TWI649221B - Vertical vehicle stabilization and inclination support parameter construction system and control flow process thereof - Google Patents
Vertical vehicle stabilization and inclination support parameter construction system and control flow process thereof Download PDFInfo
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Abstract
本發明立車穩定及傾斜輔助之參數建構系統及其控制流程，其包含可偵測車輛動態的感測單元，與感測單元連接的行車電腦，與行車電腦連接的控制模組，以及與控制模組與分別連接的傾斜輔助裝置、立車穩定裝置；其中，該傾斜輔助裝置包括致動器，以及與致動器連接可調整的阻尼裝置；其中，該控制流程包含傾斜輔助流程，以及立車穩定流程；透過傾斜輔助流程，在車身傾斜時，感測單元偵測傾斜狀態後行車電腦運算阻尼力需求量，控制模組控制傾斜輔助裝置調整車身，使車身不致傾斜過度；立車穩定流程可控制立車穩定，使保持車身直立更容易。The parameter construction system and control flow thereof for stabilizing and tilting assistance of the present invention comprises a sensing unit capable of detecting vehicle dynamics, a driving computer connected to the sensing unit, a control module connected to the driving computer, and a control a tilting assisting device and a vertical stabilizing device respectively connected to the module; wherein the tilt assisting device comprises an actuator and an adjustable damping device connected to the actuator; wherein the control flow comprises a tilt assisting process, and The vehicle stabilization process; through the tilt assist process, when the body is tilted, the sensing unit detects the tilting state and the driving computer calculates the damping force demand, and the control module controls the tilting assisting device to adjust the body so that the body does not tilt excessively; the vertical running process It can control the stability of the vertical car, making it easier to keep the body upright.
Description
本發明係關於一種三輪機車之參數建構系統及其控制流程；更詳而言之，係指一種具有傾斜輔助及立車穩定功效之參數建構系統及其控制流程。The invention relates to a parameter construction system of a three-wheeled vehicle and a control flow thereof; more specifically, a parameter construction system with a tilt assist and a vertical stability function and a control flow thereof.
一般二輪機車在行駛在濕滑路面或散佈砂石的路面時，無論是直行或是轉彎都極易滑倒造成危險，因此，近年來三輪機車興起，三輪機車比二輪機車相對可減少滑倒或翻覆的可能性，而且三輪機車有良好的騎乘穩定性，整車傾斜時，三輪機車會隨著車身傾斜同時重心轉移，使過彎所需的向心力可有極佳的輔助。Generally, when a two-wheeled vehicle is driving on a slippery road or a gravel-laden road, it is dangerous to slip easily whether it is straight or turning. Therefore, in recent years, the three-wheeled vehicle has risen, and the three-engined vehicle can reduce the slip or the relative of the two-wheeled vehicle. The possibility of overturning, and the three-wheeled vehicle has good riding stability. When the whole vehicle is tilted, the three-wheeled vehicle will shift with the center of the body while the center of gravity shifts, so that the centripetal force required for cornering can be excellently assisted.
然，三輪機車在車身傾斜時，如果三輪機車之車體重量產生過多重心轉移時，由於其重心高，容易因重心轉移太快、側傾過度造成車體傾倒過快或轉向過度，對於駕駛而言，會造成其控制不穩定，因此傾斜輔助與協助車身穩定即為三輪機車須改善的重點。However, when the three-wheeled vehicle is tilted in the body, if the weight of the body of the three-wheeled vehicle has multiple heart shifts, because of its high center of gravity, it is easy to shift too fast due to the center of gravity, and the body is overturned too quickly or over-steered. In other words, it will cause instability in its control, so tilting assistance and assisting the stability of the vehicle are the key points for the improvement of the three-wheeled vehicle.
有鑑於此，本人遂依其多年從事相關領域之研發經驗， 針對前述之缺失進行深入探討，並依前述需求積極尋求解決之 道，歷經長時間的努力研究與多次測試，終於完成本發明。In view of this, I have been engaged in research and development in related fields for many years, and have conducted in-depth discussions on the above-mentioned shortcomings, and actively sought solutions according to the above-mentioned needs. After a long period of hard work and multiple tests, the present invention has finally been completed.
