Patent US6314353B1 successfully refreshed from Google Patents.
US6314353B1
Expired / Lapsed
US
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Control system for resilient support mechanism such as vehicle suspension mechanism
Assignee: Toyota Motor Corp
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Filing: 1999-09-07
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Granted: 2001-11-06
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Expires: 2019-09-07
Abstract
Abstract A control system for a resilient support mechanism such as a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a damping coefficient of the damper is divided into a linear portion and a nonlinear portion, and wherein the nonlinear portion of the damping coefficient is defined as a control input u and applied with a frequency weight Wu(s), while a vertical velocity of the sprung mass member, a relative velocity of the sprung mass member to the unsprung mass member and a vertical acceleration of the sprung mass member are defined as an evaluation output zp and applied with a frequency weight Ws(s). In the control system, a nonlinear Hinfin control theory is applied to a generalized plant to obtain a positive definite symmetric solution P and to calculate a target damping force based on the positive definite symmetric solution P and a state amount such as the vertical velocity of the sprung mass member, a relative displacement of the sprung mass member to the unsprung mass member or the like.
Inventors
- 👤 Satoru Ohsaku
- 👤 Ichisei Kamimura
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-08 05:30
CPC Classifications
B; B60; B60G; B60G17/00; B60G17/015; B60G17/018; B60G2600/00; B60G2600/18; B60G2600/184
Claims Analysis
Total Claims: 50
Claim 1
Independent Claim
74 words
A control system for a resilient support mechanism, including a damper or a shock absorber assembled therein for resiliently supporting an object thereon, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper or shock absorber to the calculated target damping force.
Claim 2
Dependent Claim
74 words
A control system for a resilient support mechanism, including a damper or a shock absorber assembled therein for resiliently supporting an object thereon, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper or shock absorber to the calculated target damping force.
Claim 3
Dependent Claim
80 words
A control system for a resilient support mechanism in a wheeled vehicle, the support mechanism including a damper or a shock absorber assembled therein for resiliently supporting an object thereon, wherein a control theory capable of a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper or shock absorber to the calculated target damping force.
Claim 4
Dependent Claim
80 words
A control system for a resilient support mechanism in a wheeled vehicle, the support mechanism including a damper or a shock absorber assembled therein for resiliently supporting an object thereon, wherein a control theory capable of a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper or shock absorber to the calculated target damping force.
Claim 5
Dependent Claim
83 words
A control system for a suspension mechanism including a damper or a shock absorber disposed between an unsprung mass member and a sprung mass member of a wheeled vehicle for resiliently supporting the sprung mass member thereon, wherein a control theory capable of providing a specification for design of the control system is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper or shock absorber to the calculated target damping force.
Claim 6
Dependent Claim
83 words
A control system for a suspension mechanism including a damper or a shock absorber disposed between an unsprung mass member and a sprung mass member of a wheeled vehicle for resiliently supporting the sprung mass member thereon, wherein a control theory capable of providing a specification for design of the control system is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper or shock absorber to the calculated target damping force.
Claim 7
Dependent Claim
22 words
A control system as claimed in claim 1 , wherein a nonlinear H ∞ control theory is applied as the control theory.
Claim 8
Dependent Claim
46 words
A control system as claimed in claim 4 , wherein one of a nonlinear H ∞ state feedback control, a nonlinear H ∞ output feedback control or a nonlinear H ∞ control using a Kalman filter is applied as a control based on the control theory.
Claim 9
Dependent Claim
68 words
A control system as claimed in claim 1 , wherein a damping coefficient of the damper or shock absorber is divided into a linear portion and a nonlinear portion, and wherein each gain of the linear portion and nonlinear portion is defined in such a manner that the target damping force is determined in a range of an actual damping force produced by the damper or shock absorber.
Claim 10
Dependent Claim
50 words
A control system as claimed in claim 6 , wherein the linear portion of the damping coefficient of the damper or shock absorber is defined to be located between a minimum damping force of the damper or shock absorber and a maximum damping force of the damper or shock absorber.
Claim 11
Dependent Claim
84 words
A control system as claimed in claim 1 , wherein the damper is constructed to be switched over at plural steps, wherein the damping coefficient of the damper is divided into a linear portion and a nonlinear portion, and wherein the linear portion of the damping coefficient is determined in such a manner that a damping force defined by the linear portion becomes approximately equal to a damping force produced by the damper at its either one of plural steps in a small range.
