KR101853822B1 - 제진 제어 장치 및 제진 제어 시스템 - Google Patents
제진 제어 장치 및 제진 제어 시스템 Download PDFInfo
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- 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
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Abstract
Description
도 1a는, 본 발명에 의한 제진 제어 장치의 바람직한 실시 형태가 실현되는 자동차의 모식도를 나타내고 있다.
도 1b는, 도 1a의 전자 제어 장치의 내부 구성을 보다 상세하게 나타내는 모식도이다.
도 2a는, 본 발명의 바람직한 실시 형태 중 하나인 제진 제어 장치에 있어서 억제되는 차체 진동의 상태 변수를 설명하는 도이다.
도 2b는, 본 발명의 바람직한 실시 형태에 있어서의 제진 제어의 구성을 제어 블록도의 형식으로 나타낸 도이다.
도 3a, b는, 본 발명의 바람직한 실시 형태의 제진 제어 장치에 있어서 가정되는 차체 진동의 역학적 운동 모델을 설명하는 도이다. 도 3a는, 스프링 상 진동 모델을 이용한 경우이며, 도 3b는, 스프링 상·스프링 하 진동 모델을 이용한 경우이다.
도 4는, 타(舵)가 변화된 차륜에 있어서 구름 저항이 발생하는 것을 설명하는 것이다.
도 5a는, 조타각 속도에 대한 차륜 토크를 보상하는 보상 성분의 제어 게인의 변화를 그래프 형식으로 나타낸 도이다.
도 5b는, 제어 게인을 결정하는 처리를 플로우 차트의 형식으로 나타낸 것이다.
Claims (4)
- 차량의 구동 출력을 제어하여 상기 차량의 피치 또는 바운스의 진동을 억제하는 제진(制振) 제어 장치로서,
상기 차량의 차륜과 노면의 접지 지점에 있어서 발생하는 차륜에 작용하는 차륜 토크에 의거하여 상기 피치 또는 바운스 진동 진폭을 억제하도록 상기 차량의 구동 토크를 제어하는 제진 제어부; 및
상기 차량의 조타각 속도의 크기의 증대와 함께, 상기 제진 제어부에 의해 산출되는 상기 피치 또는 바운스 진동의 억제를 위한 상기 차륜 토크를 보상하는 보상 성분의 진폭을 저감하고, 산출되는 상기 보상 성분이 소정의 임계값을 하회할 때에는 실제로 사용하는 보상 성분의 진폭을 당해 소정의 임계값으로 유지하는 보상 성분 조절부를 포함하는 제진 제어 장치. - 제 1 항에 있어서,
상기 보상 성분 조절부는, 상기 차량의 조타각 속도의 크기가 소정의 속도를 상회할 때에는, 상기 피치 또는 바운스 진동 진폭에 대한 상기 보상 성분의 진폭의 저감의 비율을 일정하게 하는 제진 제어 장치. - 제 1 항 또는 제 2 항에 있어서,
상기 보상 성분의 제어 게인이 상기 차량의 조타각 속도의 크기의 함수이며,
상기 보상 성분 조절부는, 상기 차량의 조타각 속도의 크기가 소정의 속도를 하회할 때에는, 상기 차량의 조타각 속도의 크기의 증대에 대해 상기 보상 성분의 제어 게인이 단조감소하도록 설정하는 제진 제어 장치. - 제진 제어 시스템으로서,
차량(10)의 차륜(12)에 구동력을 발생시키는 구동 장치(16);
상기 차량(10)의 차륜의 회전속을 검출하는 차륜속 센서(40i);
상기 차량(10)의 스티어링 휠의 조타각을 검출하는 조타각 센서(32b); 및
액셀 페달(14)의 밟음량에 따른 제 1 구동력을 구함과 함께, 상기 제 1 구동력과 상기 회전속에 의거하여 상기 차량의 피치/바운스의 진동을 억제하도록 상기 제 1 구동력을 보상하는 보상 성분에 의해 구해지는 제 2 구동력으로 상기 구동 장치를 구동시키는 ECU(50)를 포함하고,
상기 ECU는, 상기 조타각으로부터 얻어지는 조타각 속도의 크기의 증대에 따라, 상기 보상 성분의 진폭을 저감하고, 상기 ECU에 의해 산출되는 상기 보상 성분이 소정의 임계값을 하회할 때에는 실제로 사용하는 보상 성분의 진폭을 당해 소정의 임계값으로 유지하는 제진 제어 시스템.
