WO2008022697A1 - Beeinflussungsvorrichtung zur beeinflussung eines aktiven fahrwerksystems eines fahrzeugs - Google Patents
Beeinflussungsvorrichtung zur beeinflussung eines aktiven fahrwerksystems eines fahrzeugs Download PDFInfo
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- WO2008022697A1 WO2008022697A1 PCT/EP2007/006844 EP2007006844W WO2008022697A1 WO 2008022697 A1 WO2008022697 A1 WO 2008022697A1 EP 2007006844 W EP2007006844 W EP 2007006844W WO 2008022697 A1 WO2008022697 A1 WO 2008022697A1
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- spring
- vehicle
- pilot control
- influencing device
- roadway
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Classifications
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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
- B60G17/0165—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 to an external condition, e.g. rough road surface, side wind
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- 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
- B60G2202/41—Fluid actuator
- B60G2202/413—Hydraulic 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
- B60G2400/20—Speed
- B60G2400/202—Piston speed; Relative velocity between vehicle body and wheel
-
- 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
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement 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
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
-
- 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
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- 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
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/823—Obstacle sensing
-
- 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
- B60G2500/104—Damping action or damper continuous
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/09—Feedback signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/11—Feedforward signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/17—Proportional control, i.e. gain control
- B60G2600/172—Weighting coefficients or factors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/182—Active control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/187—Digital Controller Details and Signal Treatment
- B60G2600/1873—Model Following
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/60—Signal noise suppression; Electronic filtering means
-
- 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
- B60G2800/9123—Active Body Control [ABC]
-
- 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
- B60G2800/914—Height Control System
Definitions
- Influencing device for influencing an active suspension system of a vehicle
- the invention relates to an influencing device for influencing an active chassis system of a vehicle according to the preamble of patent claim 1.
- the control unit activates an active suspension system with several spring or damper units and controls or regulates the spring rate, the damping rate, the pressure, the level, etc.
- the influencing device has a roadway sensor, the sensor data from one in the direction of travel in front of the vehicle generated lane from which a roadway profile can be determined, which is transmitted to a pilot unit.
- the pilot control unit determines a pilot control variable which serves to adapt the adjustment of the spring or damper units to the determined roadway profile.
- an input variable for a body control serving for the purpose of regulating the position of the vehicle is calculated for this purpose.
- the input quantity determined on the basis of the pilot control variable for the body control can modify a setpoint that can be predefined in the body control and thereby achieve the setting of the active chassis system or of the vehicle to the predetermined roadway profile.
- the control of the spring or damper units depending on the roadway profile is thus integrated into a body control to control the building position of the vehicle body.
- the pilot control unit determines a plurality of separate pilot control variables, in particular a pilot control level for each spring or damper unit, which serves to determine a desired level of the respective spring or damper unit and a pilot control buildup position which serves to influence a buildup position regulator of the body control.
- a pilot control level for each spring or damper unit which serves to determine a desired level of the respective spring or damper unit and a pilot control buildup position which serves to influence a buildup position regulator of the body control.
- the pilot control level can be determined separately for each vehicle wheel.
- the pilot control level can be converted in a modification stage taking into account predetermined properties of the body structure control to a modified pilot control level and serve to determine the target level for the spring or damper units.
- the modification stage is implemented as a system dynamics stage and determines from the pilot control level a dynamics-optimized pilot control level, the dynamic-optimized pilot control level taking into account the dynamic behavior of the active chassis system of the vehicle.
- the desired level for a spring or damper unit is determined on the basis of the pilot control level and / or a modified pilot control level formed therefrom and an output variable of the buildup position controller.
- the build-up position regulator may have a build-up position corrected by means of the pre-control build-up position and / or instead of the actual build-up position actual build-up vertical velocity, a build-up vertical velocity corrected by the time derivative of the pilot control buildup position is supplied.
- the body control may include a suspension control, which in turn has the active suspension system with the adjustable spring or steamer units, which may each contain an adjustable spring and / or an adjustable steamer.
- a pre-control level serving to influence the actual level of the adjustable spring is determined when an adjustable spring is provided in the spring or steamer unit.
- a damping variable used to influence the damping effect of the adjustable steamer is determined when an adjustable steamer is provided in the spring or steamer unit.
- a calculated wheel position is determined from the determined roadway profile in a Radschulsarstress, which is transmitted to the pilot unit as an input size.
- the dynamic properties of the vehicle wheel can be taken into account.
- the feedforward control is more accurate by taking into account the calculated wheel position, whereby a further increase in comfort is achieved.
