Electromagnetic suspension apparatus
An object of the present invention is to obtain an electromagnetic suspension apparatus capable of quickly reducing an influence of a mechanical frictional force generated in each part of an electromagnetic actuator. The electromagnetic suspension apparatus includes an electromagnetic actuator that generates a driving force related to a damping operation and an expansion and contraction, an information acquisition unit that acquires vehicle state information including a stroke speed of the electromagnetic actuator, an equivalent frictional force calculation unit that calculates an equivalent frictional force of the electromagnetic actuator based on the vehicle state information, and an ECU that calculates a target driving force of the electromagnetic actuator and controls the driving force of the electromagnetic actuator using the calculated target driving force. The ECU corrects the target driving force based on the equivalent frictional force calculated by the equivalent frictional force calculation unit.
1. An electromagnetic suspension apparatus comprising:
an electromagnetic actuator that is provided in parallel with a spring member provided between a vehicle body and a wheel of a vehicle and generates a driving force related to vibration damping of the vehicle body;
an information acquisition unit that acquires at least one of vehicle state information on a stroke speed of the electromagnetic actuator, a sprung speed, an unsprung speed, a roll velocity, and a pitch velocity;
an equivalent frictional force calculation unit that calculates an equivalent frictional force of the electromagnetic actuator based on the vehicle state information acquired by the information acquisition unit; and
a driving force control unit that calculates a target driving force of the electromagnetic actuator and controls a driving force of the electromagnetic actuator using the calculated target driving force,
wherein
the information acquisition unit acquires a vehicle speed as a running state quantity, and
when the vehicle speed acquired by the information acquisition unit is not more than a predetermined vehicle speed threshold, the driving force control unit corrects to reduce the equivalent frictional force calculated by the equivalent frictional force calculation unit as compared with when the vehicle speed exceeds the vehicle speed threshold, and corrects the target driving force based on the corrected equivalent frictional force.
2. The electromagnetic suspension apparatus according to claim 1 , wherein
the information acquisition unit further acquires at least one running state quantity of a yaw rate, a lateral acceleration, a steering angle, and a steering torque, and
the driving force control unit corrects the equivalent frictional force calculated by the equivalent frictional force calculation unit based on the running state quantity acquired by the information acquisition unit and corrects the target frictional force based on the corrected equivalent frictional force.
3. An electromagnetic suspension apparatus comprising:
an electromagnetic actuator that is provided in parallel with a spring member provided between a vehicle body and a wheel of a vehicle and generates a driving force related to vibration damping of the vehicle body;
an information acquisition unit that acquires at least one of vehicle state information on a stroke speed of the electromagnetic actuator, a sprung speed, an unsprung speed, a roll velocity, and a pitch velocity;
an equivalent frictional force calculation unit that calculates an equivalent frictional force of the electromagnetic actuator based on the vehicle state information acquired by the information acquisition unit; and
a driving force control unit that calculates a target driving force of the electromagnetic actuator based on the stroke speed of the electromagnetic actuator acquired by the information acquisition unit, and controls a driving force of the electromagnetic actuator using the calculated target driving force,
wherein
the information acquisition unit acquires a yaw rate as a running state quantity, and
when the yaw rate acquired by the information acquisition unit is not more than a predetermined yaw rate threshold value, the driving force control unit corrects to reduce the equivalent frictional force calculated by the equivalent frictional force calculation unit as compared with when the yaw rate exceeds the yaw rate threshold value, and corrects the target driving force based on the corrected equivalent frictional force.
4. The electromagnetic suspension apparatus according to claim 3 , wherein
the information acquisition unit further acquires at least one running state quantity of a vehicle speed, a lateral acceleration, a steering angle, and a steering torque, and
the driving force control unit corrects the equivalent frictional force calculated by the equivalent frictional force calculation unit based on the running state quantity acquired by the information acquisition unit and corrects the target frictional force based on the corrected equivalent frictional force.
5. An electromagnetic suspension apparatus comprising:
an electromagnetic actuator that is provided in parallel with a spring member provided between a vehicle body and a wheel of a vehicle and generates a driving force related to vibration damping of the vehicle body;
an information acquisition unit that acquires at least one of vehicle state information on a stroke speed of the electromagnetic actuator, a sprung speed, an unsprung speed, a roll velocity, and a pitch velocity;
an equivalent frictional force calculation unit that calculates an equivalent frictional force of the electromagnetic actuator based on the vehicle state information acquired by the information acquisition unit; and
a driving force control unit that calculates a target driving force of the electromagnetic actuator based on the stroke speed of the electromagnetic actuator acquired by the information acquisition unit, and controls a driving force of the electromagnetic actuator using the calculated target driving force,
wherein
the information acquisition unit acquires a vehicle speed as a running state quantity, and
when the vehicle speed acquired by the information acquisition unit is not more than a predetermined vehicle speed threshold, the driving force control unit corrects to reduce the equivalent frictional force calculated by the equivalent frictional force calculation unit as compared with when the vehicle speed exceeds the vehicle speed threshold, and corrects the target driving force based on the corrected equivalent frictional force.
6. The electromagnetic suspension apparatus according to claim 5 , wherein
the information acquisition unit further acquires at least one running state quantity of a yaw rate, a lateral acceleration, a steering angle, and a steering torque, and
the driving force control unit corrects the equivalent frictional force calculated by the equivalent frictional force calculation unit based on the running state quantity acquired by the information acquisition unit and corrects the target frictional force based on the corrected equivalent frictional force.
7. An electromagnetic suspension apparatus comprising:
an electromagnetic actuator that is provided in parallel with a spring member provided between a vehicle body and a wheel of a vehicle and generates a driving force related to vibration damping of the vehicle body;
an information acquisition unit that acquires at least one of vehicle state information on a stroke speed of the electromagnetic actuator, a sprung speed, an unsprung speed, a roll velocity, and a pitch velocity;
an equivalent frictional force calculation unit that calculates an equivalent frictional force of the electromagnetic actuator based on the vehicle state information acquired by the information acquisition unit; and
a driving force control unit that calculates a target driving force of the electromagnetic actuator based on the stroke speed of the electromagnetic actuator acquired by the information acquisition unit, and controls a driving force of the electromagnetic actuator using the calculated target driving force,
wherein
the information acquisition unit acquires a yaw rate as a running state quantity, and
when the yaw rate acquired by the information acquisition unit is not more than a predetermined yaw rate threshold value, the driving force control unit corrects to reduce the equivalent frictional force calculated by the equivalent frictional force calculation unit as compared with when the yaw rate exceeds the yaw rate threshold value, and corrects the target driving force based on the corrected equivalent frictional force.
8. The electromagnetic suspension apparatus according to claim 7 , wherein
the information acquisition unit further acquires at least one running state quantity of a vehicle speed, a lateral acceleration, a steering angle, and a steering torque, and
the driving force control unit corrects the equivalent frictional force calculated by the equivalent frictional force calculation unit based on the running state quantity acquired by the information acquisition unit and corrects the target frictional force based on the corrected equivalent frictional force.