JP6349137B2 - ダンパ制御装置 - Google Patents
ダンパ制御装置 Download PDFInfo
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- JP6349137B2 JP6349137B2 JP2014088795A JP2014088795A JP6349137B2 JP 6349137 B2 JP6349137 B2 JP 6349137B2 JP 2014088795 A JP2014088795 A JP 2014088795A JP 2014088795 A JP2014088795 A JP 2014088795A JP 6349137 B2 JP6349137 B2 JP 6349137B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
-
- 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
-
- 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
- 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
- B60G17/01933—Velocity, e.g. relative velocity-displacement 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
- B60G17/08—Characteristics of fluid dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
-
- 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
- B60G2202/20—Type of damper
- B60G2202/24—Fluid damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/12—Cycles; Motorcycles
-
- 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
- B60G2400/0511—Roll 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
- B60G2400/052—Angular rate
- B60G2400/0522—Pitch rate
-
- 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
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
-
- 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
- B60G2400/50—Pressure
- B60G2400/51—Pressure in suspension unit
- B60G2400/518—Pressure in suspension unit in damper
- B60G2400/5182—Fluid damper
-
- 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
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
- B62K2025/044—Suspensions with automatic adjustment
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Axle Suspensions And Sidecars For Cycles (AREA)
Description
2 三軸レートセンサ
3 前輪側圧力検知手段としての圧力センサ
4 後輪側圧力検知手段としての圧力センサ
5 制御部
6 補正手段
10 シリンダ
11 ピストン
14 伸側減衰通路
15 圧側通路
16 圧側減衰通路
17 吸込通路
18 バイパス路
39 レートセンサ
40 ハイパスフィルタ
42,62 速度検知手段
B 車体
FW 前輪
FD 前輪側ダンパ
R リザーバ
R1 伸側室
R2 圧側室
RW 後輪
RD 後輪側ダンパ
V 圧力制御要素としての制御バルブ
Claims (9)
- 二輪車における車体のピッチング角速度を検知するピッチング角速度検知手段と、
上記車体のロール角度を検知するロール角度検知手段と、
上記車体のヨー角速度を検知するヨー角速度検知手段と、
上記二輪車における上記車体と前輪との間に介装される前輪側ダンパにおける圧側室の圧力を検知する前輪側圧力検知手段と、
上記二輪車における上記車体と後輪との間に介装される後輪側ダンパにおける圧側室の圧力を検知する後輪側圧力検知手段と、
上記ロール角度および上記ヨー角速度に基づいて上記ピッチング角速度を補正する補正手段であって、上記二輪車の旋回時において検出した上記ピッチング角速度から上記ロール角度および上記ヨー角速度に基づく成分を取り除く補正手段とを備え、
補正された上記ピッチング角速度、上記前輪側ダンパおよび上記後輪側ダンパにおける圧側室の圧力に基づいて上記前輪側ダンパと上記後輪側ダンパの圧側室の圧力を制御する
ことを特徴とするダンパ制御装置。 - 上記補正手段は、ピッチング角速度検知手段が検知する上記ピッチング角速度を濾波するハイパスフィルタを備えた
ことを特徴とする請求項1に記載のダンパ制御装置。 - 補正された上記ピッチング角速度から上記車体のピッチングを抑制する目標トルクを求め、上記目標トルクから上記前輪側ダンパと上記後輪側ダンパのうちピッチングによって圧縮されるダンパを選択し、上記選択されたダンパにおける圧側室の目標圧力を求め、上記選択されたダンパの圧側室の圧力をフィードバックして上記選択されたダンパの圧側室の圧力を制御する
ことを特徴とする請求項1または2に記載のダンパ制御装置。 - 上記車体の上下方向速度を検知する速度検知手段を備え、
補正された上記ピッチング角速度から上記車体のピッチングを抑制する目標トルクを求め、
上記目標トルクから上記前輪側ダンパと上記後輪側ダンパのピッチングを解消するのに必要な前輪側および後輪側のピッチング抑制減衰力を求め、
上記上下方向速度から上記車体の中心付近のバウンスを解消するのに必要な前輪側および後輪側のバウンス抑制減衰力を求め、
上記前輪側のピッチング抑制減衰力と上記前輪側のバウンス抑制減衰力とから上記前輪側ダンパにおける圧側室の目標前輪側圧力を求め、上記前輪側ダンパの圧側室の圧力をフィードバックして上記前輪側ダンパの圧側室の圧力を制御するとともに、
上記後輪側のピッチング抑制減衰力と上記後輪側のバウンス抑制減衰力とから上記前輪側ダンパにおける圧側室の目標後輪側圧力を求め、上記後輪側ダンパの圧側室の圧力をフィードバックして上記後輪側ダンパの圧側室の圧力を制御する
ことを特徴とする請求項1または2に記載のダンパ制御装置。 - 上記車体の上下方向速度を検知する速度検知手段を備え、
補正された上記ピッチング角速度から上記車体のピッチングを抑制する目標トルクを求め、
上記目標トルクから上記前輪側ダンパと上記後輪側ダンパのうちピッチングによって圧縮されるダンパを選択し、上記目標トルクと上記上下方向速度とに基づいて上記選択されたダンパにおける圧側室の目標圧力を求め、上記選択されたダンパの圧側室の圧力をフィードバックして上記選択されたダンパの圧側室の圧力を制御する
ことを特徴とする請求項1または2に記載のダンパ制御装置。 - 上記車体の上下方向速度から遠心加速度の影響を取り除く補正部を備えた