- At least one of the pilot control variables can be determined as a function of the calculated wheel position.
- a contour profile is determined which comprises a position track of several Build-up positions for the drive of the vehicle along the lane profile describes, wherein the curvature of the contour profile is minimized under the boundary condition that the maximum available on the spring or steamer units suspension paths are met.
- the build-up control is influenced by the pilot-size or modified pilot control variable in such a way that the build-up position of the vehicle body essentially follows the roadway profile in the case of roadway excitations in a lower frequency range below a lower limit frequency.
- this lower frequency range lane profile changes are converted into corresponding assembly position changes, which makes it possible to easily implement comfort in accordance with the system limits.
- the lower limit frequency can be variable and depend on a description of the road surface Great, in particular the determined prepared roadway profile. Furthermore, the lower limit frequency may depend on the maximum available to the spring or steamer units spring travel. In that the lower limit frequency is minimized under the boundary condition that the maximum available at the spring or steamer units spring travel when driving along the lane in front of the vehicle profile are met in a simple way the greatest possible comfort in compliance with the system limits, in particular Travel limits are achieved. The curvature of the contour profile can be very easily minimized while maintaining the maximum available spring or steam units on the spring or steam units.
- the body structure control the construction position of the vehicle body in roadway excitations with frequencies above the lower limit frequency with the aim to maintain the buildup position substantially unchanged, so that a high level of comfort in the range of frequencies above the lower frequency range is given.
- Roadway excitations should not affect the build-up position in this frequency range. This applies up to an upper limit frequency of about 8-10 Hz, which corresponds to the dynamic limit of the active suspension system.
- a diagnostic unit which determines a deviation between the expected state of the vehicle and the actual, current state of the vehicle on the basis of a variable describing the roadway profile and a variable describing the current state of the vehicle. In this way, control errors or system defects can be detected.
- the diagnostic unit determines the expected state of the vehicle, for example based on the determined roadway profile, in particular with the aid of a predetermined vehicle model.
- the diagnostic unit determines a correction value on the basis of the deviation, which is used to adapt the pilot control variable and / or the modified pilot control variable.
- the influencing device can be adapted to external conditions and e.g. Wear states of the active suspension system or a changed dynamics of the body control due to temperature fluctuations at least partially compensate.
- FIG. 1 is a schematic representation of a part-vehicle model with wheel, spring or steamer unit and vehicle body
- Fig. 2 shows a first embodiment of
- Fig. 3 shows a second embodiment of the
- Fig. 4 shows a third embodiment of the
- Fig. ⁇ a is a partial schematic representation of a first active suspension system with spring or steamer unit
- Fig. 6b is a partial schematic representation of a second active suspension system with spring or steamer unit.
- FIG. 1 shows a schematic representation of a partial vehicle model, with a vehicle wheel 10, the controllable spring or steamer unit 11 associated with this vehicle wheel 10 and the vehicle body 12 shown as a mass, which has a vehicle center of gravity 13.
- the part-vehicle model represents only that part of the entire vehicle that is relevant for one of the vehicle wheels 10 and applies, for example, to a car with two axles for each of the four vehicle wheels 10 and for the four spring or steam units 11.
- This sub-vehicle model is based on a stationary coordinate system 14.
- the actual roadway profile of the roadway is marked, wherein the path s represents the abscissa of the coordinate system 14 and the roadway profile h (s) is measured in the direction of the vehicle vertical axis ,
- the wheel position of the vehicle wheel 10 in the direction of the vehicle vertical axis is designated as r and the construction position of the vehicle center of gravity 13 in the direction of the vehicle vertical axis is provided with the reference character z, x is the distance between the construction position z of the vehicle body 12 and the wheel position r of the vehicle wheel 10 and defined here as
- Fig. 1 the current actual level of the spring or steamer unit 11 is finally denoted by the reference symbol y, which is adjustable or changeable by the activation of an actuator 11 'of the spring or steamer unit 11.
- the roadway profile h may be different for each vehicle side and possibly for each vehicle wheel 10.
- the wheel positions r of the vehicle wheels 10 and the actual levels y can also differ on all spring or steamer units 11 or vehicle wheels 10. Therefore, these sizes are separately determined or set for each of the spring or steamer units 11.
- the active spring or steamer units 11 associated with the vehicle wheels 10 of a vehicle not shown in detail can be controlled independently of one another by the respective distance x between the construction position z of the vehicle body 12 and the associated vehicle wheel 10 or the respective actual level y influence.
