KR100381773B1 - How to Control Anti-Roll of Vehicles - Google Patents
How to Control Anti-Roll of Vehicles Download PDFInfo
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- KR100381773B1 KR100381773B1 KR10-1998-0038713A KR19980038713A KR100381773B1 KR 100381773 B1 KR100381773 B1 KR 100381773B1 KR 19980038713 A KR19980038713 A KR 19980038713A KR 100381773 B1 KR100381773 B1 KR 100381773B1
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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
- B60G17/016—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
- B60G17/0164—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 accelerating or braking
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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
- B60G17/018—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
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- 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
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9122—ARS - Anti-Roll System Control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
- B60Y2400/3032—Wheel speed sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
본 발명은 차량의 주행중에 받을수 있는 외부 충격을 흡수하여 차량의 진동을 감쇄시키는 댐퍼의 감쇄력을 상기 차량의 횡가속도에 따라 적응적으로 조절하는 앤티-롤 방법에 관한 것으로, 차량의 외륜의 속도와 내륜의 속도를 각각 측정하는 단계; 상기 차량의 선회 방향을 판별하는 단계; 상기 차량의 외륜 속도와 내륜 속도 차이에 의거하여 상기 차량의 선회 반경을 추정하고, 상기 차량의 선회 반경과, 상기 외륜 속도와 내륜 속도간의 평균으로부터 상기 차량의 횡가속도를 연산하는 단계; 상기 차량의 선회 방향과, 상기 연산된 횡가속도에 적응적으로 상기 댐퍼의 감쇄력을 조절하는 단계를 포함하여 구성함을 특징으로 한다.The present invention relates to an anti-roll method for adaptively adjusting the damping force of a damper that absorbs an external shock that may be received while driving a vehicle according to lateral acceleration of the vehicle. Measuring the speed of the inner ring respectively; Determining a turning direction of the vehicle; Estimating the turning radius of the vehicle based on the difference between the outer ring speed and the inner ring speed of the vehicle, and calculating the lateral acceleration of the vehicle from the turning radius of the vehicle and the average between the outer ring speed and the inner ring speed; And adjusting the damping force of the damper adaptively to the turning direction of the vehicle and the calculated lateral acceleration.
Description
본 발명은 차량의 주행중에 받을 수 있는 외부 충격을 흡수하여 차량의 진동을 감쇄시켜주는 댐퍼(damper)를 조절하는 방법에 관한 것으로, 특히 차량의 선회 주행시에 차량의 횡가속도에 따라 적응적으로 댐퍼의 감쇄력을 조절하여 차량의 롤링(rolling)을 억제하는 앤티-롤(anti-roll) 제어 방법에 관한 것이다.The present invention relates to a method of adjusting a damper (absorber) that absorbs an external shock that can be received while driving a vehicle, thereby damping the vibration of the vehicle. In particular, the damper is adaptively adapted to the lateral acceleration of the vehicle during turning of the vehicle. The present invention relates to an anti-roll control method of suppressing rolling of a vehicle by adjusting the damping force of the vehicle.
일반적으로, 차량이 선회 주행을 하게되면 차량은 물리적으로 횡가속도를 받게 되고, 이에 대응하여 롤(roll)현상이 발생하게 된다. 이러한 차량의 롤현상은 승차감을 악화시키는 요인으로 작용하는데, 특히, 차량의 현가 장치에 구비된 댐퍼(damper)가 상,하력을 받아 변위에 변화를 일으킴으로서, 차량의 전반적인 운동 성능에 악영향을 미치게 된다.In general, when the vehicle is turning, the vehicle is physically subjected to lateral acceleration, and a roll phenomenon occurs correspondingly. The roll phenomenon of the vehicle acts as a factor deteriorating the ride comfort, in particular, the damper (damper) provided in the suspension device of the vehicle changes the displacement due to the up and down load, which adversely affects the overall movement performance of the vehicle do.
따라서, 차량의 선회 주행시 차량의 롤 현상을 억제하기 위하여, 댐퍼의 감쇄력을 능동적으로 제어하는 능동형 현가 장치가 개발 되었다. 즉, 능동형 현가 장치는 차량이 선회 주행하게 되면, 차량의 횡가속도를 체크한후, 차량의 횡가속도에 따라 차량의 4륜에 각각으로 구비된 댐퍼들의 감쇄력을 각각으로 조절해줌으로서, 차량의 롤링을 억제하는 작용을 하는 것이다. 이와 같은 능동형 현가 장치에 있어서, 종래의 경우에는 차량의 횡가속도를 감지하기 위한 구성 부재로서, 횡가속도 센서를 별도로 구비하였기 때문에 가격 상승의 요인이 되었다.Therefore, in order to suppress the roll phenomenon of the vehicle during turning of the vehicle, an active suspension device for actively controlling the damping force of the damper has been developed. That is, the active suspension device, when the vehicle turns, checks the lateral acceleration of the vehicle, and then adjusts the damping force of the dampers respectively provided on the four wheels of the vehicle according to the lateral acceleration of the vehicle, thereby rolling the vehicle. It is to act to suppress. In such an active suspension device, in the conventional case, since a lateral acceleration sensor is separately provided as a constituent member for detecting the lateral acceleration of the vehicle, it has caused a price increase.
