JPH02210U - - Google Patents

Description

[Brief explanation of the drawing]

Fig. 1 is a basic configuration diagram of the present invention, Fig. 2 is a schematic configuration diagram of an embodiment of an electronically controlled suspension device, Fig. 3 is an air circuit diagram of this embodiment, and Fig. 4 is a diagram of this embodiment. A block diagram showing the configuration of the electrical system, FIG. 5 is a general flowchart of the control routine executed by the electronic control circuit of this embodiment, and FIG. Figure 7 is a flowchart of the feedback calculation process, Figure 8 is a flowchart of the corrected total pressure calculation process, Figure 9 is a flowchart of the valve control amount calculation process, and Figure 10 is a flowchart of the steering angle θ. A graph showing a map for calculating the estimated lateral acceleration G^RL from the vehicle speed V, Fig. 11 shows the steering angular velocity θ〓
A graph representing a map for calculating estimated lateral jerk = RL from and vehicle speed V, Figure 12 shows predicted acceleration GRL
From M to target pressure difference ΔPFLM, ΔPFRM, ΔP
A graph representing a map for calculating RLM and ΔPRRM, Figure 13 shows predicted acceleration GRLM and actual lateral acceleration G.
A graph representing a map for determining the feed forward gain k ₁ and feedback gains k ₂ , k ₃ based on the difference with RL, and FIG. 14 corresponds to a map for determining the target vehicle height based on the vehicle speed V and mode. 15 is a graph corresponding to a map for determining the target pitch displacement XPM based on the actual longitudinal acceleration GFR. FIG. 16 is a graph corresponding to a map for determining the target roll displacement XRM based on the actual lateral acceleration GRL. Figure 17 is a graph corresponding to the map for determining the target pitch displacement velocity
_The graph corresponding to the map for calculating the _target roll displacement speed The graph corresponding to the map for determining the coefficients aF/φ and aR/φ based on ₁ / _P2 , Figure 20 is the main gas chamber pressure _P2
Figure 21 is a graph corresponding to the map for calculating the coefficients bF/φ and bR/φ based on the ratio P ₂ /P ₃ of the tank pressure P ₃ on the low pressure side that receives gas discharged from the main gas chamber. The graph corresponds to the map for determining the output duty based on the valve drive times tU and tD. Figure 22 is a timing chart showing the effects of the embodiment. Figure 23 is the throttle opening θTH.
A graph representing a map for calculating the estimated longitudinal acceleration G^FR from
A graph representing a map for calculating estimated longitudinal jerk FR from TH and vehicle speed V. FIG. 25 is a graph representing a map for calculating estimated longitudinal acceleration G^FR from throttle opening θTH and internal combustion engine rotational speed N.
Fig. 26 is a graph showing a map for calculating the estimated longitudinal jerk FR from the throttle opening speed θ TH and the internal combustion engine rotational speed N, and Fig. 27 shows the estimated longitudinal acceleration G^ from the brake depression amount θ BR and the vehicle speed V.
FIG. 28 is a graph representing a map for determining FR. FIG. 28 is a graph representing a map for determining estimated longitudinal jerk FR from brake depression speed θ BR and vehicle speed V. FIG. 29 is a flowchart of valve control processing. M1...Wheel, M2...Fluid actuator,
M3...Vehicle running state detection means, M4...Target correction pressure amount calculation means, M5...Supply/discharge control means, 1F
L, 1FR, 1RL, 1RR... Suspension, 2FL, 2FR, 2RL, 2RR... Gas spring, 26, 30... High pressure reserve switching valve, 3
4, 36, 50, 52, 54, 56, 70, 72
... Pressure sensor, 42, 44, 46, 48 ... Leveling valve, 58, 60, 64, 66 ... Discharge valve, 80, 82, 84, 86 ...
...Vehicle height sensor, 90...Steering angle sensor, 92...
Acceleration sensor, 93... Vehicle speed sensor, 94... Door switch, 95... Neutral switch, 9
6...Throttle opening sensor, 100...Electronic control circuit.

Claims (1)

[Scope of Claim for Utility Model Registration] In an electronically controlled suspension device that adjusts the posture of a vehicle by controlling the supply and discharge of fluid in suspension fluid actuators installed in the wheels of the vehicle, the driving state of the vehicle is detected. a vehicle running state detection means; and based on the vehicle running state detected by the vehicle running state detection means, predict the acceleration of the vehicle that will be reached after a control period of the fluid actuator or more, and based on this acceleration. a target correction pressure amount calculation means for calculating a target correction pressure amount of the pressure in the fluid actuator; and a calculation cycle of the target correction pressure amount according to the target correction pressure amount calculated by the target correction pressure amount calculation means. An electronically controlled suspension device comprising: supply/discharge control means for controlling supply/discharge of fluid within a fluid actuator at the above-described period.