JP5919008B2 - 電動式サスペンション制御装置 - Google Patents
電動式サスペンション制御装置 Download PDFInfo
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- JP5919008B2 JP5919008B2 JP2012018947A JP2012018947A JP5919008B2 JP 5919008 B2 JP5919008 B2 JP 5919008B2 JP 2012018947 A JP2012018947 A JP 2012018947A JP 2012018947 A JP2012018947 A JP 2012018947A JP 5919008 B2 JP5919008 B2 JP 5919008B2
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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
-
- 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
-
- 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
- B60G17/0195—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 regulation being combined with other vehicle control systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
-
- 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
- B60G2202/42—Electric actuator
-
- 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
-
- 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
- B60G2400/204—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
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Description
以下、本発明の実施の形態による電動式サスペンション制御装置を、例えば4輪自動車に適用した場合を例に挙げ、添付図面に従って詳細に説明する。なお、本発明の電動式サスペンション制御装置は、自動車以外にも鉄道車両のヨーダンパ、左右動ダンパ等のダンパに置き換えて利用することも可能である。
2 前輪
3 後輪
4,7 電動式サスペンション装置
6,9 電動式アクチュエータ
18 上下加速度センサ(運動検出手段)
19 左右加速度センサ(運動検出手段)
20 前後加速度センサ(運動検出手段)
21 操舵角センサ(運動検出手段)
22 車速センサ(運動検出手段)
23 ストロークセンサ(運動検出手段)
24 温度センサ(運動検出手段)
27,41,51 コントローラ
28 必要推力算出部(必要推力算出手段)
29 低周波フィルタ(周波数帯域判断手段)
30 高周波フィルタ(周波数帯域判断手段)
31 低周波リミッタ
32 高周波リミッタ
33 加算部(推力指令値算出手段)
42 第1のフィルタ(周波数帯域判断手段)
43 リミッタ
44 第1の減算部(推力指令値算出手段)
45 第2のフィルタ(推力指令値算出手段)
46 第2の減算部(推力指令値算出手段)
52 FFT部(周波数帯域判断手段)
53 リミッタ
54 逆FFT部(推力指令値算出手段)
Claims (6)
- 車体と車輪との間に介装され、電動式アクチュエータの推力を制御手段が出力する推力指令値により調整する電動式サスペンション制御装置であって、
前記制御手段は、車両の運動状態を検出する少なくとも一つの運動検出手段が接続され、
前記制御手段は、
前記運動検出手段により検出された検出値から必要推力値を算出する必要推力算出手段と、
該必要推力算出手段の算出値を複数の周波数帯域に振り分ける周波数帯域判断手段と、
該周波数帯域判断手段による周波数帯域毎に設けられた複数のリミッタと、
該リミッタによる周波数帯域毎の出力値を合成して前記推力指令値を生成する推力指令値算出手段と、を備え、
前記リミッタのリミット値は、前記周波数帯域が高周波数帯域での値に比して低周波数帯域での値の方が低いことを特徴とする電動式サスペンション制御装置。 - 前記リミッタは、前記電動式アクチュエータの温度が閾値を超えた場合、前記リミット値を下げることを特徴とする請求項1に記載の電動式サスペンション制御装置。
- 前記制御手段は、前記車両の運動状態に応じて前記リミッタのリミット値を一時的に解除することを特徴とする請求項1または2に記載の電動式サスペンション制御装置。
- 前記高周波数帯域は、前記車両がスラローム、ダブルレーンチェンジするような高い周波数の動きに対応し、
前記低周波数帯域は、前記車両が定常旋回するような低い周波数の動きに対応することを特徴とする請求項1,2または3に記載の電動式サスペンション制御装置。 - 前記周波数帯域判断手段は、前記必要推力算出手段の算出値を、低周波フィルタを通過させた低周波数帯域と高周波フィルタを通過させた高周波数帯域とに振り分ける構成とし、
前記リミッタは、前記低周波数帯域の振幅制限を行う低周波リミッタと、前記高周波数帯域の振幅制限を行う高周波リミッタとにより構成し、
前記推力指令値算出手段は、前記低周波リミッタの出力値と前記高周波リミッタの出力値とを加算して前記推力指令値を生成し、
前記低周波リミッタのリミット値は、前記高周波リミッタのリミット値よりも低くすることを特徴とする請求項1,2,3または4に記載の電動式サスペンション制御装置。 - 前記周波数帯域判断手段は、前記必要推力算出手段の算出値をFFTにより周波数領域の信号に変換して複数の周波数帯域に振り分ける構成とし、
前記リミッタは、前記FFTから出力される信号に対し周波数帯域毎に振幅制限を行うものとし、
前記推力指令値算出手段は、前記リミッタの出力値を逆FFTにより時間領域の信号に変換して前記推力指令値を生成することを特徴とするとする請求項1,2,3または4に記載の電動式サスペンション制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012018947A JP5919008B2 (ja) | 2012-01-31 | 2012-01-31 | 電動式サスペンション制御装置 |
KR1020130009034A KR101980918B1 (ko) | 2012-01-31 | 2013-01-28 | 전동식 서스펜션 제어 장치 |
DE102013201277A DE102013201277A1 (de) | 2012-01-31 | 2013-01-28 | Steuervorrichtung für eine elektrische Aufhängung |
US13/751,749 US8560172B2 (en) | 2012-01-31 | 2013-01-28 | Electric suspension control apparatus |
CN201310086349.7A CN103223836B (zh) | 2012-01-31 | 2013-01-31 | 电动悬架控制装置 |
Applications Claiming Priority (1)
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JP2012018947A JP5919008B2 (ja) | 2012-01-31 | 2012-01-31 | 電動式サスペンション制御装置 |
Publications (2)
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JP2013154843A JP2013154843A (ja) | 2013-08-15 |
JP5919008B2 true JP5919008B2 (ja) | 2016-05-18 |
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JP2012018947A Active JP5919008B2 (ja) | 2012-01-31 | 2012-01-31 | 電動式サスペンション制御装置 |
Country Status (5)
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US (1) | US8560172B2 (ja) |
JP (1) | JP5919008B2 (ja) |
KR (1) | KR101980918B1 (ja) |
CN (1) | CN103223836B (ja) |
DE (1) | DE102013201277A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2013193717A (ja) * | 2012-03-23 | 2013-09-30 | Nissan Motor Co Ltd | 車両の制御装置及び車両の制御方法 |
SE540723C2 (sv) * | 2013-11-29 | 2018-10-23 | Bae Systems Haegglunds Ab | Nigningsreducerande fjädringslås för motorfordon |
EP3194665B1 (en) * | 2014-07-31 | 2019-12-25 | CNH Industrial Italia S.p.A. | Active force/vibration feedback control method and apparatus for a movable machine |
JP6482789B2 (ja) * | 2014-08-19 | 2019-03-13 | Kyb株式会社 | サスペンション制御装置 |
JP6449187B2 (ja) * | 2016-03-16 | 2019-01-09 | 本田技研工業株式会社 | 車両のサスペンション装置 |
US10173489B2 (en) * | 2016-05-11 | 2019-01-08 | Ford Global Technologies, Llc | Vehicle suspension control systems and devices, and related methods |
JP6906423B2 (ja) * | 2017-10-26 | 2021-07-21 | 日立Astemo株式会社 | 制振装置 |
WO2019107337A1 (ja) * | 2017-11-28 | 2019-06-06 | 日立オートモティブシステムズ株式会社 | 車両振動制御装置 |
US10690215B2 (en) * | 2018-02-23 | 2020-06-23 | Tenneco Automotive Operating Company Inc. | Damper with electro-magnetic actuator |
IT201800020989A1 (it) * | 2018-12-24 | 2020-06-24 | Sistemi Sospensioni Spa | Compensazione dell'effetto termico in un sistema di sospensione di un veicolo. |
JP6993452B2 (ja) | 2020-03-19 | 2022-01-13 | 本田技研工業株式会社 | 電動サスペンション装置 |
JP7180640B2 (ja) * | 2020-06-10 | 2022-11-30 | トヨタ自動車株式会社 | 車両の制振制御装置、及び制振制御方法 |
JP7281498B2 (ja) * | 2021-03-22 | 2023-05-25 | 本田技研工業株式会社 | 電動サスペンション装置 |
WO2023066451A1 (en) * | 2021-10-18 | 2023-04-27 | Jaguar Land Rover Limited | Pre-emptive suspension loads management system |
Family Cites Families (10)
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JP2595787B2 (ja) * | 1990-08-20 | 1997-04-02 | 三菱自動車工業株式会社 | 車両用アクティブサスペンション装置 |
US6102419A (en) * | 1997-12-30 | 2000-08-15 | Hyundai Motor Company | Suspension system for electric car |
JP2003104025A (ja) * | 2001-09-28 | 2003-04-09 | Tokico Ltd | 電磁サスペンション装置 |
DE20216079U1 (de) * | 2002-07-10 | 2003-03-13 | Demag Cranes & Components Gmbh | Hängesteuereinrichtung |
JP2004299559A (ja) * | 2003-03-31 | 2004-10-28 | Tokico Ltd | アクチュエータの制御方法及びその方法を用いたサスペンション装置 |
US7102539B2 (en) * | 2004-03-29 | 2006-09-05 | Nissan Technical Center North America, Inc. | Rumble strip responsive systems |
US7821742B1 (en) * | 2005-05-12 | 2010-10-26 | Magnecomp Corporation | High stroke sensitivity suspension with laminate load beam for additive laminated and other interconnect support |
JP4525660B2 (ja) * | 2006-10-13 | 2010-08-18 | トヨタ自動車株式会社 | 車両用サスペンションシステム |
DE102008012686A1 (de) * | 2008-03-05 | 2009-09-10 | Audi Ag | Stellglied für ein Radführungselement von Radaufhängungen |
JP5655999B2 (ja) | 2009-05-27 | 2015-01-21 | 日立オートモティブシステムズ株式会社 | 電磁サスペンション装置 |
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2012
- 2012-01-31 JP JP2012018947A patent/JP5919008B2/ja active Active
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2013
- 2013-01-28 KR KR1020130009034A patent/KR101980918B1/ko active IP Right Grant
- 2013-01-28 DE DE102013201277A patent/DE102013201277A1/de active Pending
- 2013-01-28 US US13/751,749 patent/US8560172B2/en active Active
- 2013-01-31 CN CN201310086349.7A patent/CN103223836B/zh active Active
Also Published As
Publication number | Publication date |
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CN103223836B (zh) | 2016-12-28 |
US20130197754A1 (en) | 2013-08-01 |
CN103223836A (zh) | 2013-07-31 |
KR20130088778A (ko) | 2013-08-08 |
KR101980918B1 (ko) | 2019-05-21 |
DE102013201277A1 (de) | 2013-08-01 |
JP2013154843A (ja) | 2013-08-15 |
US8560172B2 (en) | 2013-10-15 |
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