Vibration control device and vibration control system
A vibration damping control device that controls drive output of a vehicle so as to suppress pitch/bounce vibration of the vehicle includes a vibration damping control unit that controls driving torque of the vehicle so as to reduce an amplitude of the pitch/bounce vibration, based on wheel torque applied to wheels of the vehicle and generated at a location where the wheels contact with a road surface, and a compensation component adjusting unit that reduces an amplitude of a compensation component that corrects the wheel torque calculated by the vibration damping control unit so as to suppress the pitch/bounce vibration, as the magnitude of the steering angle velocity of the vehicle increases.
1. A vibration damping control device that controls drive output of a vehicle so as to suppress pitch/bounce vibration caused by pitch or bounce of the vehicle, comprising:
a vibration damping control unit configured to:
control driving torque of the vehicle so as to reduce an amplitude of the pitch/bounce vibration, based on wheel torque applied to wheels of the vehicle, the wheel torque being generated at a location where the wheels contact with a road surface and configured to reduce an amplitude of a compensation component that corrects the wheel torque so as to suppress the pitch/bounce vibration, as a magnitude of a steering angle velocity of the vehicle increases; and
calculate the compensation component by multiplying the compensation component by a control gain to reduce the amplitude of the pitch/bounce vibration based on the wheel torque,
wherein the control gain of the compensation component decreases as the magnitude of the steering angle velocity of the vehicle increases.
2. The vibration damping control device according to claim 1 , wherein the vibration damping control unit makes a rate of reduction of the amplitude of the compensation component relative to the amplitude of the pitch/bounce vibration constant when the magnitude of the steering angle velocity of the vehicle exceeds a predetermined velocity.
3. The vibration damping control device according to claim 1 , wherein:
a control gain of the compensation component is a function of the magnitude of the steering angle velocity; and
the vibration damping control unit sets the control gain of the compensation component such that the control gain monotonously decreases as the magnitude of the steering angle velocity of the vehicle increases, when the magnitude of the steering angle velocity of the vehicle is smaller than a predetermined velocity.
4. A vibration damping control system comprising:
a drive unit that generates driving force at wheels of a vehicle;
a wheel speed sensor that detects a rotational speed of each of the wheels of the vehicle;
a steering angle sensor that detects a steering angle of a steering wheel of the vehicle; and
an electronic control unit that obtains a first driving force according to an amount of depression of an accelerator pedal, and drives the drive unit with a second driving force that is determined by a compensation component with which the first driving force is corrected so as to suppress pitch/bounce vibration of the vehicle, based on the first driving force and the rotational speed, wherein
the electronic control unit is configured to:
reduce an amplitude of the compensation component as a magnitude of a steering angle velocity obtained from the steering angle increases; and
calculate the compensation component by multiplying the compensation component by a control gain to reduce an amplitude of the pitch/bounce vibration based on the wheel torque,
wherein a control gain of the compensation component, which is a function of the magnitude of the steering angle velocity, decreases as the magnitude of the steering angle velocity of the vehicle increases.