Integrated Vehicle Body Attitude Control Apparatus
First Claim
1. An integrated vehicle body attitude control apparatus, comprising:
- a shock absorber control portion for controlling damping force of a shock absorber adapted to be provided at each wheel of a vehicle,a stabilizer control portion controlling a torsional force of a stabilizer adapted to be arranged between wheels at right and left of the vehicle,a detecting portion detecting a vehicle state including a vehicle speed and a steering state,an integrated vehicle body control model calculation portion setting a model rotation axis of a vehicle body based on at least the vehicle speed and the steering state among detected results by the detecting means as well as a specification of the vehicle and calculating an integrated vehicle body control model including a model value having the model rotation axis as a center,a first calculating portion calculating a pitch component, a heave component and a roll component when performing feed-forward control on the basis of the integrated vehicle body control model calculated by the integrated vehicle body control model calculation portion,a second calculating portion calculating a pitch component, a heave component and a roll component when performing feedback control on the basis of a difference between the vehicle state detected by the detecting portion and the model value calculated by the integrated vehicle body control model calculation portion,a distribution control portion combining the pitch components, the heave components and the roll components calculated by the first calculating portion and the second calculating portion, distributing a combined resultant of the pitch components and the heave components for controlling damping force by the shock absorber control portion and distributing a combined resultant of the roll components for controlling the torsional force by the stabilizer control portion, andan actuation control portion controlling actuation of the shock absorber and the stabilizer in response to a distribution result by the distribution control portion.
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Accused Products
Abstract
An integrated vehicle body attitude control apparatus includes a detecting portion detecting a vehicle state including a vehicle speed and a steering state, an integrated vehicle body control model calculation portion setting a model rotation axis of a vehicle body and calculating an integrated vehicle body control model including a model value, a distribution controller combining pitch components, heave components and roll components calculated by a first calculator and a second calculator, distributing a combined resultant of the pitch components and the heave components for controlling damping force by the shock absorber controller and distributing a combined resultant of the roll components for controlling the torsional force by the stabilizer controller, and an actuation controller controlling actuation of a shock absorber and a stabilizer in response to a distribution result by the distribution controller.
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Citations
10 Claims
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1. An integrated vehicle body attitude control apparatus, comprising:
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a shock absorber control portion for controlling damping force of a shock absorber adapted to be provided at each wheel of a vehicle, a stabilizer control portion controlling a torsional force of a stabilizer adapted to be arranged between wheels at right and left of the vehicle, a detecting portion detecting a vehicle state including a vehicle speed and a steering state, an integrated vehicle body control model calculation portion setting a model rotation axis of a vehicle body based on at least the vehicle speed and the steering state among detected results by the detecting means as well as a specification of the vehicle and calculating an integrated vehicle body control model including a model value having the model rotation axis as a center, a first calculating portion calculating a pitch component, a heave component and a roll component when performing feed-forward control on the basis of the integrated vehicle body control model calculated by the integrated vehicle body control model calculation portion, a second calculating portion calculating a pitch component, a heave component and a roll component when performing feedback control on the basis of a difference between the vehicle state detected by the detecting portion and the model value calculated by the integrated vehicle body control model calculation portion, a distribution control portion combining the pitch components, the heave components and the roll components calculated by the first calculating portion and the second calculating portion, distributing a combined resultant of the pitch components and the heave components for controlling damping force by the shock absorber control portion and distributing a combined resultant of the roll components for controlling the torsional force by the stabilizer control portion, and an actuation control portion controlling actuation of the shock absorber and the stabilizer in response to a distribution result by the distribution control portion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification