走行状態にある場合には前記演算横加速度取得手段の演算横加速度情報のみに基づいて前記車体のロール運動を能動的に制御し、前記車両の旋回状態が大きくなるに従い前記実横加速度取得手段の実横加速度情報の影響度を増大させて、前記車体のロール運動を能動的に制御することを特徴とするスタビライザ制御装置。
- 車両の左右車輪間に配設されるスタビライザのねじり剛性を制御し、前記車両の旋回状態に応じて車体のロール運動を能動的に制御するスタビライザ制御装置において、前記車両に実際に作用する実横加速度を検出する実横加速度検出手段、前記車両の速度を検出する車両速度検出手段、及び前記車両のステアリングホイールの操作に応じた操舵角を検出する操舵角検出手段を具備し、前記車両速度検出手段が検出した車両速度、及び前記操舵角検出手段が検出した操舵角に基づき演算横加速度を演算する横加速度演算手段と、該横加速度演算手段が演算した演算横加速度及び前記実横加速度検出手段が検出した実横加速度に基づき、前記スタビライザのねじり剛性を制御するための外部付与力を決定する外部付与力決定手段と、前記車両の旋回状態を表す旋回指標を設定する旋回指標設定手段と、該旋回指標設定手段が設定した旋回指標が相対的に小さい場合には、前記演算横加速度に係る制御ゲインのみとなるように補正し、前記旋回指標設定手段が設定した旋回指標が相対的に大きい場合には、前記演算横加速度に係る制御ゲインを低下又は前記実横加速度に係る制御ゲインを増加するように補正する補正手段とを備えたことを特徴とするスタビライザ制御装置。
- 前記車両のヨーレイトを検出するヨーレイト検出手段を備え、前記旋回指標設定手段は、前記ヨーレイト検出手段が検出したヨーレイト、前記横加速度演算手段が演算した演算横加速度、前記実横加速度検出手段が検出した実横加速度、及び前記操舵角検出手段が検出した操舵角のうちの少なくとも一以上の情報に基づき旋回指標を設定するように構成したことを特徴とする請求項2記載のスタビライザ制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004051296A JP4421330B2 (ja) | 2004-02-26 | 2004-02-26 | スタビライザ制御装置 |
EP05004072A EP1568521B1 (en) | 2004-02-26 | 2005-02-24 | Stabilizer control apparatus |
US11/066,197 US7715963B2 (en) | 2004-02-26 | 2005-02-25 | Stabilizer control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004051296A JP4421330B2 (ja) | 2004-02-26 | 2004-02-26 | スタビライザ制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005238972A JP2005238972A (ja) | 2005-09-08 |
JP4421330B2 true JP4421330B2 (ja) | 2010-02-24 |
Family
ID=34747497
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004051296A Expired - Fee Related JP4421330B2 (ja) | 2004-02-26 | 2004-02-26 | スタビライザ制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7715963B2 (ja) |
EP (1) | EP1568521B1 (ja) |
JP (1) | JP4421330B2 (ja) |
Cited By (1)
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KR20190084482A (ko) * | 2018-01-08 | 2019-07-17 | 주식회사 만도 | 액티브 롤 스태빌라이저의 데드 밴드 보상 및 응답 성능 향상 시스템 및 방법 |
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FR2888165B1 (fr) * | 2005-07-05 | 2007-08-31 | Renault Sas | Procede et systeme anti-roulis d'un vehicule et vehicule correspondant |
JP2007030575A (ja) * | 2005-07-25 | 2007-02-08 | Aisin Seiki Co Ltd | スタビライザ制御装置 |
US20070055431A1 (en) * | 2005-09-07 | 2007-03-08 | Weiwen Deng | Method and apparatus for preview-based vehicle lateral control |
JP2007083760A (ja) * | 2005-09-20 | 2007-04-05 | Aisin Seiki Co Ltd | スタビライザ制御装置 |
JP4333660B2 (ja) | 2005-10-07 | 2009-09-16 | トヨタ自動車株式会社 | ロール角制御とロール剛性前後配分比制御を組み合わせた車輌 |
JP4810962B2 (ja) * | 2005-10-13 | 2011-11-09 | トヨタ自動車株式会社 | 車両用サスペンションの制御方法および装置 |
JP2007168716A (ja) * | 2005-12-26 | 2007-07-05 | Toyota Motor Corp | 車両のロール制御装置 |
JP4438763B2 (ja) * | 2006-03-20 | 2010-03-24 | トヨタ自動車株式会社 | 車両用スタビライザシステム |
DE102007017245A1 (de) * | 2007-04-12 | 2008-10-16 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren und Vorrichtung zur Wankstabilisierung eines Kraftfahrzeugs |
JP5041946B2 (ja) | 2007-09-26 | 2012-10-03 | アイシン・エィ・ダブリュ株式会社 | スタビライザ制御装置、スタビライザ制御方法およびスタビライザ制御プログラム |