- the influencing or regulation of the construction position z and / or the movement of the vehicle body 12 can take place in three dimensions.
- the pitch and / or roll and / or hitching, as well as the wheel contact forces of the vehicle wheels on the road surface can be influenced, controlled or regulated.
- FIGS. 6a and 6b two examples of active suspension systems are shown schematically with reference to a vehicle wheel 10 in partial representation.
- a spring or damper unit 11 there active spring or damper units IIa and IIb are provided with adjustable springs.
- active spring or damper units 11 with adjustable dampers could also be used.
- FIG. 6a shows an active hydropneumatic spring or damper unit IIa with a pressure source 60 and a reservoir 61 which are each fluidically connected to an electrically controllable spring valve 62.
- the spring valve 62 can fluidically connect either the pressure source 60 or the reservoir 61 with a pressure chamber 63 of a piston-cylinder unit 64, which represents the actuator 11 'of the hydropneumatic spring or damper unit IIa, or interrupt all fluid connections that the actual level y of the hydropneumatic spring or damper unit IIa can be increased, reduced or kept constant.
- a working space 66 of a compressed gas tank 67 is connected via a throttle 65.
- the working space 66 is separated from a compressed gas space 68 by a flexible membrane.
- the compressible compressed gas in the compressed gas chamber 68 provides in the hydropneumatic spring unit IIa for the spring action.
- the throttle 65 causes a damping.
- the piston-cylinder unit 64 and the compressed gas tank 67 represent the adjustable spring 64, 67 represents.
- FIG. 6b Another form of active spring or damper unit 11 of an active suspension system is shown in Figure 6b, which may be referred to as ABC spring unit IIb, where "ABC” stands for "Active Body Control".
- ABC Active Body Control
- the same components with respect to the hydropneumatic spring unit IIa are provided with the same reference numerals.
- the ABC spring unit IIb has no pressurized gas container 67.
- the ABC spring unit IIb has a series arrangement of a coil spring 70 with the piston-cylinder unit 64, wherein this series circuit forms the adjustable spring 64, 70 of the spring or damper unit IIb. Parallel to this adjustable spring 64, 70, a separate damper 71 is provided.
- FIG. 2 A first embodiment of the influencing device 20 is shown in FIG. 2 in the form of a block diagram.
- the influencing device 20 controls the active spring or damper unit 11 as a function of the state of the road ahead of the vehicle in the direction of travel of the vehicle.
- the spring or damper units 11 can already be adjusted to lying ahead of the vehicle roadway excitations such as potholes, sleepers, transverse grooves, etc., even before the vehicle has reached the point of the path s with the roadway excitation.
- the influencing device 20 has a roadway sensor 21 which detects the road surface in FIG Seen in the direction of travel observed in front of the vehicle and the road profile descriptive sensor data d to a data processing unit 22.
- the prepared roadway profile h L is determined from the roadway sensor data d.
- the data processing unit 22 is also supplied with the current vehicle longitudinal velocity V x and further state data such as the current construction position z or the actual levels y of the spring or damper units 11 in order to determine the prepared roadway profile h L.
- the position and orientation of the roadway sensor 21 is known, so that an accurate roadway profile determination is possible.
- portions of roadway excitations described by the sensor data d are filtered out with a frequency above a predefinable upper limit frequency of, for example, 8-10 Hz.
- the processed roadway profile h L is provided by the data processing unit 22.
- the resulting vertical wheel movements of the vehicle wheels 10 are determined from the prepared roadway profile h L in a wheel movement determination stage 23, and thus a low-frequency, calculated wheel position r L is determined for each vehicle wheel using the following equation:
- m R is the mass of the respective vehicle wheel 10
- c R is a Radvertikalfederkonstante
- k R is a Radvertikaldämpfungs- constant
- r L is the calculated Radvertikal york (the time derivative of the calculated wheel position r L )
- r L is the calculated Radvertikalbevantung (the time derivative of the calculated Radvertikal york r L )
- h L is the prepared lane profile change (the time derivative of the prepared lane profile h L ).
- the calculated wheel position r L could also be calculated from the sum of the prepared roadway profile h L and a constant indicating the radius of the vehicle wheel 10, wherein the vertical spring and damping properties of the vehicle wheel 10 would be neglected.
- the influencing device 20 further has a pre-control unit 24, which determines a pre-control signal based on the respective calculated wheel position r L , which then controls the position or movement of the vehicle body 13 and / or the control of the actual levels y of the spring or damper units 11 of the vehicle is used.
