JPH03276810A - Suspension control device - Google Patents
Suspension control deviceInfo
- Publication number
- JPH03276810A JPH03276810A JP7784490A JP7784490A JPH03276810A JP H03276810 A JPH03276810 A JP H03276810A JP 7784490 A JP7784490 A JP 7784490A JP 7784490 A JP7784490 A JP 7784490A JP H03276810 A JPH03276810 A JP H03276810A
- Authority
- JP
- Japan
- Prior art keywords
- angular velocity
- velocity sensor
- vehicle
- control device
- suspension
- 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.)
- Pending
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 20
- 238000013016 damping Methods 0.000 claims abstract description 17
- 238000012937 correction Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000012935 Averaging Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明はＪスペンション制御装置に関するもので、更に
詳しくは車両の走行条件に応じてサスペンションの減衰
率を可変して乗り心地および操安性を両立させるサスペ
ンション制御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a J-spansion control device, and more specifically, the damping rate of the suspension is varied according to the driving conditions of the vehicle to achieve both ride comfort and steering stability. The present invention relates to a suspension control device for controlling the vehicle.
従来の技術
近爪 操安性と乗り心地という矛盾する要望を満たすた
め番ミ サスペンションの減衰力を自動的に切り替え
市街地など一般走行では弱にして乗り心地を維持し
高速走行時やスポーティ走行時には強にして高速安定性
や操安性を向上するための装置が採用されるようになっ
てきている。Conventional technology In order to meet the conflicting demands of handling stability and ride comfort, the damping force of the suspension is automatically switched to a lower level for general driving such as in urban areas to maintain ride comfort.
Devices that increase the strength during high-speed or sporty driving to improve high-speed stability and handling are increasingly being adopted.
従来 この種装置において（友 通常は柔らかい減衰率
に設定しておき、ハンドル操舵線 加減速時、制御時等
の車両の安定性を重視する場合に硬い減衰率に切り替え
る構造になっており、この機能を自動的に働かせるため
く ステアリングの回転角を検知する舵角センサと、車
両のスピードを検知する車速センサとの他く Ｇセンサ
、アクセル開度センサ、ストップランプスイッチ等の各
種のスイッチ、センサを使用し これらからの信号を演
算処理してフロント、リアのサスペンションの減衰率を
制御するようになっている。しかし上述した方法では車
両の動きを各種の信号に基づいて予測する間接方式であ
るた敢 センサ等の数が多くなったり構成が複雑となる
ばかりでなく、信号演算処理も複雑となり、制御性の面
からも問題点かあっム その問題点を解決するために特
開昭６３−６８４１３号公報に示す方法が提案されてお
り、これ（よ 従来の各種センサやスイッチの代わりに
３軸の角速度センサ（ヨー、 ピッチ、ロール）を用い
て直接車両の動きを検知服 簡単な信号処理てサスペン
ションの減衰率を制御しようとするものである。Conventionally, in this type of device, the damping rate is normally set to a soft damping rate, and when the stability of the vehicle is important, such as during acceleration/deceleration or control of the steering wheel steering line, the structure is such that the damping rate is switched to a hard damping rate. In addition to the steering angle sensor that detects the rotation angle of the steering wheel and the vehicle speed sensor that detects the speed of the vehicle, various switches and sensors such as the G sensor, accelerator opening sensor, and stop lamp switch are used to automatically activate the functions. The damping rate of the front and rear suspensions is controlled by processing the signals from these signals. However, the method described above is an indirect method that predicts the movement of the vehicle based on various signals. Not only does the number of sensors, etc. increase and the configuration becomes complicated, but the signal calculation processing also becomes complicated, which poses a problem in terms of controllability. A method shown in Publication No. 68413 has been proposed, which uses a three-axis angular velocity sensor (yaw, pitch, roll) instead of conventional sensors and switches to directly detect vehicle movement.Simple signal processing This is an attempt to control the damping rate of the suspension.
発明か解決しようとする課題
この方法では車両の運動状態を角速度センサを用いて検
知し その信号の大小判別で制御しようとしている力（
現状の角速度センサでは温度や経時変化により零点ドリ
フトが発生し 信号の大小たけでは正確に車両の運動状
態を検出できず制御性か悪化する可能性があも この場
合、車両が停止時に零点補正する方法も考えられる力（
高速道路や自動車専用道路等では停止する機会が少なく
、零点補正することができな１，４ 本発明は この
ような従来技術の問題点を解決することを目的とする。In this method, the motion state of the vehicle is detected using an angular velocity sensor, and the force to be controlled (
With current angular velocity sensors, zero point drift occurs due to changes in temperature and over time, and the vehicle motion state cannot be accurately detected due to the size of the signal, which may lead to poor controllability.In this case, zero point correction is performed when the vehicle is stopped. The ability to think of methods (
On expressways and expressways, there are few opportunities to stop, and zero point correction is not possible.1,4 The purpose of the present invention is to solve these problems of the prior art.