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JPJP-P-2015-058826 | 2015-03-21 | ||
JP2015058826A JP6274139B2 (ja) | 2015-03-21 | 2015-03-21 | 車両の制振制御装置 |
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KR101853822B1 true KR101853822B1 (ko) | 2018-05-04 |
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US (1) | US10023192B2 (ko) |
JP (1) | JP6274139B2 (ko) |
KR (1) | KR101853822B1 (ko) |
CN (1) | CN105984462B (ko) |
AU (1) | AU2016201638B2 (ko) |
BR (1) | BR102016008630B1 (ko) |
CA (1) | CA2923945C (ko) |
MX (1) | MX359494B (ko) |
MY (1) | MY169883A (ko) |
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US10029729B2 (en) * | 2016-03-15 | 2018-07-24 | GM Global Technology Operations LLC | Systems and methods for corner based reference command adjustment for chassis and active safety systems |
DE102017202750A1 (de) * | 2017-02-21 | 2018-08-23 | Volkswagen Aktiengesellschaft | Steuersystem und Verfahren zum Dämpfen von Schwingungen eines Antriebsstrangs eines Kraftfahrzeugs sowie Kraftfahrzeug mit einem solchen Steuersystem |
KR102330546B1 (ko) * | 2017-07-28 | 2021-11-25 | 현대모비스 주식회사 | 전동식 동력 조향장치의 진동 저감 장치 및 방법 |
JP6653085B2 (ja) * | 2017-09-29 | 2020-02-26 | マツダ株式会社 | 車両の駆動力制御装置 |
CN109774783B (zh) * | 2017-11-10 | 2022-05-13 | 现代自动车株式会社 | 用于电动转向的控制方法和控制系统 |
DE102018200094B4 (de) * | 2018-01-04 | 2021-09-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Lenksystems für ein Kraftfahrzeug, Lenksystem |
JP2019127095A (ja) * | 2018-01-23 | 2019-08-01 | マツダ株式会社 | 車両の制御装置 |
JP6756800B2 (ja) * | 2018-11-06 | 2020-09-16 | 本田技研工業株式会社 | 車両のサスペンション制御装置 |
CN115315368A (zh) * | 2020-03-25 | 2022-11-08 | 本田技研工业株式会社 | 驱动控制装置、车辆 |
CN117015491B (zh) * | 2021-03-22 | 2024-06-28 | 日产自动车株式会社 | 驱动力控制方法及驱动力控制装置 |
KR20230138564A (ko) * | 2022-03-23 | 2023-10-05 | 현대자동차주식회사 | 차량의 구동력 제어 방법 |
CN115432062B (zh) * | 2022-10-09 | 2023-11-21 | 上海中科深江电动车辆有限公司 | 针对低速四轮转向电动线控底盘转向控制参数设定处理的方法、装置、处理器及存储介质 |
DE102023202153A1 (de) * | 2023-03-10 | 2024-09-12 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Steuergerät zum kombinierten Ansteuern von Pflugbremse und Antrieb/Betriebsbremse |
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US20050200088A1 (en) * | 2004-03-09 | 2005-09-15 | Mamoru Sawada | Vehicle stability control system |
JP2008105472A (ja) * | 2006-10-23 | 2008-05-08 | Toyota Motor Corp | 車両の制振制御装置 |
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PH12016000108B1 (en) | 2019-04-10 |
CA2923945A1 (en) | 2016-09-21 |
MX359494B (es) | 2018-09-07 |
CN105984462A (zh) | 2016-10-05 |
TWI622503B (zh) | 2018-05-01 |
JP6274139B2 (ja) | 2018-02-07 |
JP2016175604A (ja) | 2016-10-06 |
US10023192B2 (en) | 2018-07-17 |
BR102016008630A2 (pt) | 2018-07-31 |
CN105984462B (zh) | 2019-10-25 |
MY169883A (en) | 2019-05-31 |
AU2016201638B2 (en) | 2017-11-09 |
TW201641324A (zh) | 2016-12-01 |
CA2923945C (en) | 2018-05-22 |
US20160272211A1 (en) | 2016-09-22 |
AU2016201638A1 (en) | 2016-10-06 |
BR102016008630B1 (pt) | 2022-11-29 |
PH12016000108A1 (en) | 2018-02-26 |
RU2016109591A (ru) | 2017-09-21 |
MX2016003560A (es) | 2016-10-31 |
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