本發明之主要優點在於：透過傾斜輔助流程及立車穩定流程使駕駛傾斜時，經過自動運算後可產生最適當的阻尼力，使車身不致傾斜過度，也可提供駕駛回正更為輕鬆，在車速減慢即將停車時，還可提供立車的控制，使駕駛停車時能輕鬆保持車身直立。The main advantage of the present invention is that when the driving is tilted through the tilt assisting process and the vertical running process, the most appropriate damping force can be generated after the automatic calculation, so that the vehicle body is not tilted excessively, and the driving back can be provided more easily. When the speed is slowing down and the parking is coming, the control of the vertical car can also be provided, so that the body can be easily erected while driving.
為達上述之目的，本發明提供一種立車穩定及傾斜輔助之參數建構系統及其控制流程，其包含設於三輪機車上且可偵測車輛動態的感測單元，與感測單元連接的行車電腦，與行車電腦連接的控制模組，以及與控制模組與三輪機車之雙車輪連接桿兩端分別連接的傾斜輔助裝置、立車穩定裝置；其中，該傾斜輔助裝置包括與控制模組連接的致動器，以及與致動器連接可調整的阻尼裝置。In order to achieve the above object, the present invention provides a parameter construction system for a vehicle stability and tilt assist and a control flow thereof, including a sensing unit disposed on a three-wheeled vehicle and capable of detecting vehicle dynamics, and driving connected to the sensing unit a computer, a control module connected to the driving computer, and a tilt assisting device and a vertical stabilizing device respectively connected to the two ends of the dual wheel connecting rod of the control module and the three-wheeled vehicle; wherein the tilt assisting device comprises connecting with the control module An actuator and an adjustable damping device coupled to the actuator.
接續前述，該控制流程包含傾斜輔助流程，及立車穩定流程；其中該傾斜輔助流程為：透過感測單元偵測出車輛動態的感測訊號並傳送至行車電腦，行車電腦透過該感測訊號計算出阻尼需求量，再經由控制模組按照阻尼裝置特性，將阻尼力需求量轉換為致動器所需的電壓脈波頻率，最後，由控制模組控制該致動器按照該電壓脈波頻率進行對於阻尼裝置的控制，進而使阻尼裝置有適當的阻尼力輸出以控制。In the continuation of the foregoing, the control flow includes a tilting assistance process and a vertical vehicle stabilization process. The tilting assistance process is: detecting a dynamic signal of the vehicle through the sensing unit and transmitting the signal to the driving computer, and the driving computer transmits the sensing signal Calculating the damping demand, and then converting the damping force demand into the voltage pulse frequency required by the actuator according to the characteristics of the damping device by the control module. Finally, the control module controls the actuator according to the voltage pulse wave. The frequency is controlled for the damping device, which in turn causes the damping device to have an appropriate damping force output for control.
其中，前述立車穩定流程：當三輪機車車速為0或低於特定車速後，行車電腦即操控控制模組對立車穩定裝置進行鎖固作動，使三輪機車保持車身直立而駕駛無法任意傾斜車身；當三輪機車車速超過特定車速後，行車電腦控制控制模組使立車穩定裝置的鎖固狀態解除，駕駛即可任意傾斜車身。Among them, the above-mentioned vertical vehicle stabilization process: when the speed of the three-wheeled vehicle is 0 or lower than the specific speed, the driving computer, that is, the control module, locks and stabilizes the vertical vehicle stabilization device, so that the three-wheeled vehicle keeps the vehicle body upright and the driving cannot be arbitrarily tilted; When the speed of the three-wheeled vehicle exceeds the specific speed, the driving computer control module will release the locking state of the vertical stabilizer, and the vehicle can be tilted arbitrarily.
為期許本發明之目的、功效、特徵及結構能夠有更為詳 盡之瞭解，茲舉較佳實施例並配合圖式說明如後。A more detailed description of the objects, features, features and structures of the present invention will be apparent,
請參考圖1，圖1為本發明較佳實施例之參數建構系統示意圖。Please refer to FIG. 1. FIG. 1 is a schematic diagram of a parameter construction system according to a preferred embodiment of the present invention.