- a pre-control level y P for each spring unit 11 is determined in each case as a pre-control signal.
- the pre-control level yp of the respective vehicle wheel 10 the following relationship follows, depending on the active chassis system used:
- c F is a spring constant of the spring or damper unit 11
- k F is a damper constant of the spring or damper unit 11
- the calculated Radvertikal mich r the time derivative of the calculated wheel position r L. This applies on the assumption that the vehicle body 12 should remain at rest even with low-frequency excitations below a lower limit frequency of, for example, 0.5 Hz.
- the filtered pilot control level y PL is then formed in a pilot dynamic-control filter 25:
- This body control 26 has in the preferred embodiment, a skyhook controller 27 and a suspension control 28.
- the skyhook controller 27 is given the current wheel position r, and the current Radvertikal mich r for each of the vehicle wheels 10 and the current construction position z and their time derivative, the current vertical vertical velocity z as input variables.
- the Skyhookregler 27 determined from the above input variables for each spring or damper unit 11, a Skyhookmony y sk to bring the vehicle body 12 in its predetermined desired position.
- ⁇ x max is a skyhook suspension travel limit
- c e is a restoring spring constant
- k e is a restoring vessel constant, which is dictated by the desired skyhook control behavior.
- the desired level y so ii is determined for each of the spring or steamer units 11 and transmitted to the chassis control 28 for setting:
- the filter coefficients a x and b ⁇ of the pilot dynamic filter 25 can be determined as follows:
- the transmission behavior of the chassis control 28 can be determined by measurements.
- the pilot control level y P was experienced without the pilot control dynamic filter 25.
- a filter is designed that is as true to amplitude as possible and does not cause phase delays up to the highest possible frequency.
- This second embodiment variant has, in addition to the first exemplary embodiment, a contour determination unit 40 and a body movement determination stage 41, as shown in FIG.
- the comfort is optimized taking into account the spring travel limits of the spring or steamer units 11.
- the influencing device 20 knows the prepared roadway profile h L up to a point of maximum sensor range s ma ⁇ in front of the vehicle.
- the actual levels y of the spring or steamer units 11 are set in this section of the path s, in which the prepared roadway profile h L is known, such that the respectively maximum available deflection travel ⁇ z max is maintained and the build-up position z while driving of the vehicle along the predetermined prepared roadway profile along a position track moves with the smallest possible curvature. In this way, the comfort potential is optimally exhausted.
- the contour detection unit 40 determines this h ⁇ , that is, the position trajectory of a plurality of building positions for the travel of the vehicle along the predetermined recycled road profile L describes the curvature of the contour profile h ⁇ under the boundary condition is minimized by ensuring that the spring or a contour profile Steam units 11 maximum available spring travel ⁇ zji ax are respected.
- the contour detection unit 40 is determined depending h of recycled road profile L is a contour profile h ⁇ characterizing this position trajectory.
- the cutoff frequency of this low-pass filtering is chosen to be as low as possible, under the condition that the maximum available spring travel ⁇ z max is maintained at each spring or steamer unit 11.
- the maximum available spring travel .DELTA.z max is different depending on the actual levels of the individual spring or steam units 11 in the direction of deflection and in the direction of rebound of the respective spring or steam unit 11 and the Values also change. Therefore need at each spring or damper unit 11, a maximum compression travel Az max, s in and a maximum suspension travel Az ma ⁇ , are taken into account, which are organized under grouped under Az max half.
- the calculation method is basically the same for both values.
- the lowest possible limit frequency for the low-pass filtering in the contour determination unit 40 is determined iteratively. Starting from a starting frequency, e.g. OHz, a low-pass filter result TP is calculated and then checked whether the boundary condition of the maximum available spring travel can be maintained:
- the contour profile h1 corresponds to the low-pass filter result TP. If this condition is not met and if the maximum available spring travel ⁇ z max is reached or exceeded, then the starting frequency is increased and a new low-pass filter result TP is calculated. This iteration loop is run through until a low-pass filter result TP was found satisfying the constraint given in Equation (Eq.9). The contour profile h determined in this way ⁇ is then transmitted to the body movement determination section 41st
- the body movement determination stage 41 calculates from the contour profile h ⁇ a contour buildup position z ⁇ and a contour force F ⁇ :
- the contour force F is supplied to the ⁇ Radschulsarscut 23 that the calculated wheel position r L in this second embodiment, determined based on the equation:
- m A is the mass of the vehicle body 12 and h L is the time derivative of the prepared lane profile change h L.
