JPH0443026B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a vehicle vibration control device, and particularly to vehicle vibration control suitable for suppressing lateral vibration in a vehicle.

[Background of the Invention] A conventional vehicle vibration control device detects the vibration acceleration of a vehicle, compensates and amplifies the detection result using a compensation amplifier circuit to obtain a control signal, and uses a spring that supports the vehicle body against a bogie. The structure is such that an actuator such as a fluid pressure operating mechanism attached to the system is controlled by the control signal via a control means such as a servo valve. This vibration control device will be explained in detail with reference to FIGS. 1 and 2. FIG. 1 is a front view of a vehicle equipped with a conventional vibration control device, and FIG. 2 is a block diagram showing a control circuit in the vibration control device of FIG. In the figure, 1 is a vehicle body supported on a truck 2 via a spring 3, and 4 is an actuator attached to the spring 3. 6 is provided on the vehicle body 1,
A left-right accelerometer 5 detects the acceleration of the vehicle body 1 in the left-right direction, and a servo control device 5 includes a compensation amplifier circuit 7 and a servo valve 8. Note that the compensation amplifier circuit 7 is connected to the left and right accelerometer 6.
The lateral acceleration of the vehicle body 1 detected by the sensor is inputted, the value is compensated and amplified, and a control signal is output. Further, the servo valve 8 controls the pressure fluid supplied to the actuator 4 from a pressure fluid supply source (not shown) in accordance with the control signal output from the compensation amplification circuit 7. In this configuration, as shown in FIG. 2, the control system is of a feedback type. However, in the above-mentioned configuration, the left-right accelerometer 6 is configured to detect the left-right acceleration of the vehicle body 1, but when a vehicle equipped with the vibration control device runs on a curved track, the vehicle has excessive centrifugal acceleration. Acceleration comes into play. Therefore, the left-right acceleration of the vehicle body 1 detected by the left-right accelerometer 6 is the sum of the left-right vibration acceleration of the vehicle body 1 and the excess centrifugal acceleration. By the way, in the vibration control device described above, in the process of detecting the acceleration of the vehicle body 1 and performing feedback control, it is configured to have a saturation characteristic in which the output is limited to a certain value with respect to the acceleration, that is, the input. . That is, in general control systems such as those described above, it is customary in design to suppress the output to a constant value in response to excessive input. This is a measure taken to increase the sensitivity of the control system and to keep the overall capacity small. The control system described above works effectively when traveling on a straight road, but when the vehicle travels on a curved road, the excessive centrifugal acceleration acting on the vehicle body 1 may reach the saturation characteristic range of the control system. Therefore, when passing through a curved road, the lateral vibration acceleration of the vehicle body 1 detected by the lateral accelerometer 6 is such that if the excess centrifugal acceleration component reaches the saturation characteristic range of the control system, the vibration acceleration component is There was a drawback that the vibration control device did not operate effectively when passing through a curved road.

[Purpose of the invention]

In view of the above points, an object of the present invention is to provide a vibration control device for a vehicle that can perform effective vibration control even when excessive centrifugal acceleration is applied to the vehicle when passing through a curve.

[Summary of the invention]

Generally, vibration control devices that are planned for use are configured to have a saturation characteristic such that when detecting vibration acceleration and performing feedback control, the output is limited to a certain value relative to the input. In such a configuration, if the low frequency component, that is, excessive centrifugal acceleration becomes large in the vibration acceleration of the detection result that is input, the output side enters the saturation range, so the output corresponding to the change in the detected vibration acceleration component is It will no longer occur. To solve this problem, it is necessary to extract only the truly necessary acceleration fluctuation and perform feedback control. The present invention is characterized in that the low frequency component of the detected horizontal acceleration of the vehicle is used as a control input through means for removing it, so that the saturation characteristics of the control system do not interfere with the vibration control function. That is.