如圖1所示，本發明較佳實施例立車穩定及傾斜輔助之參數建構系統1，其包含設於三輪機車上且可偵測車輛動態的感測單元11，與感測單元11連接的行車電腦12，與行車電腦12連接的控制模組13，以及與控制模組13與三輪機車之雙車輪連接桿連接的傾斜輔助裝置14；其中，該傾斜輔助裝置14包括與控制模組13連接的致動器141，以及與致動器141連接的阻尼裝置142。As shown in FIG. 1 , a parameter construction system 1 for a vehicle stability and tilt assist according to a preferred embodiment of the present invention includes a sensing unit 11 disposed on a three-wheeled vehicle and capable of detecting vehicle dynamics, and is connected to the sensing unit 11 . a driving computer 12, a control module 13 connected to the driving computer 12, and a tilt assisting device 14 connected to the control module 13 and the dual wheel connecting rod of the three-wheeled vehicle; wherein the tilt assisting device 14 includes a connection with the control module 13 Actuator 141, and a damping device 142 coupled to actuator 141.
其中，該感測單元11為位移計，透過位移計設定其移動的一定距離範圍內係代表三輪機車車身傾斜的角度範圍，而位移計偵測到三輪機車車身的傾斜角度落入該範圍內，行車電腦12即會開始進行對控制模組13的調控。Wherein, the sensing unit 11 is a displacement meter, and the range of the movement of the three-wheeled vehicle body is determined within a certain distance range of the movement by the displacement meter, and the displacement meter detects that the inclination angle of the three-wheeled vehicle body falls within the range. The driving computer 12 will start to regulate the control module 13.
其中，該感測單元11也可為偵測車身傾斜角度的傾斜儀，透過傾斜儀設定其特定的擺動範圍代表三輪機車車身傾斜的角度範圍，而當傾斜儀偵測到三輪機車車身進入該擺動範圍，行車電腦12即會開始進行對控制模組13的調控。The sensing unit 11 can also be an inclinometer for detecting the tilt angle of the vehicle body. The specific swing range is set by the tilt meter to represent the angle range of the tilt of the three-wheeled vehicle body, and when the tilt meter detects that the three-wheeled vehicle body enters the swing Scope, the driving computer 12 will start to control the control module 13.
其中，該致動器141為電磁吸鐵，透過控制模組13輸出特定脈衝電壓給該電磁吸鐵，進而透過該電磁吸鐵控制阻尼裝置142的阻尼力大小。The actuator 141 is an electromagnetic iron, and the control module 13 outputs a specific pulse voltage to the electromagnetic iron, and the damping force of the damping device 142 is controlled by the electromagnetic iron.
其中，該阻尼裝置142包括可變閥門1421，以及與可變閥門1421連接的阻尼1422；前述致動器141控制可變閥門1421的開關幅度，可使與可變閥門1421連接的阻尼1422產生不同程度的阻尼力，進而使三輪機車可在一定範圍內的傾斜角可有最適當的阻尼力防止三輪機車傾斜過度。Wherein, the damping device 142 includes a variable valve 1421, and a damping 1422 connected to the variable valve 1421; the actuator 141 controls the switching amplitude of the variable valve 1421 to make the damping 1422 connected to the variable valve 1421 different. The degree of damping force, in turn, allows the three-wheeled vehicle to have an optimum damping force within a certain range to prevent the three-wheeled vehicle from being over-slanted.
其中，該控制模組13與三輪機車之雙車輪連接桿更可連接立車穩定裝置15，而前述感測單元11可偵測三輪機車的車頭轉向角與車身傾斜角，並將角度感測訊號回傳至行車電腦12，行車電腦12即操控控制模組13對立車穩定裝置15進行鎖固或解除鎖固的作動，以協助駕駛可在減速或停紅綠燈時，可獲得較穩定的立車控制。The control module 13 and the dual wheel connecting rod of the three-wheeled vehicle can be connected to the vertical stabilizer 15 , and the sensing unit 11 can detect the steering angle and the tilt angle of the three-wheeled vehicle, and the angle sensing signal Returning to the driving computer 12, the driving computer 12, that is, the control module 13, locks or unlocks the vertical vehicle stabilizing device 15 to assist the driving to obtain a more stable vertical vehicle control when decelerating or stopping the traffic light. .