따라서, 본 발명은 차량 4륜의 속도를 체크하기 위한 4륜 속도 센서를 이용하여 차량의 횡가속도를 검출한후, 차량의 횡가속도에 따라 적응적으로 댐퍼의 감쇄력을 조절함으로서, 비용을 줄일수 있는 앤티-롤 제어 방법을 제공함에 그 목적이 있다.Therefore, the present invention detects the lateral acceleration of the vehicle by using a four-wheel speed sensor for checking the speed of the four-wheel vehicle, and then reduces costs by adaptively adjusting the damping force of the damper according to the lateral acceleration of the vehicle. The purpose is to provide an anti-roll control method.
상기 목적을 달성하기 위한 본 발명은, 차량의 주행중에 받을수 있는 외부 충격을 흡수하여 차량의 진동을 감쇄시키는 댐퍼의 감쇄력을 상기 차량의 횡가속도에 따라 적응적으로 조절하는 방법에 있어서: (A) 상기 차량의 외륜의 속도와 내륜의 속도를 각각 측정하는 단계; (B) 상기 차량의 선회 방향을 판별하는 단계; (C) 상기 차량의 외륜 속도와 내륜 속도 차이에 의거하여 상기 차량의 선회 반경을 추정하고, 상기 차량의 선회 반경과, 상기 외륜 속도와 내륜 속도간의 평균으로부터 상기 차량의 횡가속도를 연산하는 단계; (D) 상기 차량의 선회 방향과, 상기 연산된 횡가속도에 적응적으로 상기 댐퍼의 감쇄력을 조절하는 단계를 포함하여 구성함을 특징으로 한다.In order to achieve the above object, the present invention provides a method for adaptively adjusting the damping force of a damper that absorbs an external shock that can be received while driving a vehicle according to the lateral acceleration of the vehicle. Measuring the speed of the outer ring and the speed of the inner ring of the vehicle, respectively; (B) determining a turning direction of the vehicle; (C) estimating the turning radius of the vehicle based on the difference between the outer ring speed and the inner ring speed of the vehicle, and calculating the lateral acceleration of the vehicle from the turning radius of the vehicle and the average between the outer ring speed and the inner ring speed; And (D) adjusting the damping force of the damper adaptively to the turning direction of the vehicle and the calculated lateral acceleration.
도 1은 본 발명의 앤티-롤 제어 방법을 수행하기 위한 하드웨어 구성도,1 is a hardware block diagram for performing the anti-roll control method of the present invention,
도 2는 본 발명의 앤티-롤 제어 방법을 도식적으로 설명하기 위한 도면,2 is a diagram for schematically illustrating an anti-roll control method of the present invention;
도 3은 본 발명의 바람직한 실시예에 따른 앤티-롤 제어 방법의 상세 흐름도.3 is a detailed flowchart of an anti-roll control method according to a preferred embodiment of the present invention.
<도면의 주요부분에 대한 부호의 설명><Description of the code | symbol about the principal part of drawing>
100A 내지 100D : 4륜 속도 센서 200 : 전자 제어부100A to 100D: 4 wheel speed sensor 200: electronic control unit
300A 내지 300D : 액튜에이터 400A 내지 400D : 댐퍼300A to 300D: Actuator 400A to 400D: Damper
이하 첨부된 도면을 참조하여 본 발명의 바람직한 실시예에 대하여 상세하게 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1에는 본 발명의 앤티-롤 제어 방법을 수행하기 위한 하드웨어가 도시된다. 도 1에 도시된 바와 같이, 앤티-롤 제어 방법을 수행하기 위한 하드웨어는 4륜 속도 센서(100A, 100B, 100C, 100D)와, 전자 제어부(200), 액튜에이터(300A, 300B, 300C, 300D), 및 댐퍼(400A, 400B, 400C, 400D)로 구성된다.1 shows hardware for performing the anti-roll control method of the present invention. As shown in FIG. 1, hardware for performing the anti-roll control method includes four-wheel speed sensors 100A, 100B, 100C, and 100D, an electronic controller 200, and actuators 300A, 300B, 300C, and 300D. , And dampers 400A, 400B, 400C, 400D.
