JPS6234885A - Suspension controller for motorcycle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a suspension control device for a motorcycle that prevents the motorcycle from sinking when turning or from unstable behavior when the motorcycle starts turning. , yaw angular velocity and roll angular velocity are detected by one sensor, the turning state is detected by the roll angular velocity component, and the initial damping force is determined from the vehicle speed.After that, the number of damping force stages is determined from the yaw angular velocity component and the vehicle speed, and the roll angular velocity The present invention relates to a suspension control device for a motorcycle that controls to maintain the immediately previous damping force when a return is detected based on the component.

(Prior technology) The damping force of the shock absorber used in the suspension of a motorcycle should be soft in order to improve ride comfort, but if it is not hard to a certain extent when turning etc., running stability will deteriorate. Become.

The applicant has already developed a motorcycle that can vary the damping force of the shock absorber by detecting the angular velocity around the yaw axis of the motorcycle using a rate gyro and accurately determining the turning state by combining it with the vehicle speed from the vehicle speed sensor. We are proposing a variable suspension surface (Utility Application No. 6O-94244)
.

(Problems to be Solved by the Invention) In the above device, the yaw angular velocity is detected to control the damping force as a means of detecting the turning state. Although the detection of the turning state using the yaw angular velocity is theoretically accurate, there is a problem in that the detection of the turning state is slow.

Furthermore, if the damping force was made hard only when the vehicle body was in a turning state, there was a risk of unstable behavior at the start of a turn.

The purpose of the present invention is to detect the yaw angular velocity and the roll angular velocity with one sensor, detect the turning state using the roll angular velocity component, determine the initial damping force from the vehicle speed, and then determine the number of damping force stages from the yaw angular velocity component and the vehicle speed. A motorcycle that can quickly and accurately detect a turning state and prevent unstable behavior at the start of a turn by holding the previous damping force when a return is detected based on the roll angular velocity component. An object of the present invention is to provide a suspension control device.

(Means for Solving the Problems) To achieve the above object, a suspension control device for a motorcycle according to the present invention is a suspension control device for a motorcycle that controls the strength of a suspension by varying the damping force of a shock absorber. A damping force variable mechanism that steplessly controls the damping force of the shock absorber, a vehicle speed sensor that detects the vehicle speed of the motorcycle, and an angular velocity component around a yaw axis and an angular velocity component around a roll axis of the motorcycle. When the yaw roll angular velocity sensor detects the yaw roll angular velocity sensor at the same time and the roll component of the output of the yaw roll angular velocity sensor exceeds a certain value, the damping force is controlled to be determined by the vehicle speed for a certain period of time, and after that, the yaw roll angular velocity sensor output yaw a damping force control circuit that generates a control signal that performs variable control to a number of damping force stages determined by the components and the vehicle speed, and maintains the previous damping force for a certain period of time when a turn is completed; and the damping force control circuit. and a drive section that drives the damping force variable mechanism using the output of the circuit.

(Example) Hereinafter, the present invention will be described in detail with reference to the drawings and the like.

Fig. 1 is a block diagram showing an embodiment of the suspension control device for a motorcycle according to the present invention, Fig. 2 is a system installation diagram of the device of the embodiment, and Fig. 3 is a diagram showing the system installation of the device of the embodiment. A diagram for explaining the yaw roll angular velocity sensor, FIG. 4 is a diagram showing the output characteristics of the yaw roll angular velocity sensor, and FIG. 5 is a diagram illustrating an embodiment of the damping force variable mechanism used in the device of the embodiment. , FIG. 6 is a flowchart for explaining the operation of the controller used in the device of the embodiment, FIG. 7 is a diagram showing the absolute value of the output of the yaw roll angular velocity sensor, and FIGS. 8 and 9 are , a diagram showing a control map used in the controller, FIG.
FIG. 3 is a diagram showing temporal changes in damping force.

In FIG. 1, 1 is a vehicle speed sensor, 2 is a yaw roll angular velocity sensor, 3 is an A/D converter, 4 is a controller,
5 is an actuator driver, and 6 is an actuator.

The vehicle speed sensor 1 is a sensor that detects the traveling speed of the motorcycle, and is, for example, a reed switch type sensor, and its output is connected to the controller 4.

The yaw roll angular velocity sensor 2 is a sensor that simultaneously detects an angular velocity component about the yaw axis and an angular velocity component about the roll axis of the vehicle body. The output of the yaw roll angular velocity sensor 2 is A/
After being digitally converted via the D converter 3, it is connected to the controller 4.

Specifically, the yaw roll angular velocity sensor 2 has a rate gyro placed at the center of gravity of the motorcycle (Fig. 2), and a rate gyro placed between the yaw axis and the roll axis so as to be tilted forward and upward with respect to the traveling direction (Fig. 2). This is achieved by With this arrangement, the yaw angular velocity component and the roll angular velocity component can be detected by one rate gyro. In addition, the reasons for detecting the yaw roll angular velocity are: firstly, the response of the yaw roll angular velocity is faster than that of the yaw angular velocity (Figure 4 (a)) (tel (1) in Figure 4); and secondly, , roll angular velocity (
(21) in Figure 4(c) indicates that the turning state can be more accurately grasped.

The controller 4 controls the damping force of the shock absorber according to the flowchart shown in FIG. The output of the controller 4 is connected to an actuator 6 via an actuator driver 5.