接續前述，該參數建構系統1作動如下：先透過行車電腦12接收感測單元11傳送的訊號，而該感測訊號可以為位移計位移距離、傾斜儀傾斜角，或是其他感測單元11偵測到的數據，接著行車電腦12依照該數據計算避免車身過度傾斜的阻尼力需求量，再透過控制模組13將阻尼力需求量，與已知的阻尼1422特性與電磁吸鐵的特性(例如：阻尼力-速度特性、電磁吸鐵吸力-距離特性、電磁吸鐵吸力-電力特性)進行換算，進而獲得可控制致動器141電力大小的電壓脈波頻率，而該控制模組13即透過此電壓脈波頻率對致動器141進行控制，致動器141則控制可變閥門1421開關幅度，進而可控制阻尼1422所輸出的阻尼力大小。Following the foregoing, the parameter construction system 1 operates as follows: first, the signal transmitted by the sensing unit 11 is received by the driving computer 12, and the sensing signal can be a displacement distance of the displacement meter, a tilt angle of the tilt meter, or other sensing unit 11 The measured data is then calculated by the driving computer 12 according to the data to determine the amount of damping force required to avoid excessive tilting of the vehicle body, and then the damping force demand through the control module 13 and the known damping 1422 characteristics and characteristics of the electromagnetic iron (eg The damping force-velocity characteristic, the electromagnetic attraction force-distance characteristic, the electromagnetic attraction force-electricity characteristic are converted, and the voltage pulse frequency at which the power of the actuator 141 can be controlled is obtained, and the control module 13 transmits The voltage pulse frequency controls the actuator 141, and the actuator 141 controls the switching amplitude of the variable valve 1421, thereby controlling the amount of damping force output by the damping 1422.
請參考圖2，圖2為本發明較佳實施例之控制流程示意圖。Please refer to FIG. 2. FIG. 2 is a schematic diagram of a control flow according to a preferred embodiment of the present invention.
本發明較佳實施例立車穩定及傾斜輔助穩定之控制流程，其包含傾斜輔助流程A，以及立車穩定流程(圖未示)；其中，該傾斜輔助流程A為步驟A1~A4，依序為步驟A1：感測單元偵測出車輛動態的感測訊號並傳送至行車電腦；步驟A2：行車電腦透過該感測訊號計算出阻尼力需求量並傳送該阻尼力需求量訊號至控制模組；步驟A3：控制模組按照阻尼器特性，將阻尼力需求量換算為控制致動器所需的電壓脈波頻率，並按照此電壓脈波頻率進行對於致動器的控制；步驟A4：致動器進而控制阻尼裝置產生對應的阻尼力，使駕駛能防止車身過度傾斜。A control flow for stabilizing and tilting assist stability of a preferred embodiment of the present invention includes a tilt assist flow A and a vertical vehicle stabilization flow (not shown); wherein the tilt assist flow A is steps A1 to A4, in order In step A1, the sensing unit detects the sensing signal of the vehicle dynamics and transmits it to the driving computer. Step A2: The driving computer calculates the damping force demand through the sensing signal and transmits the damping force demand signal to the control module. Step A3: The control module converts the damping force demand into the voltage pulse frequency required to control the actuator according to the damper characteristic, and performs control on the actuator according to the voltage pulse frequency; Step A4: The actuator in turn controls the damping device to generate a corresponding damping force that allows the vehicle to prevent excessive tilting of the body.
請參閱圖3，圖3為本發明較佳實施例之感測訊號與車身傾斜態樣示意圖，圖3感測單元係以位移計為例說明。Please refer to FIG. 3. FIG. 3 is a schematic diagram of a sensing signal and a tilting state of a vehicle body according to a preferred embodiment of the present invention. FIG. 3 is a displacement unit as an example.
