EP0222329A2
Expired / Lapsed
EP
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Vibration control apparatus
Assignee: Toyota Central R&D Labs Inc
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Filing: 1986-11-06
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Granted: —
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Expires: 2006-11-06
Abstract
Abstract A vibration control apparatus of the present invention detects a physical value influencing characteristics of a suspension for supporting a vibrating body and a state value representing movement of the suspension, calculates an optimal target control force in consideration of an external force or disturbance acting on the suspension on the basis of the physical and state values as outputs from the state detecting means, calculates the detection control force being adapted to calculate a detection control force corresponding to the detected physical value, and continuously variably controls the suspension characteristics so as to generate the control force corresponding to the difference between the target and detection control forces in consideration of the external force or disturbance acting on the suspension, whereby preventing vibrations by equivalently acting the target control force on the suspension.
Inventors
- 👤 Shunichi Doi
- 👤 Eiichi Yasuda
- 👤 Yasutaka Hayashi
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-01 20:32
CPC Classifications
B; B60; B60G; B60G17/00; B60G17/015; B60G17/018; G; G05; G05D; G05D19/00; G05D19/02; B60G2600/00; B60G2600/18; B60G2600/182
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
258 words
A vibration control apparatus comprising: state detecting means for detecting a physical value influencing characteristics of a suspension for supporting a vibrating body and for detecting a state value representing movement of said suspension; control means including target control force calculating means, detection control force calculating means, and difference calculating.means, said target control force calculating means for calculating an optimal target control force in consideration of an external force or disturbance acting on said suspension on the basis of the physical and state values as outputs from said state detecting means, said detection control force calculating means for calculating a detection control force corresponding to the physical value detected by said state detecting means, and said difference calculating means for calculating a difference between the target control force and the detection control force; driving means for amplifying a difference signal representing the difference between the target and detection control forces from said control means; and actuator means for variably continuously controlling the suspension characteristics so as to equivalently generate a control force corresponding to the difference between the target and detection control forces in consideration of the external force or disturbance acting on said suspension, on the basis of an amplified output from said driving means, wherein the suspension characteristics can be continuously variably controlled so as to generate the control force corresponding to the difference between the target and detection control forces in consideration of the external force or disturbance acting on said suspension, whereby preventing vibrations by equivalently acting the target control force on said suspension.
Claim 2
Dependent Claim
258 words
A vibration control apparatus comprising: state detecting means for detecting a physical value influencing characteristics of a suspension for supporting a vibrating body and for detecting a state value representing movement of said suspension; control means including target control force calculating means, detection control force calculating means, and difference calculating.means, said target control force calculating means for calculating an optimal target control force in consideration of an external force or disturbance acting on said suspension on the basis of the physical and state values as outputs from said state detecting means, said detection control force calculating means for calculating a detection control force corresponding to the physical value detected by said state detecting means, and said difference calculating means for calculating a difference between the target control force and the detection control force; driving means for amplifying a difference signal representing the difference between the target and detection control forces from said control means; and actuator means for variably continuously controlling the suspension characteristics so as to equivalently generate a control force corresponding to the difference between the target and detection control forces in consideration of the external force or disturbance acting on said suspension, on the basis of an amplified output from said driving means, wherein the suspension characteristics can be continuously variably controlled so as to generate the control force corresponding to the difference between the target and detection control forces in consideration of the external force or disturbance acting on said suspension, whereby preventing vibrations by equivalently acting the target control force on said suspension.
Claim 3
Dependent Claim
75 words
An apparatus according to claim 1, wherein said control means comprises code control means for multiplying the difference output signal from said difference calculating means with the signal of the suspension motion detected by said state detecting means and for discriminating whether control of the target control force equivalently tracing the suspension movement can be performed, a signal for controlling the suspension characteristics being output in response to an output from said sign control means.
Claim 4
Dependent Claim
81 words
An apparatus according to claim 2, wherein said control means comprises integrating means for eliminating an offset, as a residual difference, of the control value by integrating the output signal from said sign control means as a function of time, the suspension characteristics being controlled in proportion to a magnitude of an output from said integrating means, thereby eliminating the offset causing an error in target control force control in consideration of the external force or disturbance acting on said suspension.
Claim 5
Dependent Claim
55 words
An apparatus according to claim 3, wherein said state detecting means comprises a first sensor for detecting the damping force of said suspension and a second sensor for detecting a suspension member speed as the suspension movement, and said actuator means comprises means for continuously and variably controlling a damping coefficient as the suspension characteristics.
Claim 6
Dependent Claim
33 words
An apparatus according to claim 4, wherein said means for continuously and variably controlling the damping coefficient comprises an orifice, the opening of which is controlled by an output from said driving means.
Claim 7
Dependent Claim
55 words
An apparatus according to claim 3, wherein said state detecting means comprises a third sensor for detecting a spring force of said suspension and a fourth sensor for detecting a suspension member displacement as the suspension movement, and said actuator means comprises means for continuously and variably controlling a spring constant as the suspension characteristics.