Claim 12
Dependent Claim
59 words
A control system as claimed in claim 1 , wherein the damping coefficient of the damper is divided into a linear portion and a nonlinear portion, wherein the nonlinear portion is applied as a control input to a generalized plant estimated to calculate the target damping force, and wherein the control input is applied with a predetermined frequency weight.
Claim 13
Dependent Claim
69 words
A control system for a suspension mechanism as claimed in claim 3 , comprising: detection means for detecting a state amount related to vertical movement of the sprung and unsprung mass members; and means for memorizing a positive definite symmetric solution obtained on a basis of the control theory and for calculating the target damping force based on the memorized positive definite symmetric solution and the detected state amount.
Claim 14
Dependent Claim
93 words
A control system for a suspension mechanism as claimed in claim 3 , comprising: detection means for detecting a portion of a plurality of state amounts related to vertical movement of the sprung and unsprung mass members; estimation means for estimating the other portion of the state amounts by using an observer; and means for memorizing a positive definite symmetric solution obtained on a basis of the control theory and for calculating the target damping force based on the memorized positive definite symmetric solution, the detected state amount and the estimated state amount.
Claim 15
Dependent Claim
121 words
A control system in a suspension mechanism as claimed in claim 3 , wherein the damping coefficient of the damper is divided into a linear portion and a nonlinear portion, and wherein the control system comprises: first calculation means for calculating the nonlinear portion of the damping coefficient on a basis of the control theory; second calculation means for calculating the damping coefficient of the damper based on synthesis of the linear portion and the calculated nonlinear portion; detection means for detecting or estimating a relative velocity of the sprung mass member to the unsprung mass member; and third calculation means for calculating the target damping force by multiplication of the calculated damping coefficient and the detected or estimated relative velocity.
Claim 16
Dependent Claim
57 words
A control system in a suspension mechanism as claimed in claim 3 , wherein a physical amount related to vertical movement of the sprung and unsprung mass members is applied as an evaluation output of a generalized plant estimated to calculate the target damping force, and wherein the physical amount is applied with a predetermined frequency weight.
Claim 17
Dependent Claim
38 words
A control system as claimed in claim 13 , wherein the physical amount includes plural kinds of physical amounts, and wherein each maximum range of frequency weights applied to the physical amounts is determined without any mutual interference.
Claim 18
Dependent Claim
50 words
A control system as claimed in claim 14 , wherein the physical amounts includes at least two factors selected from a vertical velocity of the sprung mass member, a relative velocity of the sprung mass member to the unsprung mass member and a vertical acceleration of the sprung mass member.
Claim 19
Dependent Claim
84 words
A control system in a suspension mechanism as claimed in claim 3 , wherein the control theory is adapted to a suspension mechanism of a wheeled vehicle wherein a vertical displacement amount of a road wheel tire, a vertical relative displacement amount of the sprung mass member to the unsprung mass member, a vertical velocity of the unsprung mass member and a vertical velocity of the sprung mass member are defined as a state amount indicative of a state space of the suspension mechanism.
Claim 20
Dependent Claim
67 words
A control system for a resilient support mechanism including a damper assembled therein for resiliently supporting an object thereon, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping coefficient and to adjust an actual damping coefficient of the damper to the calculated target damping coefficient.
Claim 21
Dependent Claim
67 words
A control system for a resilient support mechanism including a damper assembled therein for resiliently supporting an object thereon, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping coefficient and to adjust an actual damping coefficient of the damper to the calculated target damping coefficient.
Claim 22
Dependent Claim
73 words
A control system for a resilient support mechanism in a wheeled vehicle, the support mechanism including a damper assembled therein for resiliently supporting an object thereon, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping coefficient and to adjust an actual damping coefficient of the damper to the target damping coefficient.
Claim 23
Dependent Claim
73 words
A control system for a resilient support mechanism in a wheeled vehicle, the support mechanism including a damper assembled therein for resiliently supporting an object thereon, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping coefficient and to adjust an actual damping coefficient of the damper to the target damping coefficient.
Claim 24
Dependent Claim
84 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle for resiliently supporting the sprung mass member thereon, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping coefficient and to adjust an actual damping coefficient of the damper to the calculated target damping coefficient.
Claim 25
Dependent Claim
84 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle for resiliently supporting the sprung mass member thereon, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping coefficient and to adjust an actual damping coefficient of the damper to the calculated target damping coefficient.