課題を解決するための手段
本発明は上記問題点を解決するため番−車両が走行状態
であってＬ 角速度センサの検出出力信号か予め定めた
許容値よりも小さい場合、すなわち車両か直進走行を行
い車両の振動が少ない場合に 角速度センサの検出出力
信号を平均化することにより角速度センサの零点のドリ
フト量を把握するようにしたことを特徴とすａ
作用
本発明は上述の構成により、角速度センサを用いたサス
ペンション制御システムにおいて、角速度センサの零点
ドリフトを補正し 正確な角速度量を用いることによっ
て的確に減衰力を制御できる。Means for Solving the Problems The present invention aims to solve the above problems.When the vehicle is in a running state and the detection output signal of the L angular velocity sensor is smaller than a predetermined tolerance value, that is, when the vehicle is running straight, The present invention is characterized in that when the vibration of the vehicle is small, the amount of drift of the zero point of the angular velocity sensor is determined by averaging the detection output signal of the angular velocity sensor. In a suspension control system using a suspension control system, the damping force can be controlled accurately by correcting the zero point drift of the angular velocity sensor and using an accurate amount of angular velocity.
実施例
以下、図面を参照して本発明の一実施例を説明すも 第
１図は 本発明のサスペンション制御装置の−Ｘ施例を
示すブロック図であム
図において１は角速度センサ、 ２は車速センサ、３は
ブレーキスイッチで、これらの信号が電気制御装置４に
入力される。ここで角速度センサ１は振動型角速度セン
サ等周知のものか使用される。Embodiment Hereinafter, one embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a -X embodiment of the suspension control device of the present invention. In the diagram, 1 is an angular velocity sensor, and 2 is an angular velocity sensor. A vehicle speed sensor 3 is a brake switch, and these signals are input to an electric control device 4. Here, the angular velocity sensor 1 is a well-known type such as a vibration type angular velocity sensor.
電気制御装置４では各入力信号の演算した結果に基つい
てアクチュエータ５を作動し その結果サスペンション
６の減衰率を可変とする構成をとっている。通象 車両
に生じる運動としては前後、左右、上下の加速度とヨー
ピッチ、ロールの角速度で表わすことができも この
う板 加速度信号はサスペンションの制御に用いる場合
、車両が変位するまでに力として検出することができる
ため応答性が早く非常に有効である力（測定場所により
その大きさが異なるため多数のセンサを取り付ける必要
かあり実用上難しい構成となってしまう。そこで角速度
信号を使用する力（現状の角速度センサでは温度や経時
変化によりゼロ点ドリフトか発生し 正確に車両の動き
を検出することが難しい。The electric control device 4 operates the actuator 5 based on the calculated results of each input signal, thereby making the damping rate of the suspension 6 variable. The motion that occurs in a vehicle can be expressed by longitudinal, lateral, and vertical acceleration, as well as yaw, pitch, and roll angular velocities.When the acceleration signal is used to control the suspension, it is detected as a force before the vehicle displaces. This is a very effective force with quick response because it can be used to measure the force (the magnitude differs depending on the measurement location, so it is necessary to install a large number of sensors, which makes the configuration difficult in practice. With current angular velocity sensors, zero point drift occurs due to changes in temperature and over time, making it difficult to accurately detect vehicle movement.
この様な場合、停止状態でリセットして用いる方法か考
えられる。しかし 高速道路や自動車専用道路等では停
止状態になる機会が少なく、零点補正を行うことは難し
い。In such a case, a method that can be considered is to reset it in a stopped state and use it. However, on expressways and expressways, there are few opportunities for vehicles to come to a standstill, making it difficult to perform zero point correction.
そこで、本発明のサスペンション制御装置で（よ車両か
走行状態であってＬ 角速度センサの検出出力信号が予
め定めた許容値よりも小さい場合、すなわち車両が直進
走行を行い車両の振動が少ない場合（二 角速度センサ
の検出出力信号を平均化することにより角速度センサで
の零点のドリフト量を把握する。そして、その値によっ
て角速度センサからの信号を補正することにより、正確
な車両の運動状態を検出し 的確な減衰力の制御を行う
。第２図は本発明の補正方法を説明する図で、走行状態
における角速度信号を表わしている。第２図において（
ａ）は補正前の零を表わす線で； （ｂ）は上ｔ７Ａ
（ｃ）は下の許容値を表わす線であ４ この許容値
（よ サスペンションの制御に影響を及ぼさない範囲に
あらかじめ求めた車両固有の値であム平均化を開始Ｌ
角速度センサの検出値が設定時間内に許容値を超えない
場合にその平均値（ｄ）をもって零点ドリフト量とし
補正を行う。この設定時間も車両に応じて決定される値
であａ 設定時間以内に角速度センサの検出値が許容値
を超えると平均化はリセットされ 再度角速度センサの
検出値か許容値以内に入った後平均化を再開する。Therefore, in the suspension control device of the present invention, when the vehicle is in a running state and the detection output signal of the angular velocity sensor is smaller than a predetermined tolerance value, that is, when the vehicle is traveling straight and there is little vibration of the vehicle, 2. By averaging the detection output signals of the angular velocity sensor, the amount of drift of the zero point of the angular velocity sensor is determined.Then, by correcting the signal from the angular velocity sensor using that value, the accurate motion state of the vehicle can be detected. Accurately control the damping force. Fig. 2 is a diagram explaining the correction method of the present invention, and shows the angular velocity signal in the running state. In Fig. 2, (
a) is the line representing zero before correction; (b) is the line above t7A
(c) is the line representing the lower tolerance value.