Claim 8
Dependent Claim
185 words
An apparatus according to claim 3, wherein said state detecting means comprises first and third sensors for respectively detecting damping and spring forces of said suspension and second and fourth sensors for respectively detecting suspension member speed and displacement as the suspension movement; said control means comprises calculating means for respectively multiplying a difference between the optimal target control force and a sum of the damping and spring forces respectively detected by said first and third sensors, for integrating products, and for calculating a first output for controlling the damping force and a second output for controlling the spring force; said driving means comprises means for power-amplifying the first and second outputs; and said actuator means comprises first actuator means for continuously and variably controlling the damping coefficient in an actuation enable region in response to a signal obtained by power-amplifying the first output, and second actuator means for continuously and variably controlling the spring constant in an actuation enable region in response to a signal obtained by power-amplifying the second output, the actuation enable regions of said first and second actuator means being compensated.
Claim 9
Dependent Claim
151 words
An apparatus according to claim 7, wherein said control means comprises detection control force calculating means for adding the suspension damping and spring forces detected by said first and third sensors to obtain a detection control force; said difference calculating means subtracts an output from said detection control force calculating means from an output from said target control force calculating means; said sign control means comprises first multiplying means for multiplying the suspension member speed detected by said second sensor with an output from said difference calculating means and second multiplying means for multiplying the suspension member displacement detected by said fourth sensor with the output from said difference calculating means; and said integrating means comprises first integrating means for integrating an output from said first multiplying means as a function of time, and second integrating means for integrating an output from said second multiplying means as a function of time.
Claim 10
Dependent Claim
104 words
An apparatus according to claim 8, wherein said suspension comprises a hydropneumatic spring, said second actuator means for variably controlling the spring constant of said hydropneumatic spring comprises a high-pressure gas supply source communicating with an accumulator as said hydropneumatic spring through a pipe so as to change a pressure of a gas chamber of said accumulator, and an auxiliary accumulator serving as a recovery source of a high-pressure gas from said high-pressure gas source, gas chambers of said accumulator and said auxiliary accumulator being adapted to communicate upon ON/OFF operation of an_electromagnetic selector in response to an output from said second integrating means.
Claim 11
Dependent Claim
107 words
An apparatus according to claim 7, wherein said control means comprises means for generating a third output for discriminating a polarity or magnitude of the difference between the target control force and the sum of the spring and damping forces and for controlling a force which acts on said suspension and which is proportional to the difference, as needed; said driving means comprises means for power-amplifying the third output; and said actuator means comprises third actuator means for continuously and variably controlling an external control force acting on a vibrating body in response to a signal obtained by power-amplifying the third output regardless of the suspension movement.
Claim 12
Dependent Claim
73 words
An apparatus according to claim 10, wherein said means for generating the third output comprises absolute value calculating means for calculating an absolute value of the output from said difference calculating means, means for comparing an output from said absolute value calculating means with a predetermined threshold value, and selecting means for determining in response to said comparing means whether the output from said difference calculating means is used as the third output.
Claim 13
Dependent Claim
143 words
An apparatus according to claim 3, wherein said target control force calculating means in said control means comprises: state discriminating means for discriminating a vibrating body mass, the spring constant, the damping coefficient, and a state of the external force or disturbance in response to outputs from said state detecting means; gain selecting means for selecting prestored optimal gains for various state signals used for vibration control on the basis of an output from said state discriminating means, the state signals being selected from the outputs from said state detecting means; and optimal target control force calculating means for multiplying the selected gains with the state signals used for vibration control and for adding products, an output from said optimal target control force calculating means being used to automatically set an optimal target control force in consideration of the external force or disturbance.
Claim 14
Dependent Claim
82 words
An apparatus according to claim 12, wherein said state discriminating means in said control means comprises a microcomputer, said microcomputer comprising: input ports for receiving outputs from said state detecting means; an arithmetic unit for discriminating a state on the basis of the outputs from said state detecting means and selecting optimal gains; a memory for storing the optimal gains and an algorithm of said arithmetic unit; and output ports for generating signals representing the optimal gains selected by said arithmetic unit.
Claim 15
Dependent Claim
52 words
An apparatus according to claim 13, wherein said optimal target control means comprises multiplying means for multiplying the outputs from said state detecting means with the signals representing the optimal gains output from said output ports in said microcomputer; and adding means for calculating a sum of outputs from said multiplying means.
Claim 16
Dependent Claim
106 words
An apparatus according to claim 3, wherein said control means comprises: target control coefficient calculating means for calculating an optimal target control coefficient contributing to the physical and state values constituting the optimal control force in consideration of the external force or disturbance acting on said suspension, according to the physical and state values as outputs from said state detecting means; detection control coefficient calculating means for calculating a detection control coefficient which currently controls said suspension on the basis of the signals from said state detecting means; and difference calculating means for calculating a difference between the target control coefficient and the detection control coefficient.
Claim 17
Dependent Claim
131 words
An apparatus according to claim 12, wherein said state discriminating means, said gain selecting means, and said target control coefficient calculating means in said control means comprise a microcomputer, said microcomputer comprising: input ports for receiving the outputs from said state detecting means; a first arithmetic unit for discriminating a state on the basis of the outputs from said state detecting means and for selecting optimal gains; a second arithmetic unit for calculating an optimal target control coefficient for the signals input to said input ports on the basis of the optimal gains selected by said first arithmetic unit; a memory for storing the optimal gains for said input ports and algorithms of said first and second arithmetic units; and output ports for outputting calculated results of said second arithmetic unit.
References Cited (Backward Citations)
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