JP4203158B2 - Suspension control device and adjustment method thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a suspension control apparatus and a method for adjusting the suspension control apparatus that provide a comfortable ride by suppressing a swing on a spring of a vehicle or the like.
[0002]
[Prior art]
As an example of a conventional suspension control apparatus, there is an apparatus shown in FIG. 5 (see Japanese Patent Application Laid-Open No. 9-254626) configured to eliminate the influence of variations in battery voltage and solenoid resistance value.
In FIG. 5, this device has a solenoid 4 connected to a battery 1 via a current adjusting unit 3 including a transistor 2 and the like, and a spool 5 (see FIG. 1) that is displaced according to the current flowing through the solenoid 4. An actuator 6 that adjusts the amount of liquid passing according to the displacement of the spool 5 and a shock that is interposed between the vehicle body and the wheels of the vehicle so as to be extendable and contractable, and adjusts the damping characteristic or the amount of expansion and contraction according to the operation of the actuator 6. An absorber 7 (see FIG. 1) and a PWM signal generation circuit 8 that controls the transistor 2 so that a current corresponding to the PWM signal flows through the solenoid 4 by outputting a PWM signal (command data) to the transistor 2. (CPU).
[0003]
Then, the PWM signal is output to the transistor 2 while changing the duty ratio, the current flowing at that time is measured by the current sensor 9 connected in series with the solenoid 4, and a map showing the correspondence relationship is obtained in advance. Based on the acceleration signal from the acceleration sensor 10 for detecting the vertical movement of the vehicle body, a required current corresponding to the damping force required for damping the vehicle body is obtained, and the PWM signal is obtained from the map using this required current as an address. A PWM signal is supplied to the transistor 2. As a result, even if the voltage of the battery 1 and the resistance value of the solenoid 4 vary, an appropriate PWM signal is supplied to the transistor 2 to improve riding comfort.
[0004]
[Problems to be solved by the invention]
By the way, in the above-described prior art, each component (not shown) constituting the PWM signal generation circuit 8 (CPU) and each component constituting the current adjustment unit 3 including the transistor 2 are actually assembled and designed (desktop). The ideal state in the stage) has an error in its characteristic data. And in the said prior art, under the influence of the error mentioned above, suspension control performance (riding comfort etc.) could be inferior to that extent.
[0005]
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a suspension control device and an adjustment method thereof that can secure a good riding comfort by eliminating the influence of characteristic errors of components constituting the controller. And
[0006]
[Means for Solving the Problems]
The invention of claim 1 is a shock absorber that is interposed between a vehicle body and wheels of a vehicle so as to be extendable and contractable, and an adjustment device that adjusts a damping characteristic or an expansion / contraction amount of the shock absorber; A command data generating unit that generates command data corresponding to the adjustment amount of the adjustment device, and a current that is interposed between the adjustment device and a power source and operates the adjustment device with a current value that corresponds to the command data. a controller having an adjustment unit, a suspension control apparatus having a, the controller is connected to the non-volatile memory, between the current controller and said adjusting device, detects a current flowing through the adjusting device and provided a possible connection terminal a current detection device to be input to the instruction data generator, in the nonvolatile memory, said a command data previously obtained by the current detecting device Serial measured data showing the relationship between the current flowing through the adjusting device is stored, the current detecting device, after the measured data in the nonvolatile memory is stored in Rukoto removed from the suspension controller The adjustment device is directly connected to the current adjustment unit via the terminal, and the command data generation unit obtains a required current required for the adjustment device to generate a damping force necessary for damping the vehicle body. The command data corresponding to the required current is read from the measured data stored in the nonvolatile memory.
[0007]
The invention relating to the adjustment method of the suspension control device according to claim 2 includes a shock absorber which is interposed between the vehicle body and the wheel of the vehicle so as to be extendable and contractable, and damping the vibration or the expansion and contraction of the shock absorber. An adjustment device that adjusts the amount, a command data generation unit that generates command data corresponding to the adjustment amount of the adjustment device, and an adjustment device that is interposed between the adjustment device and a power source, and has a size corresponding to the command data. a controller having a current adjustment unit to operate at a current value used in the suspension control apparatus having a, between the adjusting device and the current controller, the command data to detect a current flowing through the adjusting device connect the current detecting device for inputting to the generator, obtains the actual measurement data indicating the correspondence relationship between the current flowing in advance the the command data the adjusting device by said current detecting device The measured data stored in the nonvolatile memory, this after the non-volatile memory wherein the measured data is stored is removed from the suspension controller the adjusting device in Rukoto is directly connected with the current controller, the command The data generator obtains a required current required for the adjusting device to generate a damping force necessary for damping the vehicle body, and stores command data corresponding to the required current in the nonvolatile memory. It is characterized by adjusting so as to read from the measured data.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a suspension control apparatus according to an embodiment of the present invention will be described with reference to FIGS. In addition, about the member and part equivalent to the member and part shown in FIG. 5, it shows with an equivalent code | symbol.
[0009]
In FIG. 1, this suspension control device includes a solenoid 4 connected to a battery 1 via a current adjustment unit 3 provided in a controller 11, and a spool 5 that is displaced according to a current flowing through the solenoid 4 (current flowing through the adjustment device). A proportional solenoid valve 12 (adjustment device) that has a (movable body) and adjusts the passage amount of the liquid E according to the displacement of the spool 5, and a proportional solenoid valve that is telescopically interposed between a vehicle body and a wheel of the vehicle. 12 includes a shock absorber 7 that adjusts the damping characteristic or the amount of expansion and contraction according to the operation of 12 and an acceleration sensor 10 that detects acceleration in the vertical direction of the vehicle body.
[0010]
The controller 11 outputs a command data to the current adjustment unit 3, thereby controlling the current adjustment unit 3 so that a current having a magnitude corresponding to the command data flows through the solenoid 4 (command data generation unit); And a memory 14 (EEPROM) for storing actual measurement data to be described later. The memory 14 is non-volatile, and the stored information does not disappear even when the power is turned off.
[0011]
The current adjusting unit 3 has a base connected to the CPU 13 via the correction circuit 15, an emitter connected to the battery 1, and a collector connected to a terminal (hereinafter referred to as a first terminal) 16 connected to one end of the solenoid 4. And a pnp-type transistor 2 for the solenoid 4 that adjusts a current to the solenoid 4 in accordance with command data from the CPU 13.
[0012]
The current adjustment unit 3 is further interposed between one input unit of the two input units of the correction circuit 15 and a terminal (hereinafter referred to as a second terminal) 17 connected to the other end of the solenoid 4. And a shunt resistor 19 interposed between the line connecting the comparator 18 and the second terminal 17 and the vehicle body (ground side).
A portion of the shunt resistor 19 on the ground side is connected to the other input portion of the comparator 18. As described above, the comparator 18 is connected to the input unit of the correction circuit 15, but the connection line 20 and the CPU 13 are connected by the branch line 21. The branch line 21 is a signal line to be taken into the CPU 13 in order to detect the failure of the solenoid 4 and the line to which the solenoid 4 is connected. And the failure determination part provided in CPU13 which is not illustrated turns off the electricity supply to the solenoid 4, when it determines with a failure.
[0013]
In the present embodiment, a current detection device 22 is connected between one end of the solenoid 4 and the first terminal 16 of the controller 11 to detect the current flowing through the solenoid 4, and the CPU 13 is connected via the measurement line 23. To be input. The current detection device 22 is removed at the time of shipment, and one end of the solenoid 4 and the first terminal 16 of the controller 11 are directly connected.
[0014]
In this suspension control device, a current detection device 22 is connected between one end of the solenoid 4 and the first terminal 16 of the controller 11, and the current flowing through the solenoid 4 when the CPU 13 changes the size and outputs command data. Is obtained by the current detection device 22, and as shown in FIG. 4, actual measurement data (indicated by a solid line G) indicating the correspondence between the command data and the current flowing through the solenoid 4 is obtained, and the actual measurement data is stored in the memory 14. (Accordingly, obtaining actual measurement data is hereinafter referred to as current correction processing for the sake of convenience), and a required current (good riding comfort, etc.) obtained from the detection value of the acceleration sensor 10 during traveling of the vehicle is ensured. The command data corresponding to the current required for the damping force) is determined by the actual measurement data stored in the memory 14.