- the pre-control unit 24, the calculated wheel position r L and the contour buildup position are supplied.
- the pilot control unit 24 determines, in addition to the pilot control levels y P for the individual spring or damper units 11, a pilot control buildup position z P as a further pilot control variable, which is forwarded to the body control 26.
- the pilot control quantities are as follows:
- the corrected state values are as follows:
- the pre-control buildup position z P determined in the skyhook controller 27 therefore results in:
- ysoii ysk + YPL (Gi.8) Further improvement in integrated feedforward control and layout control can be achieved when the skyhook controller 27 determines a skyhook correction term y Skk which is added to the skyhook level y sk and the filtered pilot level y PL :
- FIG. 4 shows a further, third embodiment of the influencing device 20.
- a system dynamics stage 45 is provided which determines the system behavior of the active control system when determining a dynamically optimized pilot control level y P i on the basis of the pilot control level y P Suspension system taken into account, in particular its time or dynamic behavior when adjusting the pilot control variables.
- this third embodiment of the second embodiment of the influencing device 20 instead of the filtered pilot control level y PL of the second embodiment is now determined from the pilot level y P of the pilot unit 24, the dynamics-optimized pilot control level y P i:
- the coefficients u and w x can be determined by the transmission behavior of the active chassis system of the vehicle used, and therefore differ for different vehicle types. This transmission behavior can be determined by measurements. For example, the transmission behavior between the desired level y so ii and the actual level y of a spring or Dampfereinhext 11 an active suspension system with ABC spring or steamer units IIb - see. Fig. 6b - be given as follows:
- Dy valve steaming of a control valve of the spring unit 11 COy valve cutoff frequency D F position control steam ⁇ F position control cutoff frequency q z Constant of the spring unit 11 which describes the influence of the pressure
- the pre-control achieved with the aid of the pilot control unit 24 can be used for all active chassis with which a body control can be carried out.
- the application has been described in particular with active suspensions with adjustable springs 64, 67 and 64, 70.
- Influencing device 20 are modified. With the aid of the determined level variables for the spring units 11, a variable damping effect can be determined which is changed by the knowledge of the roadway profile lying ahead of the vehicle via the pilot control unit 24. This can be done as follows:
- the pilot control unit 24 can determine a pilot steaming ⁇ k P and the skyhook controller 27 can determine a skyhook steaming ⁇ k sk , from which a steaming desired value ⁇ k so n can then be determined.
- the third embodiment of the influencing device 20 for example:
- the feedforward control can be integrated into the body control if a spring or steamer unit 11 with an adjustable steamer is used. This also applies correspondingly to all other described exemplary embodiments of the influencing device 20.
- the roadway excitations are also known, which act on the vehicle wheels 10 at a certain point in time. Therefore, it is possible that Predicting vehicle behavior at any time using a model and comparing it to actual vehicle behavior. In this way deviations and / or errors can be detected.
- the precontrol can be corrected when deviations are detected, for example, the pilot control variables y P , z P of the pilot control unit 24 can be adapted to the current temperature or the state of wear of the vehicle.
- the influencing device 20 has a diagnostic unit 50.
- the diagnostic unit 50 are supplied to a measured, the behavior and the condition of the vehicle described vehicle and large, on the other hand one or more of the road profile h (s) descriptive Great beispielsgeplain the conditioned road profile h L and / or the contour profile h ⁇ .
- h ⁇ are determined in a first diagnosis stage 51 model values on the basis of a vehicle model M, in particular the following model values: the expected wheel position r M and / or the expected wheel vertical r M and / or the expected Construction position z M and / or the expected vertical vertical velocity z M.
- This second diagnostic stage 52 also includes the measured actual chassis sizes, e.g. the wheel position r and / or the wheel vertical speed r and / or the body position z and / or the body vertical velocity z.
- the second diagnostic stage 52 compares the model parameters with the measured chassis sizes and determines a deviation A, which is forwarded to a third diagnostic stage 53.
- the third diagnostic stage 53 generates one or more correction signals on the basis of the detected deviation A, which serve to correct the pilot control quantities y p , z p of the pilot control unit 24.
- at least one and, for example, a first correction factor P y and a second correction factor P 2 are determined which serve to increase or decrease the pilot quantities y p , z p , depending on the magnitude and sign of the deviation A.
- a first correction factor P y and a second correction factor P 2 are determined which serve to increase or decrease the pilot quantities y p , z p , depending on the magnitude and sign of the deviation A.