[Embodiments of the invention]

Next, an embodiment of the present invention will be described with reference to FIGS. 3 to 5. FIG. 3 is a block diagram showing an embodiment of the vehicle vibration control device according to the present invention, and FIG. 4 is a block diagram showing an example of the low frequency component removal circuit of FIG. 3. In the figure, the same reference numerals indicate the same members in the conventional example. Reference numeral 9 denotes a low frequency component removal circuit that removes an excessive centrifugal acceleration component from the lateral acceleration of the vehicle body 1 detected by the lateral accelerometer 6. Incidentally, the frequency of the excessive centrifugal acceleration is lower than that of the left-right vibration acceleration of the vehicle body 1. Therefore, the low frequency component removal circuit 9
The fourth configuration uses the high-pass filter 10 as the
It is a circuit diagram shown in a figure.

In such a configuration, when the vehicle approaches a curved road, the excess centrifugal acceleration acting on the vehicle body 1 gradually increases. The left-right acceleration detector 6 provided in the vehicle body 1 detects the excess centrifugal acceleration and vibration acceleration, and the detection results of the left-right acceleration detector 6 are passed through the high-pass filter 10.
The excess centrifugal acceleration, which is the low frequency component, is removed and the signal is output to the compensation amplifier circuit 7. Therefore, even if the excessive centrifugal acceleration acting on the main body 1 increases when the vehicle is traveling on a curve, the excess centrifugal acceleration acting on the main body 1 increases as described above, the excess centrifugal acceleration is removed by passing through the high-pass filter 10 as described above. Only the horizontal vibration acceleration of the vehicle body 1 is output to the compensation amplifier circuit 7. As a result, even if the servo valve 8 has saturation characteristics, the compensation amplifier circuit 7
Since the control input input to the servo valve 8 does not include excessive centrifugal acceleration, the control signal input to the servo valve 8 does not become excessive, and the saturation characteristics of the control system of the servo valve 8 etc. The vibration control function is not disturbed.

FIG. 5 is a block diagram showing another embodiment of the low frequency component removal circuit of FIG. 3. In the same figure,
Reference numeral 9' denotes a speedometer 11, a running point detector 12 that detects the vehicle running point based on input from the speedometer 11 and signals from the track, inputs from the speedometer 11 and the running point detector 12, and a running point detector 12 that detects the running point of the vehicle based on input from the speedometer 11 and signals from the track; Excess centrifugal acceleration calculation circuit 1 which calculates the excess centrifugal acceleration of the vehicle when traveling on a curve by comparing information from the curve information memory provided in
3. A low frequency component removal circuit comprising an adder 14 that adds the output from the excess centrifugal acceleration calculation circuit 13 and the output from the lateral accelerometer 6 and outputs only the lateral vibrational acceleration of the vehicle body 1.

According to such a configuration, by simply inputting the curve information on the vehicle operating route into the curve information memory of the excess centrifugal acceleration calculation circuit 13 in advance, the excess centrifugal acceleration component acting on the vehicle body 1 when traveling on a curve can be compensated for by the compensation amplifier circuit 7. There is no input as a control input, and even if the control system such as the servo valve 8 is configured to have saturation characteristics, the vibration control function will not be inhibited.

〔Effect of the invention〕

As described above, according to the present invention, the vibration control function is not inhibited by excessive centrifugal acceleration acting on the vehicle when traveling on a curve, and effective vibration control can be performed to improve ride comfort.

[Brief explanation of drawings]

Fig. 1 is a front view of a vehicle equipped with a conventional vibration control device, Fig. 2 is a block diagram showing a control circuit in the vibration control device of Fig. 1, and Fig. 3 is an embodiment of the vibration control circuit according to the present invention. Block diagram showing 4th
5 and 5 are block diagrams showing other embodiments of the low frequency component removal circuit in the vibration control device of FIG. 3. 1...Car body, 2...Dolly, 3...Spring, 4...
Actuator, 5... Lateral accelerometer, 7...
... Compensation amplifier circuit, 8 ... Servo valve, 9 ... Low frequency component removal circuit.

Claims (1)

[Claims] 1. A vehicle body, a truck that supports the vehicle body via a spring, an actuator attached to the spring, an acceleration detector that detects left-right acceleration of the vehicle body, and compensation for the detection results of the acceleration detector. and a control means for controlling the actuator, wherein a detection result of the acceleration detector is input, a low frequency component is removed from the detection result, and the low frequency component is output to the control means. A vibration control device for a vehicle, characterized in that a removing means is provided.