[0015]
Here, the control contents of the CPU 13 will be described with reference to FIGS.
As shown in FIG. 2, first, initialization is performed by supplying current to the CPU 13 (step S1). Next, it is determined whether or not a current corrected flag that is set when the current correction process is performed is set (step S2). If NO is determined in step S2, current correction processing is performed (step S3).
[0016]
If it is determined as YES in step S2, it is determined until it is determined as YES whether or not the control cycle has elapsed (step S4). If YES is determined in step S4, the solenoid 4 (and hence the spool 5) is driven based on the signal calculated in the previous control cycle (step S5).
Subsequent to step S5, the output is made to members and portions (LEDs, etc.) other than the solenoid 4 (step S6).
[0017]
In the next step S7, a detection value of the acceleration sensor 10 or the like is input. In subsequent step S8, based on the detected value of the acceleration sensor 10 read in step S7, a damping force necessary for damping the vehicle body and a required current necessary for generating this damping force are obtained. Then, the command data corresponding to the required current is read from the actually measured data stored in the memory 14 to control the transistor 2, and a current corresponding to the required current is supplied to the solenoid 4, and the desired shock absorber 7 is supplied to the shock absorber 7. A damping force is generated to ensure a good ride.
[0018]
At this time, since the command data corresponding to the request current is read from the actual measurement data stored in the memory 14 (that is, indicating the characteristic in the actually assembled state), the request current corresponding to the command data is The influence of the error on the characteristic data generated between the actually assembled state of each component constituting the current adjustment unit 3 of the controller 11 and the ideal state at the design stage (desktop stage) is eliminated, and it is equal to the required current. A current having a magnitude is supplied to the solenoid 4, thereby ensuring a good riding comfort.
[0019]
That is, for example, as shown in FIG. 4, when the current correction process is not performed, the current (required current I ₀ ) required for the solenoid 4 to ensure a good riding comfort is Based on initial data (indicated by a dotted line T) when current correction processing is not performed, C ₁ is output from the CPU 13 as command data. However, when the components are actually assembled, the current I ₁ having a magnitude different from the required current I ₀ is actually generated by the solenoid 4 due to the output of the command data C ₁ due to the above-described error ΔI. Will lead to deterioration of ride comfort. On the other hand, in the present embodiment, by using actually measured data stored in the memory 14 for the required current I ₀ , C ₀ is obtained as command data and this C ₀ is output, so the required current I ₀ As a result, a current having the same magnitude as that flows through the solenoid 4 and a good riding comfort can be obtained.
[0020]
Next, the current correction subroutine (step S3) will be described with reference to FIG.
As shown in FIG. 3, first, a predetermined value (α) is added to the command data so that the command data is increased from 0 by a predetermined value (α), and the current value at that time is detected by the current detector 22 ( Step S11). Next, it is determined whether or not the current I obtained from the command data has reached a predetermined maximum current I _MAX (step S12). If YES is determined in step S12, a current corrected flag is set and stored in the memory 14 (step S13), and the process proceeds to step S16 described later. Since the current corrected flag is set in the memory 14 (non-volatile), once it is set, it will not disappear even if the battery 1 is turned off. Thus, after the controller 11 is manufactured, the current correction processing is performed only once. To avoid going more than once.
[0021]
If NO is determined in step S12, the current detector 22 detects the current flowing through the solenoid 4 and outputs it to the CPU 13 (step S14). Following step S14, the command data and the current detected in step S14 are stored in the memory 14 as actual measurement data (step S15).
[0022]
Subsequent to step S15, it is determined whether or not the current corrected flag is set (step S16). If NO is determined in step S16, the process returns to step S11 and the above process is repeated. If YES is determined in the step S16, the subroutine is terminated.
[0023]
As described above, in the present embodiment, the command data corresponding to the required current is read from the actual measurement data stored in the memory 14 (that is, indicating the characteristic in the actually assembled state). The required current corresponding to the data is influenced by an error in the characteristic data generated between the actually assembled state of each component constituting the current adjustment unit 3 of the controller 11 and the ideal state at the design stage (desktop stage). As a result, a current equivalent to the required current flows through the solenoid 4, thereby ensuring a good riding comfort.