도 1을 참조하면, 4륜 속도 센서(100A, 100B, 100C, 100D)는 각각 차량 전륜의 좌륜 및 우륜과, 차량 후륜의 좌륜 및 우륜의 속도를 각각 측정하여 전자 제어부(100)에 제공한다.Referring to FIG. 1, the four-wheel speed sensors 100A, 100B, 100C, and 100D measure the speeds of the left and right wheels of the front wheel of the vehicle and the left and right wheels of the rear wheel of the vehicle, respectively, and provide them to the electronic controller 100.
전자 제어부(200)는 차량 전륜의 좌륜 속도(V3)와, 전륜의 우륜 속도(V4)와, 후륜의 좌륜 속도(V1), 및 후륜의 우륜 속도(V2)를 비교하여, 차량의 선회 여부 및 선회 방향을 판별한다.The electronic controller 200 compares the left wheel speed V3 of the front wheel of the vehicle, the right wheel speed V4 of the front wheel, the left wheel speed V1 of the rear wheel, and the right wheel speed V2 of the rear wheel, to determine whether the vehicle is turning and Determine the turning direction.
또한, 전자 제어부(200)는 차량의 선회 주행시, 차량의 내륜(선회 방향 안쪽에 위치한 바퀴)과, 차량의 외륜(선회 방향 바깥쪽에 위치한 바퀴)간의 속도차에 의해 차량의 평균 선회 반경을 추정하고, 차량의 평균 선회 반경과, 외륜 속도 및 내륜 속도간의 평균으로부터 상기 차량의 횡가속도를 연산한다.In addition, the electronic controller 200 estimates an average turning radius of the vehicle based on a speed difference between the inner ring of the vehicle (wheels located in the turning direction) and the outer ring of the vehicle (wheels located outside the turning direction). The lateral acceleration of the vehicle is calculated from the average of the mean turning radius of the vehicle and the average between the outer ring speed and the inner ring speed.
도 2에는 차량이 좌측 방향으로 선회 주행할 경우에, 차량의 횡가속도를 연산하는 방법을 설명하기 위한 도면이 예시된다. 도 2를 참조하면, 차량이 좌측 방향으로 선회 주행할 경우, 차량 전륜의 좌륜(FL) 및 차량 후륜의 좌륜(RL)이 내륜이 되고, 차량 전륜의 우륜(FR) 및 차량 후륜의 우륜(RR)이 외륜이 된다. 여기에서, 차량의 평균 선회 반경(R)을 추정하는데 이용되는 륜속도로는, 구동에 의한 슬립(slip)이 발생되지 않는 비구동륜의 속도를 이용함이 바람직하며, 도 2에는 후륜의 내륜(RL)과 후륜의 외륜(RR)의 속도(V1,V2)를 이용하여 평균 선회 반경을 추정하는 것이 예시된다. 도 2를 참조하면 후륜의 내륜 속도와 후륜의 외륜 속도는 각각 수학식 1과 수학식 2로 나타낼수 있다.2 is a view for explaining a method for calculating the lateral acceleration of the vehicle when the vehicle turns in the left direction. Referring to FIG. 2, when the vehicle is turning in the left direction, the left wheel FL of the front wheel of the vehicle and the left wheel RL of the rear wheel of the vehicle become the inner wheel, and the right wheel FR of the front wheel of the vehicle and the right wheel RR of the rear wheel of the vehicle ) Becomes the outer ring. Here, as the wheel speed used for estimating the average turning radius R of the vehicle, it is preferable to use the speed of the non-drive wheels in which slip does not occur by driving, and FIG. 2 shows the inner wheel RL of the rear wheel. ) And estimating the average turning radius using the speeds V1 and V2 of the outer ring RR of the rear wheel. Referring to FIG. 2, the inner ring speed of the rear wheel and the outer ring speed of the rear wheel may be represented by Equations 1 and 2, respectively.
V1 : 후륜의 내륜(좌륜) 속도V1: Inner wheel speed of the rear wheel
V2 : 후륜의 외륜(우륜) 속도V2: Outer ring speed of right wheel
W : 선회 각속도W: turning angular velocity
R1: 차량의 선회 중심과 후륜의 내륜까지의 반경R 1 : radius from the turning center of the vehicle to the inner ring of the rear wheel
R2: 차량의 선회 중심과 후륜의 외륜까지의 반경R 2 : radius from the turning center of the vehicle to the outer ring of the rear wheel
수학식 1 및 수학식 2로부터 수학식3을 유도할수 있게 된다.Equation 3 can be derived from equations (1) and (2).