其中，步驟A1：感測單元偵測出車輛動態的感測訊號並傳送至行車電腦；而該感測訊號可以為位移計位移距離產生的電壓輸出、傾斜儀傾斜角，或是其他感測單元偵測到的數據，本實施例中，位移計所偵測的感測訊號係以位移距離產生的電壓輸出為例說明。Wherein, the step A1: the sensing unit detects the sensing signal of the vehicle dynamics and transmits the signal to the driving computer; and the sensing signal can be the voltage output generated by the displacement distance of the displacement meter, the tilt angle of the tilt meter, or other sensing unit. The detected data, in this embodiment, the sensing signal detected by the displacement meter is an example of the voltage output generated by the displacement distance.
接續前述，在開始步驟A1之前，先依車輛最大傾角設定位移計上下最大限度的位移，如圖3所示，當車身直立時可得輸出電壓為X(伏特)，當位移計輸出為X(伏特)加減特定範圍內表示為直線前進，行車電腦不會連動控制模組，若車身開始持續性側傾，及位移計輸出電壓範圍在A~A’(伏特)之間或是B~B’(伏特)之間，則該行車電腦即會開始進行步驟A2。Following the above, before starting step A1, the maximum displacement of the displacement meter is set according to the maximum inclination angle of the vehicle. As shown in Fig. 3, when the vehicle body is upright, the output voltage is X (volt), and when the displacement meter output is X ( Volt) is specified as a straight forward in the specific range, and the driving computer does not interlock the control module. If the vehicle body starts to roll continuously, and the displacement meter output voltage ranges between A~A' (volts) or B~B' Between (volts), the driving computer will start step A2.
其中，步驟A3：控制模組按照已知的阻尼特性及阻尼力需求量換算為控制致動器所需的電壓脈波頻率，並按照此電壓脈波頻率對致動器進行控制；前述已知的阻尼特性與電磁吸鐵的特性(例如：阻尼力-速度特性、電磁鐵吸力-距離特性、電磁鐵吸力-電力特性)包括阻尼力-速度特性、電磁鐵吸力-距離特性、電磁鐵吸力-電力特性…等。Wherein, step A3: the control module converts the known damping characteristic and the damping force requirement into a voltage pulse frequency required to control the actuator, and controls the actuator according to the voltage pulse frequency; Damping characteristics and characteristics of electromagnetic iron (for example: damping force-speed characteristics, electromagnet suction-distance characteristics, electromagnet suction-power characteristics) including damping force-velocity characteristics, electromagnet suction-distance characteristics, electromagnet suction- Power characteristics...etc.
其中，步驟A4：致動器進而控制阻尼裝置產生對應的阻尼力，使駕駛能防止車身過度傾斜；該致動器係透過控制可變閥門開關幅度，進而可控制阻尼所輸出的阻尼力大小，使三輪機車可在一定範圍內的傾斜角產生最適當的阻尼力，其車身回正之態樣。Wherein, the step A4: the actuator further controls the damping device to generate a corresponding damping force, so that the driving can prevent the vehicle body from excessively tilting; the actuator controls the variable valve switching amplitude, thereby controlling the damping force output by the damping, The three-wheeled vehicle can produce the most appropriate damping force at a certain angle of inclination, and the body of the vehicle is returned to the positive state.
另一方面，其中，該立車穩定流程為步驟B1~B2(圖未示)，依序為步驟B1(圖未示)：當三輪機車車速為0或低於特定車速時(本實施例的特定車速係將行車電腦設定為小於或等於5km/hr為例說明)，行車電腦即操控控制模組對立車穩定裝置進行鎖固作動，使三輪機車保持車身直立而駕駛無法任意傾斜車身；步驟B2(圖未示)：當三輪機車車速超過特定車速後(本實施例將行車電腦設定為大於5km/hr為例說明)，行車電腦控制控制模組使立車穩定裝置的鎖固狀態解除，駕駛即可任意傾斜車身。On the other hand, the vertical vehicle stabilization flow is steps B1 to B2 (not shown), and is sequentially step B1 (not shown): when the three-wheeled vehicle speed is 0 or lower than a specific vehicle speed (this embodiment The specific speed is set to be less than or equal to 5km/hr. The driving computer controls the control module to lock the vertical stabilizer, so that the three-wheeled vehicle keeps the body upright and the driving cannot tilt the body arbitrarily; step B2 (not shown): When the speed of the three-wheeled vehicle exceeds the specific speed (in this example, the driving computer is set to be greater than 5km/hr as an example), the driving computer control module enables the locking state of the vertical stabilizer to be released, driving You can tilt the body at will.