Claim 26
Dependent Claim
22 words
A control system as claimed in claim 17 , wherein a nonlinear H ∞ control theory is applied as the control theory.
Claim 27
Dependent Claim
45 words
A control system as claimed claim 17 , wherein one of a nonlinear H ∞ state feedback control, a nonlinear H ∞ output feedback control or a nonlinear H ∞ control using a Kalman filter is applied as a control based on the control theory.
Claim 28
Dependent Claim
59 words
A control system as claimed in claim 17 , wherein the damping coefficient is divided into a linear portion and a nonlinear portion, and wherein each gain of the linear portion and the nonlinear portion is defined in such a manner that the target damping coefficient is determined in a range of a damping force produced by the damper.
Claim 29
Dependent Claim
50 words
A control system as claimed in claim 22 , wherein the linear portion of the damping coefficient of the damper or shock absorber is defined to be located between a minimum damping force of the damper or shock absorber and a maximum damping force of the damper or shock absorber.
Claim 30
Dependent Claim
85 words
A control system as claimed in claim 17 , wherein the damper is constructed to be switched over at plural steps, wherein the damping coefficient of the damper is divided into a linear portion and a nonlinear portion, and wherein the linear portion of the damping coefficient is determined in such a manner that a damping force defined by the linear portion becomes approximately equal to a damping force produced by the damper at its either on of its plural steps in a small range.
Claim 31
Dependent Claim
59 words
A control system as claimed in claim 17 , wherein the damping coefficient of the damper is divided into a linear portion and a nonlinear portion, wherein the nonlinear portion is applied as a control input to a generalized plant estimated to calculate the target damping coefficient, and wherein the control input is applied with a predetermined frequency weight.
Claim 32
Dependent Claim
69 words
A control system as claimed in claim 17 , wherein the damping coefficient of the damper is divided into a linear portion and a nonlinear portion, and wherein the control system comprises: first calculation means for calculating the nonlinear portion based on the control theory; and second calculation means for calculating the target damping coefficient on a basis of synthesis of the linear portion and the calculated nonlinear portion.
Claim 33
Dependent Claim
69 words
A control system for a suspension mechanism as claimed in claim 19 , comprising: detection means for detecting a state amount related to vertical movement of the sprung and unsprung mass members; and means for memorizing a positive definite symmetric solution obtained on a basis of the control theory and for calculating the target damping coefficient based on the memorized positive definite symmetric solution and the detected state amount.
Claim 34
Dependent Claim
92 words
A control system for a suspension mechanism as claimed in claim 19 , comprising: detection means for detecting a portion of a plurality of state amounts related to vertical movement of the sprung and unsprung mass members; estimation means for estimating another portion of the state amounts by using an observer; and means for memorizing a positive definite symmetric solution obtained on a basis of the control theory and for calculating the target damping coefficient based on the memorized positive definite symmetric solution, the detected state amount and the estimated state amount.
Claim 35
Dependent Claim
57 words
A control system for a suspension mechanism as claimed in claim 19 , wherein a physical amount related to vertical movement of the sprung and unsprung mass members is applied as an evaluation output of a generalized plant estimated to calculate the target damping coefficient, and wherein the physical amount is applied with a predetermined frequency weight.
Claim 36
Dependent Claim
42 words
A control system for a suspension mechanism as claimed in claim 29 , wherein the physical amount includes plural kinds of physical amounts, and wherein each maximum range of frequency weights applied to the physical amounts is determined without any mutual interference.
Claim 37
Dependent Claim
54 words
A control system for a suspension mechanism as claimed in claim 30 , wherein the physical amounts includes at least two factors selected from a vertical velocity of the sprung mass member, a relative velocity of the sprung mass member to the unsprung mass member and a vertical acceleration of the sprung mass member.
Claim 38
Dependent Claim
84 words
A control system for a suspension mechanism as claimed in claim 19 , wherein the control theory is adapted to a suspension mechanism of a wheeled vehicle wherein a vertical displacement amount of a road wheel tire, a vertical relative displacement amount of the sprung mass member to the unsprung mass member, a vertical velocity of the unsprung mass member and a vertical velocity of the sprung mass member are defined as a state amount indicative of a state spaced of the suspension mechanism.
Claim 39
Dependent Claim
128 words
A control system for a suspension mechanism including a damper disposed between an unsprung mass member and a sprung mass member of a wheeled vehicle, wherein a damping coefficient of the damper is divided into a linear portion and a nonlinear portion, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: detection means for detecting a travel speed of the vehicle; and control means for controlling the linear portion of the damping coefficient in accordance with the detected travel speed of the vehicle.
Claim 40
Dependent Claim
128 words
A control system for a suspension mechanism including a damper disposed between an unsprung mass member and a sprung mass member of a wheeled vehicle, wherein a damping coefficient of the damper is divided into a linear portion and a nonlinear portion, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: detection means for detecting a travel speed of the vehicle; and control means for controlling the linear portion of the damping coefficient in accordance with the detected travel speed of the vehicle.
Claim 41
Dependent Claim
130 words
A control system for a suspension mechanism including a damper disposed between an unsprung mass member and a sprung mass member of a wheeled vehicle, wherein a damping coefficient of the damper is divided into a linear portion and a nonlinear portion, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: detection means for detecting a mass of the sprung mass member; and control means for controlling the linear portion of the damping coefficient in accordance with the detected mass of the sprung mass member.
Claim 42
Dependent Claim
130 words
A control system for a suspension mechanism including a damper disposed between an unsprung mass member and a sprung mass member of a wheeled vehicle, wherein a damping coefficient of the damper is divided into a linear portion and a nonlinear portion, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: detection means for detecting a mass of the sprung mass member; and control means for controlling the linear portion of the damping coefficient in accordance with the detected mass of the sprung mass member.
Claim 43
Dependent Claim
112 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a generalized nonlinear plant is estimated to calculate a target damping force on a basis of a control theory capable of providing a specification for design in a predetermined frequency range and to adjust a damping force of the damper to the calculated target damping force, and wherein the control system comprises: detection means for detecting a travel speed of the vehicle; and control means for controlling a frequency in the generalized plant in accordance with the detected travel speed of the vehicle.
Claim 44
Dependent Claim
112 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a generalized nonlinear plant is estimated to calculate a target damping force on a basis of a control theory capable of providing a specification for design in a predetermined frequency range and to adjust a damping force of the damper to the calculated target damping force, and wherein the control system comprises: detection means for detecting a travel speed of the vehicle; and control means for controlling a frequency in the generalized plant in accordance with the detected travel speed of the vehicle.
Claim 45
Dependent Claim
116 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: detection means for detecting a mass of the sprung mass member; and control means for controlling a frequency weight in the generalized plant in accordance with the detected mass of the sprung mass member.
Claim 46
Dependent Claim
116 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: detection means for detecting a mass of the sprung mass member; and control means for controlling a frequency weight in the generalized plant in accordance with the detected mass of the sprung mass member.
Claim 47
Dependent Claim
156 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a damping coefficient of the damper is divided into a linear portion and a nonlinear portion, and a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: control means for controlling the linear portion of the damping coefficient in accordance with a condition of the vehicle; and means for prohibiting a change of the linear portion of the damping coefficient when the calculated target damping force changes more than a predetermined value in response to change of the linear portion of the damping coefficient.
Claim 48
Dependent Claim
156 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a damping coefficient of the damper is divided into a linear portion and a nonlinear portion, and a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: control means for controlling the linear portion of the damping coefficient in accordance with a condition of the vehicle; and means for prohibiting a change of the linear portion of the damping coefficient when the calculated target damping force changes more than a predetermined value in response to change of the linear portion of the damping coefficient.
Claim 49
Dependent Claim
130 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a generalized nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: control means for controlling a frequency weight in the generalized plant in accordance with a condition of the vehicle; and means for prohibiting change of the frequency weight when the calculated target damping force changes more than a predetermined value due to change of the frequency weight.
Claim 50
Dependent Claim
130 words
A control system for a suspension mechanism of a wheeled vehicle including a damper disposed between an unsprung mass member and a sprung mass member of the vehicle, wherein a control theory capable of providing a specification for design of the control system in a predetermined frequency range is applied to a generalized nonlinear plant to calculate a target damping force and to adjust an actual damping force of the damper to the calculated target damping force, and wherein the control system comprises: control means for controlling a frequency weight in the generalized plant in accordance with a condition of the vehicle; and means for prohibiting change of the frequency weight when the calculated target damping force changes more than a predetermined value due to change of the frequency weight.
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