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WO2005113269A1 - Systeme de suspension semi-actif a nombre reduit de capteurs - Google Patents

Systeme de suspension semi-actif a nombre reduit de capteurs

Info

Publication number
WO2005113269A1
WO2005113269A1 PCT/EP2005/004705 EP2005004705W WO2005113269A1 WO 2005113269 A1 WO2005113269 A1 WO 2005113269A1 EP 2005004705 W EP2005004705 W EP 2005004705W WO 2005113269 A1 WO2005113269 A1 WO 2005113269A1
Authority
WO
WIPO (PCT)
Prior art keywords
signals
vehicle body
acceleration
calculating
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2005/004705
Other languages
German (de)
English (en)
Inventor
Richard Bellmann
Michael Decker
Joachim Epp
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Publication of WO2005113269A1 publication Critical patent/WO2005113269A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—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
    • B60G17/015—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
    • B60G17/018—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 the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—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
    • B60G17/015—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
    • B60G17/019—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 the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—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
    • B60G17/06—Characteristics of dampers, e.g. mechanical dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/102—Acceleration; Deceleration vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/09—Feedback signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/184—Semi-Active control means

Definitions

  • the invention relates to a semi-active chassis system with a reduced number of sensors for vehicles, in particular motor vehicles, with level sensors, acceleration sensors, a control device and adjusting devices, and a method for generating control signals for adjusting devices of a semi-active chassis system.
  • the invention further relates to a method for generating control signals for control devices of a semi-active chassis system, in particular a semi-active chassis system.
  • An advantageous arrangement provides that the sixth device and the seventh device are arranged parallel to one another and in each case parallel to the fourth and fifth device and each have a calculation stage for their have output signals from the signals of the first and second acceleration sensors.
  • the software components of the sensor fusion algorithm which forms the so-called observer or has the function of an observer
  • the control algorithm which forms the so-called control algorithm
  • the sensor fusion algorithm calculates the state variables of the vehicle body and transfers them directly to the control algorithm.
  • a feedback is arranged between the output of the control algorithm and the block for calculating spring and damper forces. This feedback enables information about the actuation of the actuating devices, which are required for the damper force calculation.
  • FIG. 1 shows a simplified schematic illustration of a vehicle with a semi-active chassis system according to the prior art.
  • a stroke movement ZZ in the direction of the z-axis a so-called roll movement KAPPA as a swivel movement around the x-axis (represented by a semicircle with arrow head) and a so-called pitch movement THETA as a swivel movement around the y-axis (represented by a semicircle with arrow) ,
  • the input signals A_Z__VL of the acceleration sensor 7 at the front left and A_Z_VR of the acceleration sensor 8 at the front right are used by a sixth device 16 for calculating roll acceleration and a seventh device 17 for calculating superimposition of stroke and pitching accelerations.
  • the respective output signals of devices 16 and 17 and the output signals of device 15 are used as input signals in addition to the signals coming from device 15 for an eighth device 18 for calculating modal speeds.
  • the output 24 of the control algorithm generation 12 is connected via a feedback connection 23 to an input of the device 14 for calculating spring and damper forces. This is the only connection between the control algorithm 12 and the software component sensor fusion algorithm 13. In addition to this, the aforementioned functional parts are completely decoupled, so that the effort required to change the control unit software is advantageously minimal.
  • the functional principle of the sensor fusion algorithm is shown below using the calculation processes of the individual devices as shown in FIG. 5.
  • the vertical speed signals of the vehicle body 1 above the rear axle are reconstructed from four sensor equations evaluated in each time step. Two of these are based on the acceleration sensors 7, 8 of the vehicle body 1 and two on a force and torque balance. There are therefore four equations for calculating three modal speeds (vertical stroke, roll, pitch).
  • the linear system of equations is thus over-determined.
  • the over-determination can be in resolve each time step using the so-called "Weighted Linear Least Squares Method" - that is, using the weighted, smallest error squares method.
  • the stroke and pitching accelerations are calculated on a force and moment balance basis.
  • Device 15 determines the stroke and pitch acceleration on the basis of four strut forces of the vehicle and a fixed vehicle mass or pitch inertia.
  • the device 16 determines a further equation for determining the modal accelerations of the vehicle body 1. Based on the signals A_Z_JVL from the acceleration sensor 7 at the front left and the signal A_Z_VR from the acceleration sensor 8 at the front right with the difference of which the roll acceleration of the vehicle is calculated by means of the distance between the two acceleration sensors 7, 8 remaining in the vehicle. Thus, despite the omission of the third acceleration sensor 9, this comfort-relevant variable continues to be directly available as a measurement signal for the control algorithm 12 at the rear right.
  • a pseudo integration In order to convert from the modal acceleration signals to modal speeds, a pseudo integration (Pl) is necessary. This filters out high-frequency as well as DC components from the acceleration signals and realizes an integration in the body's natural frequency range due to clever amplification-phase relationships.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