The actuator 6 is the left and right front suspension 8.
1. It is for driving the variable damping force mechanism 7 of the shock absorber provided in the left and right rear suspensions 82 (FIG. 2), and uses, for example, a solenoid.

As shown in FIG. 5, the damping force variable mechanism 7 has a cylinder 7
1, a piston 72 sliding within the cylinder 7e, a piston rod 73 provided on the piston 72, a control rod 74 rotatably provided within the piston rod 3, and a control rod 74 provided on the control door 4. disk 7
By rotating the control rod 74 driven by the actuator 6 and continuously changing the orifice diameter of the disk 75, the damping force of the shock absorber can be varied steplessly.

Next, the operation of the suspension control device for a motorcycle according to the present invention will be explained with reference to FIGS. 6 to 10, focusing on the operation of the controller 4.

The controller 4 takes in the vehicle speed signal from the vehicle speed sensor 1 and calculates the current vehicle speed (101).

Further, the controller 4 takes in the signal from the yaw roll angular velocity sensor 2 via the A/D converter 3, and calculates the yaw roll angular velocity ω (102).

The variable damping force control of the present invention basically consists of map 1 (
Process 1 to determine the damping force from the vehicle speed V according to Fig. 8), and absolute value 1 of the yaw roll angular velocity ω using Map 2 (Fig. 9).
This is performed by Process 2 in which the number of damping force stages is determined from ωI (Fig. 7) and vehicle speed ■.

At the time of to (Figure 10), the vehicle body is not turning,
This is a state in which neither process 1 (103) nor process 2 (104) is performed.

Assume that the vehicle body starts turning at time tl (Fig. 10). At this time, when the absolute value 1ω1 of the output ω of the yaw roll angular velocity sensor 2 calculated in step 102 exceeds the reference angular velocity VA shown in FIG. 7 (105), the vehicle speed V Process 1 to determine the damping force from
(106).

(103) 71 seconds have passed since processing 1 was performed (1
07), at time t2 (FIG. 10), process 2 is performed to determine the number of damping force stages from the absolute value 1ω1 of the yaw roll angular velocity ω and the vehicle speed V using map 2 (FIG. 9) (108). In addition, as the number (1 to 6) in Map 2 increases,
The damping force also increases. Here, an example is shown in which the number of damping force stages is six, but it can also be made stepless.

During process 2 (104), the turn is completed and the absolute value 1ω1 of the yaw roll angular velocity ω becomes larger than the set angular velocity VA shown in FIG.
At (109) in the figure, the operation of process 2 ends, but the last damping force stage number is maintained for an additional 72 seconds (110).

(Effects of the Invention) As described above in detail, according to the present invention, a turning state can be detected quickly and accurately with one sensor. In other words, the turning state of the vehicle can be quickly detected using the roll angular velocity component of the yaw roll angular velocity, and during turning, the turning state can be accurately detected using the yaw angular velocity component and vehicle speed, and the damping force can be controlled in multiple stages or steplessly. This prevents the vehicle body from sinking when turning and significantly improves running stability.

Furthermore, since the previous damping force is maintained for a certain period of time after the end of the turn, unstable behavior at the start of the turn can be prevented.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the suspension control device for a motorcycle according to the present invention; FIG. 2 is a diagram showing the system installation of the device according to the embodiment; and FIG. A diagram for explaining the yaw roll angular velocity sensor, FIG. 4 is a diagram showing the output characteristics of the yaw roll angular velocity sensor, and FIG. 5 is a diagram illustrating an embodiment of the damping force variable mechanism used in the device of the embodiment. , 6F4 is a flowchart for explaining the operation of the controller used in the same embodiment device, FIG. 7 is a diagram showing the absolute value of the output of the yaw roll angular velocity sensor, and FIGS. 8 and 9 are: FIG. 10, which is a diagram showing a control map used in the controller, is a diagram showing temporal changes in damping force. 1... Vehicle speed sensor 2... Yaw roll angular velocity sensor 3... A/D converter 4... Controller 5... Actuator driver 6... Actuator 7... Damping force variable mechanism patent applicant Suzuki Motors Kogyo Co., Ltd. Agent Patent Attorney Inoro Mizogata 1 Figure 22 Sensai 3 Figures 41! 1 Figure 5 Figures 10 Figures

Claims (2)

[Claims] (1) A suspension control device for a motorcycle that controls the strength of the suspension by varying the damping force of a shock absorber, including a damping force variable mechanism that steplessly controls the damping force of the shock absorber, and a vehicle speed of the motorcycle. a vehicle speed sensor that detects the yaw axis of the motorcycle; a yaw roll angular velocity sensor that simultaneously detects the angular velocity component around the yaw axis and the angular velocity component around the roll axis of the motorcycle; and when the roll component of the output of the yaw roll angular velocity sensor exceeds a certain value. The damping force is controlled to be determined by the vehicle speed for a certain period of time, and thereafter the damping force is variably controlled to the number of damping force stages determined by the yaw component of the output of the yaw roll angular velocity sensor and the vehicle speed. A motorcycle comprising: a damping force control circuit that generates a control signal to maintain a damping force; and a drive section that drives the damping force variable mechanism using the output of the damping force control circuit. suspension control device. (2) The suspension control device for a motorcycle according to claim 1, wherein the yaw roll angular velocity sensor is a rate gyro provided at the center of gravity of the motorcycle so as to be inclined forward and upward in the direction of travel.