수학식3에서,
수학식 4에 따르면, R1과 R2를 알수 없다 하더라도, 차량의 선회 각속도(W)를 검출할수 있다. 한편, 차량의 평균 선회 반경(R)은 수학식 5와 같이 나타낼수 있다.According to Equation 4, even if R 1 and R 2 are unknown, the turning angular velocity W of the vehicle can be detected. On the other hand, the average turning radius (R) of the vehicle can be expressed as shown in equation (5).
이때, R1은 수학식 1에 의해, 후륜의 내륜 속도(V1) 및 선회 각속도(W)로 나타낼수 있고, R2는 수학식 2에 의해, 후륜의 외륜 속도(V1) 및 선회 각속도(W)로 나타낼수 있다. 따라서, 이와 같은 관계를 이용하여, 수학식 5를 다시 정리하면, 수학식 6과 같이 표현될 수 있다.At this time, R 1 can be represented by the inner wheel speed (V1) and the turning angular speed (W) of the rear wheel by the equation (1), and R 2 is represented by the equation (2), outer ring speed (V1) and the turning angular speed (W) of the rear wheel ) Therefore, using this relationship, if Equation 5 is rearranged, it can be expressed as Equation 6.
이와 같은 과정에 의해 차량의 평균 선회 반경(R)이 추정되면, 전자 제어부(200)는 수학식 7에 의해 후륜의 내륜 속도와 후륜의 외륜 속도간의 평균(Vref)을 검출하고, 수학식 8에 의해, 차량의 횡가속도(g)를 연산한다.When the average turning radius R of the vehicle is estimated by the above process, the electronic control unit 200 detects an average V ref between the inner wheel speed of the rear wheel and the outer wheel speed of the rear wheel by Equation 7, and Equation 8 By this, the lateral acceleration g of the vehicle is calculated.
전자 제어부(200)는 상술한 과정에 의해 연산된 차량의 횡가속도와, 차량의 선회 방향에 따른 제어 신호를 액튜에이터(300A, 300B, 300C, 300D)에 제공한다. 액튜에이터(300A, 300B, 300C, 300D)는 전자 제어부(200)의 제어 신호에 따라 일대일 대응되는 댐퍼(400A, 400B, 400C, 400D)의 감쇄력을 조절해준다. 이때, 댐퍼(400A, 400B, 400C, 400D)는 각각 차량 전륜의 좌륜과 우륜, 및 차량 후륜의 좌륜과 우륜에 각각 일대일 대응되게 장착된 것으로, 액튜에이터(300A, 300B, 300C, 300D)의 조절에 따라 감쇄력이 조절됨으로서, 차량의 선회 주행에 따른 롤링을 억제한다.The electronic controller 200 provides the actuators 300A, 300B, 300C, and 300D with control signals according to the lateral acceleration of the vehicle and the turning direction of the vehicle calculated by the above-described process. The actuators 300A, 300B, 300C, and 300D adjust the damping force of the dampers 400A, 400B, 400C, and 400D that correspond one-to-one according to the control signal of the electronic controller 200. At this time, the dampers (400A, 400B, 400C, 400D) are respectively mounted in a one-to-one correspondence to the left and right wheels of the front wheels of the vehicle, and the left and right wheels of the rear wheels of the vehicle, respectively, to control the actuators (300A, 300B, 300C, 300D). The damping force is adjusted accordingly to suppress rolling due to turning of the vehicle.
도 3에는 본 발명의 실시예에 따른 앤티-롤 제어 방법의 제어 흐름도가 도시된다. 도 3의 앤티-롤 제어 방법은 도 1에 도시된 하드웨어를 이용하여 수행된다. 따라서, 이하에서는 도 1 및 도 3을 참조하여 앤티-롤 제어 방법을 상세히 설명한다.3 is a control flowchart of an anti-roll control method according to an embodiment of the present invention. The anti-roll control method of FIG. 3 is performed using the hardware shown in FIG. Therefore, the anti-roll control method will be described in detail below with reference to FIGS. 1 and 3.
