Method for providing a manipulated variable
The invention relates to a method for providing a manipulated variable for an actuator ( 4 ) of an active chassis of a motor vehicle ( 2 ), wherein the manipulated variable in the event that a value for a projected variable, which is dependent upon a height profile of the terrain to be travelled by the motor vehicle ( 2 ), is available, is configured from a combination of a Skyhook variable, which is dependent upon a movement of a structure of the motor vehicle ( 2 ), and the projected variable, and wherein the manipulated variable is configured from a combination of a soft-spring variable, which is dependent upon a wheel-suspension of the motor vehicle ( 2 ), and the Skyhook variable, if no value for the projected variable is available.
1. A method for providing a manipulated variable for an actuator of an active chassis of a motor vehicle, comprising:
forming the manipulated variable in one of two ways,
a first way using an anticipated function implemented by a first module in which the manipulated variable is formed from a combination of a skyhook variable provided by a second module, which is dependent on a movement of a body of the motor vehicle, and an anticipated variable, which is dependent on a height profile of a ground to be traveled by the motor vehicle, when a value for the anticipated variable is available,
a second way using a soft-spring function implemented by a third module in which the manipulated variable is formed from a combination of a soft-spring variable, which is dependent on a wheel jounce of the motor vehicle, and the skyhook variable, when no value is available for the anticipated variable, said third module being deactivated when the value for the anticipated variable is available; and
using at least one sensor for detecting an environment of the motor vehicle to determine the height profile of the ground to be traveled, and deriving the anticipated variable from the height profile, said height profile being determined by calculating a force proportional to a speed of motor vehicle wheels oriented in a vertical direction by a virtual damper with an inertial reference system.
2. The method of claim 1 , further comprising using at least one sensor for detecting a kinematic variable of at least one component of the motor vehicle to derive a movement of the at least one component.
3. The method of claim 2 , wherein the at least one sensor for detecting a kinematic variable is used to derive a movement of the body as the at least one component of the motor vehicle, and further comprising deriving the skyhook variable from the movement of the body.
4. The method of claim 2 , wherein the at least one sensor for detecting a kinematic variable is used to derive a movement of a suspension, associated to a wheel of the motor vehicle, as the at least one component of the motor vehicle, and further comprising deriving the soft-spring variable from a wheel jounce of the wheel.
5. The method of claim 1 , wherein in the presence of the value for the anticipated variable, using a constant value for the soft-spring variable, with the manipulated variable being formed from a combination of the constant soft-spring variable, the skyhook variable, and the anticipated variable.
6. A system for providing a manipulated variable for an actuator of an active chassis of a motor vehicle, said system comprising:
a first module implementing of an anticipated function, said first module being configured to provide an anticipated variable, which is dependent on a height profile of a ground to be traveled by the motor vehicle;
a second module implementing of a skyhook function, said second module being configured to provide a skyhook variable, which is dependent on a movement of a body of the motor vehicle;
a third module implementing of a soft-spring function, said third module being configured to provide a soft-spring variable, which is dependent on a wheel jounce of the motor vehicle, said third module being deactivated when a value for the anticipated variable is available;
a control unit configured to determine the manipulated variable, said control unit being configured to form the manipulated variable in one of two ways, a first way in which the manipulated variable is formed from a combination of the skyhook variable and the anticipated variable, when the value for the anticipated variable is available, a second way in which the manipulated variable is formed form the manipulated variable from a combination of the soft-spring variable and the skyhook variable, when no value is available for the anticipated variable; and
at least one sensor for detecting an environment of the motor vehicle, said at least one sensor being configured to determine the height profile of the ground to be traveled and to transmit the determined height profile to the first module, said first module being configured to derive the anticipated variable from the height profile, said height profile being determined by calculating a force proportional to a speed of motor vehicle wheels oriented in a vertical direction by a virtual damper with an inertial reference system.
7. The system of claim 6 , further comprising at least one sensor configured to detect a value for at least one kinematic variable of a component of the motor vehicle and to transmit the value to the second and third modules, said second module being configured to derive the skyhook variable from the value for the at least one kinematic variable, said third module being configured to derive the soft-spring variable from the value of the at least one kinematic variable.