If the detected value of the angular velocity sensor does not exceed the allowable value within the set time, the average value (d) is taken as the zero point drift amount.
Make corrections. This set time is also a value determined according to the vehicle.a If the detected value of the angular velocity sensor exceeds the allowable value within the set time, the averaging is reset, and after the detected value of the angular velocity sensor falls within the allowable value again, it is averaged. Resume the process.
この様にして角速度センサのドリフト量を補正し正確な
運動状態を検出し 的確な減衰力の制御をすることが可
能となム
発明の効果
以上のように 本発明によれば 角速度センサを用いた
サスペンション制御装置において、車両が走行状態であ
っても角速度センサの検出出力信号が予め定めた値より
も小さい場合に角速度センサの検出出力信号を平均化す
ることにより角速度センサの温度や経時変化によるドリ
フトを補正すも その結果 正確な角速度信号すなわち
正確な車両の運動状態を把握することができ、的確な減
衰力の制御を行うことが可能となムIn this way, it is possible to correct the drift amount of the angular velocity sensor, accurately detect the motion state, and accurately control the damping force.As described above, according to the present invention, the angular velocity sensor is used. In a suspension control device, even when the vehicle is running, if the detection output signal of the angular velocity sensor is smaller than a predetermined value, the detection output signal of the angular velocity sensor is averaged to prevent drift due to temperature or aging of the angular velocity sensor. As a result, an accurate angular velocity signal, that is, an accurate vehicle motion state, can be grasped, making it possible to accurately control the damping force.
第１図は本発明の一実施例におけるサスペンション制御
装置のブロック＠ 第２図は角速度信号の零点補正方法
の説明図である。
１・・・・角速度センサ、 ２・・・・車速センサ、
３・・・・ブレーキスイッチ、 ４・・・・電気制御波
ｆｆ１ｉ５・・・・アクチュエー久 ６・・・・サスペ
ンション。FIG. 1 is a block diagram of a suspension control device according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of a method for correcting the zero point of an angular velocity signal. 1... Angular velocity sensor, 2... Vehicle speed sensor,
3... Brake switch, 4... Electric control wave ff1i5... Actuator 6... Suspension.
Claims (1)
算処理を行う電気制御装置と、車両の各サスペンション
に設けられ前記電気制御装置の演算処理結果に基づき制
御されるアクチュエータを具備し、前記アクチュエータ
によりサスペンションの減衰率を変えて車両の姿勢を制
御するサスペンション制御装置において、車両が走行状
態であっても前記角速度センサの検出出力信号がある値
以内であるときに、その角速度センサの零点補正を行う
ように構成したことを特徴とするサスペンション制御装
置。It is equipped with an electric control device that performs arithmetic processing based on detection output signals of an angular velocity sensor and a vehicle speed sensor, and an actuator that is provided in each suspension of the vehicle and is controlled based on the arithmetic processing results of the electric control device, and the actuator controls the suspension. In a suspension control device that controls the attitude of a vehicle by changing a damping rate of the angular velocity sensor, the zero point correction of the angular velocity sensor is performed when the detection output signal of the angular velocity sensor is within a certain value even when the vehicle is in a running state. A suspension control device characterized by comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7784490A JPH03276810A (en) | 1990-03-27 | 1990-03-27 | Suspension control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7784490A JPH03276810A (en) | 1990-03-27 | 1990-03-27 | Suspension control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03276810A true JPH03276810A (en) | 1991-12-09 |
Family
ID=13645364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7784490A Pending JPH03276810A (en) | 1990-03-27 | 1990-03-27 | Suspension control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03276810A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007238057A (en) * | 2006-03-13 | 2007-09-20 | Kubota Corp | Attitude controller of working vehicle |
-
1990
- 1990-03-27 JP JP7784490A patent/JPH03276810A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007238057A (en) * | 2006-03-13 | 2007-09-20 | Kubota Corp | Attitude controller of working vehicle |
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