- the diagnostic unit 50 can be used in all three embodiments of the influencing device 20 according to FIGS. 2 to 4.
- the corrected pilot quantities y P , Corrected and z P / Corrected are used instead of the pilot control quantities y p , z p .
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Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009524921A JP5015253B2 (ja) | 2006-08-22 | 2007-08-02 | 車両のアクティブシャシシステムを制御するための制御装置 |
DE112007001846T DE112007001846A5 (de) | 2006-08-22 | 2007-08-02 | Beeinflussungsvorrichtung zur Beeinflussung eines aktiven Fahrwerksystems eines Fahrzeugs |
US12/438,241 US8355840B2 (en) | 2006-08-22 | 2007-08-02 | Influencing device for influencing an active chassis system of a vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102006039353.8 | 2006-08-22 | ||
DE102006039353A DE102006039353A1 (de) | 2006-08-22 | 2006-08-22 | Vorrichtung und Verfahren zur Beeinflussung der Federkraftcharakteristik eines aktiven Fahrwerks eines Kraftfahrzeugs |
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WO2008022697A1 true WO2008022697A1 (de) | 2008-02-28 |
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PCT/EP2007/006844 WO2008022697A1 (de) | 2006-08-22 | 2007-08-02 | Beeinflussungsvorrichtung zur beeinflussung eines aktiven fahrwerksystems eines fahrzeugs |
PCT/EP2007/006843 WO2008022696A1 (de) | 2006-08-22 | 2007-08-02 | Vorrichtung und verfahren zur beeinflussung der federkraftcharakteristik eines aktiven fahrwerks eines kraftfahrzeugs |
PCT/EP2007/006845 WO2008022698A1 (de) | 2006-08-22 | 2007-08-02 | Beeinflussungsvorrichtung mit diagnoseeinheit zur beeinflussung eines aktiven federungssystems eines fahrzeugs |
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PCT/EP2007/006843 WO2008022696A1 (de) | 2006-08-22 | 2007-08-02 | Vorrichtung und verfahren zur beeinflussung der federkraftcharakteristik eines aktiven fahrwerks eines kraftfahrzeugs |
PCT/EP2007/006845 WO2008022698A1 (de) | 2006-08-22 | 2007-08-02 | Beeinflussungsvorrichtung mit diagnoseeinheit zur beeinflussung eines aktiven federungssystems eines fahrzeugs |
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US (3) | US20100042292A1 (de) |
JP (3) | JP2010501389A (de) |
DE (4) | DE102006039353A1 (de) |
WO (3) | WO2008022697A1 (de) |
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- 2007-08-02 JP JP2009524922A patent/JP2010501389A/ja active Pending
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- 2007-08-02 US US12/438,269 patent/US20100023211A1/en not_active Abandoned
- 2007-08-02 JP JP2009524921A patent/JP5015253B2/ja not_active Expired - Fee Related
- 2007-08-02 US US12/438,241 patent/US8355840B2/en not_active Expired - Fee Related
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WO2011110312A1 (de) * | 2010-03-11 | 2011-09-15 | Daimler Ag | Verfahren zur bestimmung einer fahrzeugaufbaubewegung |
US8744680B2 (en) | 2010-03-11 | 2014-06-03 | Daimler Ag | Method for determining a movement of a vehicle body |
DE102010013178A1 (de) | 2010-03-27 | 2010-12-30 | Daimler Ag | Verfahren zum Steuern einer Fahrdynamik eines eine Fahrbahn befahrenden Fahrzeugs |
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DE102013016888A1 (de) | 2013-10-11 | 2014-07-03 | Daimler Ag | Verfahren zur Unterstützung eines Fahrers beim Führen eines Fahrzeugs |
Also Published As
Publication number | Publication date |
---|---|
DE102006039353A1 (de) | 2008-03-06 |
JP5015253B2 (ja) | 2012-08-29 |
WO2008022696A1 (de) | 2008-02-28 |
DE112007001845A5 (de) | 2009-10-01 |
DE112007001846A5 (de) | 2009-05-28 |
JP2010501388A (ja) | 2010-01-21 |
US8355840B2 (en) | 2013-01-15 |
DE112007001848A5 (de) | 2009-05-28 |
JP2010501387A (ja) | 2010-01-21 |
US20100049394A1 (en) | 2010-02-25 |
JP2010501389A (ja) | 2010-01-21 |
WO2008022698A1 (de) | 2008-02-28 |
US20100023211A1 (en) | 2010-01-28 |
US20100042292A1 (en) | 2010-02-18 |
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