JP4333792B2 (ja) * | 2007-10-17 | 2009-09-16 | トヨタ自動車株式会社 | 車体ロール抑制システム |
JP4997065B2 (ja) * | 2007-10-29 | 2012-08-08 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP2009120009A (ja) * | 2007-11-14 | 2009-06-04 | Toyota Motor Corp | 車両用サスペンションシステム |
JP4877240B2 (ja) | 2008-01-29 | 2012-02-15 | トヨタ自動車株式会社 | 車両用サスペンションシステム |
DE102008000590A1 (de) * | 2008-03-11 | 2009-09-17 | Zf Lenksysteme Gmbh | Fahrwerksystem mit Lenksystem und Stabilisatorsystem |
JP5457641B2 (ja) * | 2008-04-15 | 2014-04-02 | 株式会社クボタ | 作業車のサスペンション構造 |
JP4935757B2 (ja) * | 2008-05-27 | 2012-05-23 | トヨタ自動車株式会社 | 車両用サスペンションシステム |
DE102009007357B4 (de) | 2009-02-04 | 2024-01-18 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Ansteuerung eines aktiven Fahrwerks eines zweiachsigen zweispurigen Kraftfahrzeugs |
DE102009007356A1 (de) * | 2009-02-04 | 2010-08-05 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Ansteuerung eines aktiven Fahrwerks eines zweiachsigen zweispurigen Kraftfahrzeugs |
CN102365184A (zh) * | 2009-05-21 | 2012-02-29 | 爱信精机株式会社 | 车辆的接地载荷控制装置 |
JP5229338B2 (ja) | 2011-02-17 | 2013-07-03 | トヨタ自動車株式会社 | 車両状態量推定装置 |
DE102011076972A1 (de) * | 2011-06-06 | 2012-12-06 | Zf Friedrichshafen Ag | Verfahren zur Ansteuerung eines aktiven Wankstabilitätssystems für ein Kraftfahrzeug |
WO2014034206A1 (ja) * | 2012-08-30 | 2014-03-06 | トヨタ自動車株式会社 | 車両の制御装置 |
FR3000434B1 (fr) * | 2012-12-27 | 2017-05-05 | Michelin & Cie | Suspension de vehicule avec correction d'antiroulis |
KR101393561B1 (ko) * | 2012-12-31 | 2014-05-27 | 현대자동차 주식회사 | 액티브 롤 컨트롤 장치 |
DE102013203441A1 (de) * | 2013-02-28 | 2014-08-28 | Bayerische Motoren Werke Aktiengesellschaft | Betriebsverfahren für ein einachsiges Wankstabilisierungssystem eines zweiachsigen, zweispurigen Fahrzeugs |
KR102335229B1 (ko) * | 2014-12-02 | 2021-12-03 | 현대모비스 주식회사 | 차량의 능동 회전형 스태빌라이저의 롤 각 추정 방법 |
CN109470496B (zh) * | 2018-10-11 | 2021-06-08 | 中南大学 | 列车车体瞬态剧烈振动致振动舒适性的评估方法及*** |
WO2021112215A1 (ja) * | 2019-12-06 | 2021-06-10 | 日立Astemo株式会社 | 車両サスペンション制御装置、車両制御装置および車両制御方法 |
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JP7491285B2 (ja) * | 2021-09-30 | 2024-05-28 | トヨタ自動車株式会社 | 車両のロール制御装置 |
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-
2004
- 2004-02-26 JP JP2004051296A patent/JP4421330B2/ja not_active Expired - Fee Related
-
2005
- 2005-02-24 EP EP05004072A patent/EP1568521B1/en not_active Expired - Fee Related
- 2005-02-25 US US11/066,197 patent/US7715963B2/en not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20190084482A (ko) * | 2018-01-08 | 2019-07-17 | 주식회사 만도 | 액티브 롤 스태빌라이저의 데드 밴드 보상 및 응답 성능 향상 시스템 및 방법 |
KR102016365B1 (ko) * | 2018-01-08 | 2019-08-30 | 주식회사 만도 | 액티브 롤 스태빌라이저의 데드 밴드 보상 및 응답 성능 향상 시스템 및 방법 |
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JP2005238972A (ja) | 2005-09-08 |
EP1568521A2 (en) | 2005-08-31 |
EP1568521A3 (en) | 2006-03-22 |
US20050192728A1 (en) | 2005-09-01 |
US7715963B2 (en) | 2010-05-11 |
EP1568521B1 (en) | 2012-04-18 |
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