補充前述，步驟B1(圖未示)：當立車穩定裝置為鎖固態樣時，其主要功用係可自動形成立車態樣使車身無法傾斜，更加強立車的穩定性，例如在停紅燈時，駕駛減速至停止，無須用腳固定車身，或是以中柱或側柱固定，該立車穩定裝置即會依照車速自動啟動立車穩定裝置進行立車作動，透過立車穩定裝置使車身無法傾斜，駕駛停車時更加穩固，而且更加方便；步驟B2(圖未示)：當綠燈時，駕駛只要啟動引擎將時速提高到超過5km/hr即可解除立車穩定裝置鎖固態樣，駕駛即可開始自由傾斜車身，可恢復到三輪機車的行駛的態樣。In addition to the foregoing, step B1 (not shown): when the vertical stabilizing device is a lock solid sample, its main function can automatically form a vertical car body so that the body can not be tilted, and the stability of the vertical car is strengthened, for example, in the stop red. When the lamp is light, the drive is decelerated to stop. It is not necessary to fix the vehicle body with the foot, or it is fixed by the center pillar or the side column. The vertical stabilizer device will automatically start the vertical vehicle stability device according to the vehicle speed to perform the vertical vehicle actuation, and the vertical vehicle stability device is used. The body can't be tilted, it is more stable and more convenient when driving and stopping; Step B2 (not shown): When the green light is on, the engine can be lifted to more than 5km/hr when the engine is started to release the solid-state stability of the vertical stabilizer. You can start tilting the body freely and return to the three-wheeled vehicle.
接續前述，其中，該感測單元更可偵測三輪機車的車頭轉向角與車身傾斜角，並將角度感測訊號回傳至行車電腦，行車電腦即操控控制模組對立車穩定裝置進行鎖固或解除鎖固的作動，舉例而言，可將行車電腦設定車頭轉向角度-10度~10度之間或車身傾斜角在-10~10度之間，即對立車穩定裝置進行鎖固作動的控制，前述的車頭轉向角度與車身傾斜角度範圍僅為舉例說明，如此，駕駛可在減速或停紅綠燈時，可獲得較穩定的立車控制，而若要解除鎖固作動的控制，只要車速大於5km/hr即可解除。In the foregoing, the sensing unit can detect the steering angle of the front end of the three-wheeled vehicle and the inclination angle of the vehicle body, and transmit the angle sensing signal to the driving computer, and the driving computer controls the control module to lock the vertical vehicle stabilizer. Or unlock the locking action. For example, the driving computer can set the steering angle of the vehicle head between -10 degrees and 10 degrees or the inclination angle of the vehicle body is between -10 and 10 degrees, that is, the locking device of the vertical vehicle is locked and actuated. Control, the aforementioned steering angle of the vehicle head and the range of the tilt angle of the vehicle body are only examples, so that the driving can obtain a more stable vertical vehicle control when decelerating or stopping the traffic light, and if the control of the locking actuation is to be cancelled, the vehicle speed is greater than 5km/hr can be lifted.