L'invention concerne un système de suspension semi-actif à nombre réduit de capteurs pour véhicules, en particulier pour véhicules automobiles. Ledit système comporte des capteurs de niveau (4, 5, 6), captant une modification de trajectoire d'une carrosserie de véhicule (1) dans le sens vertical et fournissant des premiers signaux (N_VL, N_VR, N_HM) en fonction de cette modification, des capteurs d'accélération (7, 8), captant des accélérations de la carrosserie (1) du véhicule dans le sens vertical et fournissant des seconds signaux (A_Z_VL, A_Z_VR) en fonction de ces accélérations, ainsi qu'un dispositif de commande (10) destiné à fournir des signaux d'amorçage pour des dispositifs de réglage. L'invention concerne également un procédé de production de signaux d'amorçage pour des dispositifs de réglage (2, 3) d'un système de suspension semi-actif.
PCT/EP2005/004705 2004-05-10 2005-04-30 Systeme de suspension semi-actif a nombre reduit de capteurs Ceased WO2005113269A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410022919 DE102004022919A1 (de) 2004-05-10 2004-05-10 Semi-aktives Fahrwerksystem mit reduzierter Sensorzahl
DE102004022919.8 2004-05-10

Publications (1)

Publication Number Publication Date
WO2005113269A1 true WO2005113269A1 (fr) 2005-12-01

Family

ID=34968452

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/004705 Ceased WO2005113269A1 (fr) 2004-05-10 2005-04-30 Systeme de suspension semi-actif a nombre reduit de capteurs

Country Status (2)

Country Link
DE (1) DE102004022919A1 (fr)
WO (1) WO2005113269A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102024114075A1 (de) * 2024-05-21 2025-11-27 Ford Global Technologies, Llc Fahrzeug und ein Verfahren zum Betrieb eines Fahrzeugs

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4225755A1 (de) * 1991-08-06 1993-02-11 Atsugi Unisia Corp Aufhaengungssteuer- bzw. -regelsystem zum verhindern des rollens bei kraftfahrzeugen
US5239471A (en) * 1990-03-06 1993-08-24 Nissan Motor Co., Ltd. Actively controlled suspension system for automotive vehicles
JPH0761221A (ja) * 1993-08-24 1995-03-07 Mazda Motor Corp 車両用サスペンション装置
US5510985A (en) * 1992-01-05 1996-04-23 Unisia Jecs Corporation System for controlling damping force characteristic of shock absorber of vehicle
US5802478A (en) * 1995-02-14 1998-09-01 Unisia Jecs Corporation Automotive vehicle suspension control system
DE19855310A1 (de) 1998-12-01 2000-06-15 Daimler Chrysler Ag Aktives Federungssystem für Fahrzeuge
US6416061B1 (en) * 1998-08-13 2002-07-09 Birrana Engineering Pty Ltd Hydraulic suspension system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5239471A (en) * 1990-03-06 1993-08-24 Nissan Motor Co., Ltd. Actively controlled suspension system for automotive vehicles
DE4225755A1 (de) * 1991-08-06 1993-02-11 Atsugi Unisia Corp Aufhaengungssteuer- bzw. -regelsystem zum verhindern des rollens bei kraftfahrzeugen
US5510985A (en) * 1992-01-05 1996-04-23 Unisia Jecs Corporation System for controlling damping force characteristic of shock absorber of vehicle
JPH0761221A (ja) * 1993-08-24 1995-03-07 Mazda Motor Corp 車両用サスペンション装置
US5802478A (en) * 1995-02-14 1998-09-01 Unisia Jecs Corporation Automotive vehicle suspension control system
US6416061B1 (en) * 1998-08-13 2002-07-09 Birrana Engineering Pty Ltd Hydraulic suspension system
DE19855310A1 (de) 1998-12-01 2000-06-15 Daimler Chrysler Ag Aktives Federungssystem für Fahrzeuge
DE19855310C2 (de) * 1998-12-01 2000-10-05 Daimler Chrysler Ag Aktives Federungssystem für Fahrzeuge

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 1995, no. 06 31 July 1995 (1995-07-31) *

Also Published As

Publication number Publication date
DE102004022919A1 (de) 2005-12-08

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