먼저, 전자 제어부(200)는 4륜 속도 센서(100A, 100B, 100C, 100D)로 부터, 차량 전륜의 좌륜 속도(V3)와, 전륜의 우륜 속도(V4)와, 후륜의 좌륜 속도(V1), 및 후륜의 우륜 속도(V2)가 제공되면(S1), 차량 전륜의 좌륜 속도(V3)와, 전륜의 우륜 속도(V4)와, 후륜의 좌륜 속도(V1), 및 후륜의 우륜 속도(V2)를 서로 비교하여(S2) 차량의 진행 방향을 판별한다.First, the electronic control unit 200 uses the four wheel speed sensors 100A, 100B, 100C, and 100D to determine the left wheel speed V3 of the front wheel of the vehicle, the right wheel speed V4 of the front wheel, and the left wheel speed V1 of the rear wheel. And the right wheel speed V2 of the rear wheel is provided (S1), the left wheel speed V3 of the front wheel of the vehicle, the right wheel speed V4 of the front wheel, the left wheel speed V1 of the rear wheel, and the right wheel speed V2 of the rear wheel. ) Are compared with each other (S2) to determine the traveling direction of the vehicle.
S2단계의 비교 결과, V4>V2>V3>V1이면(S3) 차량의 좌회전 하는 것으로 판별하고(S5), V3>V1>V4>V2이면(S4) 차량이 우회전 하는 것으로 판별하며(S6), 그 이외의 경우에는 차량이 직진하는 것로 판별한다(S7).As a result of the comparison in step S2, if V4> V2> V3> V1 (S3), the vehicle is determined to turn left (S5), and if V3> V1> V4> V2 (S4), the vehicle is determined to turn right (S6), Otherwise, it is determined that the vehicle is going straight (S7).
판별 결과, 차량이 좌회전 또는 우회전하면, 전자 제어부(200)는 수학식 4에 의해, 차량의 선회 각속도(W)를 검출한다(S8). 이때, 차량이 좌회전하면, 차량 후륜의 좌륜이 내륜이 되고, 차량 후륜의 우륜이 외륜이 되는 반면, 차량이 우회전하면, 차량 후륜의 우륜이 내륜이 되고, 차량 후륜의 좌륜이 외륜이 된다.As a result of the determination, when the vehicle turns left or right, the electronic control unit 200 detects the turning angular velocity W of the vehicle by Equation 4 (S8). At this time, when the vehicle turns left, the left wheel of the rear wheel of the vehicle becomes the inner ring, while the right wheel of the rear wheel of the vehicle becomes the outer ring, while the right wheel of the rear wheel of the vehicle becomes the inner ring, and the left wheel of the rear wheel of the vehicle becomes the outer ring.
차량의 선회 각속도(W)가 검출되면, 전자 제어부(200)는 수학식 6에 의해 차량의 평균 선회 반경(R)을 추정하고(S9), 수학식 7에 의해 후륜의 내륜 속도와 후륜의 외륜 속도간의 평균(Vref)을 검출한후(S10), 수학식 8에 의해, 차량의 횡가속도(g)를 연산한다(S11).When the turning angular velocity W of the vehicle is detected, the electronic controller 200 estimates the average turning radius R of the vehicle by Equation 6 (S9), and the inner wheel speed of the rear wheel and the outer ring of the rear wheel by Equation 7 After detecting the average V ref between the speeds (S10), the lateral acceleration g of the vehicle is calculated by Equation (8) (S11).
전자 제어부(200)는 상술한 과정에 의해 연산된 차량의 횡가속도와, 차량의 선회 방향에 따른 제어 신호를 액튜에이터(300A, 300B, 300C, 300D)에 각각 제공하고, 액튜에이터(300A, 300B, 300C, 300D)는 전자 제어부(200)의 제어 신호에 따라 일대일 대응되는 댐퍼(400A, 400B, 400C, 400D)의 감쇄력을 조절해준다(S12).The electronic controller 200 provides the actuators 300A, 300B, 300C, and 300D to the actuators 300A, 300B, 300C, and 300D, respectively, based on the lateral acceleration of the vehicle and the turning direction of the vehicle calculated by the above-described process. , 300D adjusts the damping force of the dampers 400A, 400B, 400C, and 400D that correspond one-to-one according to the control signal of the electronic controller 200 (S12).
이상 설명한 바와 같이, 본 발명은 차량의 4륜에 대응되게 구비된 륜 속도 센서를 이용하여 차량의 횡가속도를 검출하고, 검출된 차량의 횡가속도에 대응하여 댐퍼를 조절함으로서, 차량의 롤링을 억제하면서도 비용을 절감할 수 있는 효과가 있다.As described above, the present invention detects the lateral acceleration of the vehicle using a wheel speed sensor provided corresponding to the four wheels of the vehicle, and controls the damper in response to the detected lateral acceleration, thereby suppressing rolling of the vehicle. At the same time, the cost can be reduced.
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