Apparatus for controlling semi-active suspension system
First Claim
1. An apparatus for controlling a semi-active suspension system of a vehicle including at least one shock absorber using magneto-rheological fluids, the shock absorber having a rebound valve and a compression valve which are configured such that damping forces of the shock absorber generated in rebound strokes and compression strokes are controlled independently of each other, the apparatus comprising:
- a normal driving control unit for determining a ride value (Sride) and a filtered vehicular vertical velocity (vi) based on a vehicular vertical acceleration;
an anti-roll control unit for determining a roll value (Sroll) based on a velocity and a steering angle of the vehicle; and
a damping force adjusting unit for controlling the rebound valve and the compression valve of the shock absorber based on the roll value (Sroll), the ride value (Sride) and the filtered vehicular vertical velocity (vi) under a predetermined condition.
1 Assignment
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Accused Products
Abstract
An apparatus for controlling a semi-active suspension system of a vehicle including at least one shock absorber using magneto-rheological fluids. The shock absorber has a rebound valve and a compression valve which are configured such that damping forces of the shock absorber generated in rebound strokes and compression strokes being controlled independently. The apparatus comprises a normal driving control unit for determining a ride value (Sride) and a filtered vehicular vertical velocity (vi) based on a vertical vehicular acceleration, an anti-roll control unit for determining a roll value (Sroll) based on a velocity and a steering angle of the vehicle, and a damping force adjusting unit for controlling the rebound valve and the compression valve of the shock absorber based on the roll value (Sroll), the ride value (Sride) and the filtered vehicular vertical velocity (vi) under a predetermined condition.
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Citations
18 Claims
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1. An apparatus for controlling a semi-active suspension system of a vehicle including at least one shock absorber using magneto-rheological fluids, the shock absorber having a rebound valve and a compression valve which are configured such that damping forces of the shock absorber generated in rebound strokes and compression strokes are controlled independently of each other, the apparatus comprising:
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a normal driving control unit for determining a ride value (Sride) and a filtered vehicular vertical velocity (vi) based on a vehicular vertical acceleration;
an anti-roll control unit for determining a roll value (Sroll) based on a velocity and a steering angle of the vehicle; and
a damping force adjusting unit for controlling the rebound valve and the compression valve of the shock absorber based on the roll value (Sroll), the ride value (Sride) and the filtered vehicular vertical velocity (vi) under a predetermined condition. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
wherein a(s) is the vertical vehicular acceleration, and vh(s) is the vehicular vertical velocity.
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4. The apparatus of claim 2, wherein the filtered vertical velocity (vi) is determined such that the following equations hold:
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wherein Kv is a gain having a predetermined value.
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5. The apparatus of claim 2, wherein the ride value (Sride) is calculated such that the following equations hold:
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6. The apparatus of claim 2, wherein the integration operation of the integrator is performed such that the following equation holds:
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wherein a(s) is the vertical acceleration, and vh(s) is the vehicular vertical velocity.
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7. The apparatus of claim 2, wherein the filtered vertical velocity (vi) is determined such that the following equations hold:
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wherein Kv is a gain having a predetermined value.
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8. The apparatus of claim 2, wherein the ride value (Sride) is calculated such that the following equations hold:
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9. The apparatus of claim 1, wherein the anti-roll control part includes a steering rate detecting part for determining a lateral acceleration (ay) based on the velocity and the steering angle of the vehicle and a roll value calculating part for determining the roll value (Sroll) based on the lateral acceleration (ay).
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10. The apparatus of claim 9, wherein the lateral acceleration (ay) is determined such that the following equation holds:
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wherein is is a steering gear ratio, {dot over (δ
)}sw is a steering wheel angle ratio,l is a length of wheel base, V is a vehicular velocity, and Vch is a characteristic velocity.
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11. The apparatus of claim 9, wherein the roll value (Sroll) is calculated such that the following equation holds:
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12. The apparatus of claim 9, wherein the roll value (Sroll) is calculated such that the following equation holds:
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13. The apparatus of claim 1, wherein, when the roll value (Sroll) is larger than a predetermined value, an amount of control current for the rebound valve (AR) and that for the compression valve (AC) of the shock absorber are determined such that the following equations hold:
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wherein the subscript R stands for rebound and the subscript C for compression,
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14. The apparatus of claim 13, wherein, when SiR is greater than 128, the amount of control current for the rebound valve (AR) has a value of 3.
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15. The apparatus of claim 13, wherein, when SiC is greater than 128, the amount of control current for the compression valve (AC) has a value of 3.
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16. The apparatus of claim 1, wherein, when the roll value (Sroll) is smaller than a predetermined value, an amount of control current for the rebound valve (AR) and that for the compression valve (AC) of the shock absorber are determined by the damping force adjusting unit such that the following equations hold:
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wherein the subscript R stands for rebound and the subscript C for compression and
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17. The apparatus of claim 16, wherein, when SiR is greater than 128, the amount of control current for the rebound valve (AR) has a value of 3.
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18. The apparatus of claim 16, wherein, when SiC is greater than 128, the amount of control current for the compression valve (AC) has a value of 3.
Specification