換而言之，本實施例之立車穩定流程可參考下表1所示： <TABLE border="1" borderColor="#000000" width="85%"><TBODY><tr><td> 行車電腦控制態樣 </td><td> 車速(該車速範圍僅為舉例說明) </td><td> 車頭轉向角度(該角度範圍僅為舉例說明) </td><td> 車身傾斜角度(該角度範圍僅為舉例說明) </td></tr><tr><td> 控制立車穩定裝置進行鎖固作動 </td><td> 0或小於等於5km/hr </td><td> -10度~10度 </td><td> -10度~10度 </td></tr><tr><td> 控制立車穩定裝置解除鎖固，車身可任意傾斜 </td><td> 大於5km/hr </td><td> </td><td> </td></tr></TBODY></TABLE>表1 In other words, the stability process of the vertical vehicle of this embodiment can be referred to the following Table 1: <TABLE border="1" borderColor="#000000" width="85%"><TBODY><tr><td> Driving computer control mode</td><td> Speed (this speed range is only an example </td><td> Head steering angle (this range is only an example) </td><td> Body tilt angle (this range is only an example) </td></tr><tr> <td> Control the vertical stabilizer to lock the action</td><td> 0 or less than or equal to 5km/hr </td><td> -10 degrees to 10 degrees</td><td> -10 degrees~ 10 degrees</td></tr><tr><td> Control the vertical stabilizer to unlock the car, and the body can be tilted arbitrarily</td><td> is greater than 5km/hr </td><td> </td ><td> </td></tr></TBODY></TABLE> Table 1
綜合上述，本案所述立車穩定及傾斜輔助之控制流程及參數建構系統，誠為現有習知同類技術領域之技術所不能及，亦即本案誠然具有下列之優點： 1.透過傾斜輔助流程，經過自動運算後可產生最適當的阻尼力，使車身不致過度傾斜，也可提供駕駛回正更為輕鬆。 2.透過立車穩定流程在車速減慢即將停車時，可提供自動立車穩定的控制，使駕駛停車時能輕鬆保持車身直立。In view of the above, the control flow and parameter construction system for the stability and tilting assistance of the vertical vehicle in the present case cannot be achieved by the technology of the prior art in the same technical field, that is, the present case has the following advantages: 1. Through the tilt assisting process, After the automatic calculation, the most appropriate damping force can be generated, so that the body can be prevented from being excessively tilted, and the driving back can be provided more easily. 2. Through the stable process of the vertical vehicle, when the vehicle speed is slowed down and the vehicle is about to stop, the automatic vehicle stability control can be provided, so that the vehicle body can be easily erected while driving.
故，本發明在同類產品中具有極佳之進步性以及實用 性，同時查遍國內外關於此類結構之技術資料文獻後，確實未 發現有相同或近似之構造存在於本案申請之前，因此本案應已 符合『創作性』、『合於產業利用性』以及『進步性』的專利要 件，爰依法提出申請之。Therefore, the present invention has excellent advancement and practicability in similar products, and after consulting domestic and foreign technical documents on such structures, it is true that no identical or similar structure exists before the application of the case, so the case It should meet the patent requirements of "creative", "combined with industrial use" and "progressive", and apply in accordance with the law.
唯，以上所述者，僅係本發明之較佳實施例而已，舉凡 應用本發明說明書及申請專利範圍所為之其它等效結構變化 者，理應包含在本發明之申請專利範圍內。It is to be understood that the foregoing description of the preferred embodiments of the present invention is intended to be
1‧‧‧立車穩定及傾斜輔助之參數建構系統1‧‧‧Parameter construction system for vertical stability and tilt assist
11‧‧‧感測單元11‧‧‧Sensor unit
12‧‧‧行車電腦12‧‧‧ Driving computer
13‧‧‧控制模組13‧‧‧Control Module
14‧‧‧傾斜輔助裝置14‧‧‧ tilt assist device
141‧‧‧致動器141‧‧‧Actuator
142‧‧‧阻尼裝置142‧‧‧damper
1421‧‧‧可變閥門1421‧‧‧Variable valve
1422‧‧‧阻尼1422‧‧‧damping
15‧‧‧立車穩定裝置15‧‧‧Standard stabilizer
A‧‧‧傾斜輔助流程A‧‧‧ tilt assisted process
A1~A4‧‧‧步驟A1~A4‧‧‧ steps
圖1：是本發明較佳實施例之參數建構系統示意圖； 圖2：是本發明較佳實施例之控制流程示意圖； 圖3：是本發明較佳實施例之感測訊號與車身傾斜態樣示意圖。1 is a schematic diagram of a parameter construction system according to a preferred embodiment of the present invention; FIG. 2 is a schematic diagram of a control flow of a preferred embodiment of the present invention; FIG. 3 is a perspective view of a sensing signal and a vehicle body tilting preferred embodiment of the present invention; schematic diagram.
Claims (6)
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| US4881750A (en) * | 1989-02-06 | 1989-11-21 | Hartmann Dirck T | ATB shock absorber |
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