In the above embodiment, the proportional solenoid valve 12 as the adjusting device is adjusted to adjust the damping characteristic. However, the present invention is not limited to this, and the present invention adjusts the supply / discharge valve as the adjusting device. Thus, the present invention can be applied to one that adjusts the expansion / contraction amount by supplying / discharging the oil liquid into / from the shock absorber and one that adjusts the expansion / contraction amount of the shock absorber by supplying / discharging compressed air to / from the air chamber of the air suspension.
[0024]
【The invention's effect】
According to the present invention, the actual measurement data indicating the correspondence between the command data and the current flowing through the adjustment device is obtained in advance by the current detection device, the actual measurement data is stored in the nonvolatile memory, and the actual measurement data is stored in the nonvolatile memory. after being stored, the current detecting device is removed from the suspension controller, by a command data generating unit for generating a damping force required for vibration damping of the car body, the required current needed for adjustment device seeking, the command data corresponding to the required current, since the adjustment to the read out from the measured data that has been stored in the nonvolatile memory Suyo actually assembled for each part constituting the current controller of the controller Command data that is not affected by the error in the characteristic data that occurs between the actual state and the ideal state at the design stage (desktop stage) is selected, which ensures good riding comfort. It becomes Rukoto.
[Brief description of the drawings]
FIG. 1 is a diagram schematically showing a suspension control apparatus according to an embodiment of the present invention.
FIG. 2 is a flowchart showing processing contents of a CPU in FIG. 1;
FIG. 3 is a flowchart showing a current correction subroutine of FIG. 2;
FIG. 4 is a diagram illustrating a correspondence relationship between actually measured data obtained by current correction processing and initial data when current correction processing is not performed.
FIG. 5 is a diagram schematically illustrating an example of a conventional technique.
[Explanation of symbols]
1 Battery (Power)
3 Current adjuster 4 Solenoid
7 Shock absorber 11 Controller 12 Proportional solenoid valve (adjuster)
13 CPU (command data generator)
14 Nonvolatile memory
22 Current detector

Claims (2)

A shock absorber interposed between the vehicle body and the wheel of the vehicle to freely extend and contract, and an adjustment device for adjusting a damping characteristic or an expansion / contraction amount of the shock absorber, and an adjustment amount of the adjustment device A controller having a command data generating unit that generates corresponding command data and a current adjusting unit that is interposed between the adjusting device and a power source and operates the adjusting device with a current value of a magnitude corresponding to the command data; a suspension control apparatus having a, the controller is connected to the non-volatile memory, between the current controller and said adjusting device, on detecting a current flowing through the adjusting device the instruction data generator a current detection unit for inputting provided connectable terminal, the non-volatile memory flows through the adjusting device and previously obtained the instruction data by the current detecting device Current being measured data showing the correspondence between the storage and the current detection device, wherein at Rukoto removed from the suspension control system after the actual measurement data in the nonvolatile memory is stored adjusting device the The command data generation unit is directly connected to the current adjustment unit via the terminal, and the command data generation unit obtains a required current required for the adjustment device to generate a damping force necessary for damping the vehicle body. Corresponding command data is read from the actual measurement data stored in the nonvolatile memory. A shock absorber interposed between the vehicle body and the wheel of the vehicle to freely extend and contract, and an adjustment device for adjusting a damping characteristic or an expansion / contraction amount of the shock absorber, and an adjustment amount of the adjustment device A controller having a command data generating unit that generates corresponding command data and a current adjusting unit that is interposed between the adjusting device and a power source and operates the adjusting device with a current value of a magnitude corresponding to the command data; used in suspension control apparatus having a, between the current controller and the adjustment device, and connecting a current detection device for detecting a current flowing through the adjusting device for inputting the instruction data generator, advance the instruction Actual measurement data indicating a correspondence relationship between the data and the current flowing through the adjusting device is obtained by the current detection device, and the actual measurement data is stored in a nonvolatile memory. The adjusting device Rukoto removed from the suspension control apparatus after the measured data has been stored in the re are directly connected to the current controller, in the instruction data generator, required attenuation damping of the vehicle body A required current required for the adjusting device to generate a force is obtained, and command data corresponding to the required current is adjusted so as to be read from the measured data stored in the nonvolatile memory. Method of adjusting suspension control device.

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