Suspension apparatus with driving state feedback for vehicles
First Claim
1. A suspension apparatus of a vehicle having a shock damping unit provided between sprung mass and unsprung mass of the vehicle to vary a suspension characteristic, comprising:
- generating means for generating a reference signal corresponding to vibration from a road surface, said vibration being within an intermediate range of frequencies at which a resonance of the unsprung mass is induced;
feedback control means for feedbacking a driving state signal indicative of a driving state of a vehicle to the shock damping unit, the feedback control means being enabled outside the intermediate range of frequencies;
filter means for receiving and filtering the reference signal and the driving state signal; and
feedforward control means for feedforwarding an output signal from the filter means to the shock damping unit so as to minimize the vibration corresponding to the reference signal.
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Abstract
A suspension control system for feedback-controlling the sprung mass acceleration signal ym and a method for introducing the unsprung mass acceleration signal yL into a tuning circuit to tune gain of an FIR filter. In this system, tuning is performed so as to cancel the road surface input ym close to a reference frequency (around 10-12 Hz). As a result, the sprung mass acts as a dynamic damper upon the road surface input ym close to the reference frequency (around 10-12 Hz), however, frequency bands other than the reference frequency band do not receive the contribution of the second term in the equation (6). That is, output from the tuning circuit to an adder becomes almost zero, and normal sky-hook control is performed. Though the sprung mass system acts as a dynamic damper, the unsprung mass system exceeds the sprung mass system in mass, and excessive resonance does not occur.
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Citations
17 Claims
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1. A suspension apparatus of a vehicle having a shock damping unit provided between sprung mass and unsprung mass of the vehicle to vary a suspension characteristic, comprising:
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generating means for generating a reference signal corresponding to vibration from a road surface, said vibration being within an intermediate range of frequencies at which a resonance of the unsprung mass is induced; feedback control means for feedbacking a driving state signal indicative of a driving state of a vehicle to the shock damping unit, the feedback control means being enabled outside the intermediate range of frequencies; filter means for receiving and filtering the reference signal and the driving state signal; and feedforward control means for feedforwarding an output signal from the filter means to the shock damping unit so as to minimize the vibration corresponding to the reference signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A suspension apparatus that feedbacks a driving state signal indicative of a driving state of a vehicle to a shock damping unit provided between sprung mass and unsprung mass of the vehicle to vary a suspension characteristic, comprising:
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generation means for generating a reference signal corresponding to vibration from a road surface which induces resonance of the unsprung mass; filter means for inputting the reference signal and the driving state signal, the operation of said filter means being controlled in accordance with the input driving state signal; feedforward control means for feedforwarding an output signal from the filter means to the shock damping unit so as to minimize the vibration corresponding to the reference signal; and prohibition means for prohibiting operation of said feedforward control means when the driving state signal indicates a predetermined condition. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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Specification