Apparatus for removing off-set from measured quantity

• US 5,526,270 A
• Filed: 12/08/1994
• Issued: 06/11/1996
• Est. Priority Date: 05/14/1990
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Itoh, Ken, Adachi, Kazutaka
• Primary Examiner(s): PARK, COLLIN
• Application Number:
  US08/351,737
• Time in Patent Office: 551 Days
• Field of Search: 364/424.01, 364/424.05, 364/571.01, 180/79.1, 180/140, 180/141, 180/142, 180/143, 280/707
• US Class Current: 701/36
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2600/90 other signal treatment means
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G01D 3/02 with provision for altering or correcting the law of variation
• CPC Class Codes: G05B 11/32 with inputs from more than one sensing element; with outputs to more than one correcting element

Abstract

An apparatus for removing an off-set from a measured quantity capable of obtaining an accurate information on the measured quantity by removing the off-set contained in the measured quantity. The apparatus includes a plurality of physical quantity detectors, each one for detecting a value of a different one of a plurality of physical quantities which are mutually related through an identical equation of motion; an off-set calculator for calculating, in a prescribed state in which a value of one of the physical quantities detected by one detector is known to be accurate, off-sets of values of remaining physical quantities obtained by remaining detectors in accordance with a value of aforementioned one of the physical quantities detected by aforementioned one detector; and an off-set remover for removing the off-sets calculated by the off-set calculator from values of aforementioned remaining physical quantities obtained by aforementioned remaining detectors.

Claims

1. An apparatus to control a dynamic characteristic of an automobile using off-set removed physical quantities, comprising:

a plurality of physical quantity detection means, each one for detecting a value of a different one of a plurality of physical quantities which are mutually related through an identical differential equation of motion;

off-set calculation means for calculating, in a prescribed state in which a value of one of the physical quantities detected by one detection means is known to take an accurate value, off-sets of values of remaining physical quantities obtained by remaining detection means, by using a parameter identification method for the remaining physical quantities, in accordance with the identical differential equation of motion into which a value of said one of the physical quantities detected by said one detection means is substituted;

off-set removal means for removing the off-sets calculated by the off-set calculation means from values of said remaining physical quantities obtained by said remaining detection means to obtain the off-set removed physical quantities; and

a controller to control the dynamic characteristic of the automobile according to the off-set removed physical quantities obtained by the off-set removal means.

2. The apparatus of claim 1, wherein the prescribed state is a state in which said one of the physical quantities is known to take a value equal to zero.

3. The apparatus of claim 1, wherein said one of the detection means is state detection means for detecting a state of a system to be controlled, and said remaining detection means are input detection means for detecting values of system inputs representing a dynamic characteristic of the system to be controlled.

4. The apparatus of claim 3, further comprising means for updating system parameters expressing the state of the system to be controlled according to the calculated off-set.

5. An apparatus to control a dynamic characteristic of an automobile using off-set removed physical quantities, comprising:

input detection means for detecting a value of a system input representing a dynamic characteristic of the automobile;

state detection means for detecting a state of the automobile;

off-set calculation means for calculating, in a prescribed state of the automobile detected by the state detection means, an off-set of the system input obtained by the input detection means, by using a parameter identification method for the system input, in accordance with an identical differential equation of motion through which the state of the automobile and the system input are related and into which the state detected by the state detection means is substituted, and for updating system parameters expressing the state of the automobile according to the calculated off-set;

off-set removal means for removing the off-set calculated by the off-set calculation means from the system input obtained by the input detection means to obtain the off-set removed physical quantities; and

a controller to control the dynamic characteristic of the automobile according to the off-set removed physical quantities obtained by the off-set removal means.

6. The apparatus of claim 5, wherein the prescribed state is a state in which the state of the automobile detected by the state detection means is known to take a value equal to zero.

7. The apparatus of claim 5, wherein the state of the automobile is expressed in terms of planar motion car model having two degrees of freedom.

8. The apparatus of claim 5, wherein the input detection means is a steering angle sensor means for detecting a value of a steering angle for a steering wheel of the automobile.

9. The apparatus of claim 5, wherein the input detection means is a steering angle sensor means for detecting a value of a steering angle for front wheels of the automobile.

10. The apparatus of claim 5, wherein the state detection means is a sensor means for detecting a state of at least one component of a planar motion of the automobile.

11. The apparatus of claim 10, wherein the state detection means is a yaw rate sensor means for detecting a yaw rate of the automobile.

12. The apparatus of claim 5, wherein the prescribed state is a state in which the automobile is running straight.