ことを特徴とする請求項4または5に記載のダンパ制御装置。 - 上記前輪側ダンパが選択される場合、上記目標トルクと上記上下方向速度と上記二輪車のブレーキ信号とに基づいて上記前輪側ダンパにおける圧側室の目標圧力を求める
ことを特徴とする請求項5または請求項5に従属する請求項6に記載のダンパ制御装置。 - 上記後輪側ダンパが選択される場合、上記目標トルクと上記上下方向速度と上記二輪車のアクセル信号とに基づいて上記後輪側ダンパにおける圧側室の目標圧力を求める
ことを特徴とする請求項5、請求項5に従属する請求項6または請求項7に記載のダンパ制御装置。 - 上記前輪側ダンパおよび後輪側ダンパは、シリンダと、シリンダ内に摺動自在に挿入されてシリンダ内に液体が充填される上記圧側室と伸側室とに区画するピストンと、上記圧側室に連通されるリザーバと、上記伸側室から上記圧側室へ向かう液体の流れに抵抗を与える伸側減衰通路と、上記伸側減衰通路に並列されて上記圧側室から上記伸側室へ向かう液体の流れのみを許容する圧側通路と、上記圧側室から上記リザーバへ向かう液体の流れに抵抗を与える圧側減衰通路と、上記圧側減衰通路に並列されて上記リザーバから上記圧側室へ向かう液体の流れのみを許容する吸込通路と、上記圧側減衰通路および吸込通路に並列されて上記圧側室と上記リザーバとを連通するバイパス路とを備え、上記バイパス路の途中に上記圧側室の圧力を調節する圧力制御要素を設けた
ことを特徴とする請求項1から8のいずれか一項に記載のダンパ制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014088795A JP6349137B2 (ja) | 2014-04-23 | 2014-04-23 | ダンパ制御装置 |
PCT/JP2015/062426 WO2015163425A1 (ja) | 2014-04-23 | 2015-04-23 | ダンパ制御装置 |
CN201580014348.9A CN106103259A (zh) | 2014-04-23 | 2015-04-23 | 减震器控制装置 |
US15/126,184 US9751373B2 (en) | 2014-04-23 | 2015-04-23 | Damper control device |
EP15783534.9A EP3109142A4 (en) | 2014-04-23 | 2015-04-23 | Damper control device |
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JP2014088795A JP6349137B2 (ja) | 2014-04-23 | 2014-04-23 | ダンパ制御装置 |
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JP2015205645A JP2015205645A (ja) | 2015-11-19 |
JP6349137B2 true JP6349137B2 (ja) | 2018-06-27 |
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US (1) | US9751373B2 (ja) |
EP (1) | EP3109142A4 (ja) |
JP (1) | JP6349137B2 (ja) |
CN (1) | CN106103259A (ja) |
WO (1) | WO2015163425A1 (ja) |
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JP5873143B2 (ja) * | 2014-07-08 | 2016-03-01 | ヤマハ発動機株式会社 | 鞍乗り型車両 |
JP6349182B2 (ja) * | 2014-07-22 | 2018-06-27 | Kyb株式会社 | ダンパ制御装置 |
KR20170084830A (ko) * | 2016-01-13 | 2017-07-21 | 현대자동차주식회사 | 현가장치를 이용한 차량의 요(yaw) 운동 제어 방법 및 장치 |
JP6728393B2 (ja) * | 2016-11-29 | 2020-07-22 | ヤマハ発動機株式会社 | リーン車両の路面垂直方向軸周りの角速度取得装置 |
CN107053989A (zh) * | 2017-03-22 | 2017-08-18 | 江南大学 | 汽车电子减震及姿态增稳控制***、方法 |
US11021031B2 (en) | 2018-10-29 | 2021-06-01 | Polaris Industries Inc. | Suspension pre-load adjustment system |
JP7351881B2 (ja) * | 2021-09-29 | 2023-09-27 | 本田技研工業株式会社 | 制御装置、車両、推定方法、およびプログラム |
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JPH04237637A (ja) * | 1991-01-18 | 1992-08-26 | Hitachi Ltd | 車両の運動推定装置、その方法及び車両の制御システム |
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JP3722544B2 (ja) * | 1996-03-29 | 2005-11-30 | 株式会社小松製作所 | 車速検出装置 |
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JP2008003182A (ja) * | 2006-06-21 | 2008-01-10 | Pentax Corp | ブレ量検出装置 |
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JP2011064594A (ja) * | 2009-09-17 | 2011-03-31 | Sony Corp | 角速度補正装置、角速度補正方法、ナビゲーション装置及びナビゲーション機能付携帯電話機 |
JP6302196B2 (ja) * | 2012-09-27 | 2018-03-28 | Kyb株式会社 | ダンパ制御装置 |
-
2014
- 2014-04-23 JP JP2014088795A patent/JP6349137B2/ja active Active
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2015
- 2015-04-23 EP EP15783534.9A patent/EP3109142A4/en not_active Withdrawn
- 2015-04-23 US US15/126,184 patent/US9751373B2/en active Active
- 2015-04-23 CN CN201580014348.9A patent/CN106103259A/zh active Pending
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EP3109142A4 (en) | 2017-11-29 |
US9751373B2 (en) | 2017-09-05 |
JP2015205645A (ja) | 2015-11-19 |
US20170080769A1 (en) | 2017-03-23 |
CN106103259A (zh) | 2016-11-09 |
EP3109142A1 (en) | 2016-12-28 |
WO2015163425A1 (ja) | 2015-10-29 |
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