Electrically powered suspension system
An electrically powered suspension system includes: an electromagnetic actuator generating a driving force for vibration damping of the vehicle; an information acquisition part acquiring information on a stroke velocity of the electromagnetic actuator; a damping force calculator calculating a target damping force of the electromagnetic actuator, based on the information on the stroke velocity acquired by the information acquisition part; and a drive controller based on the target damping force calculated. The damping force calculator performs frequency-shaping of the stroke velocity for suppressing a low-frequency component of the stroke velocity, calculates an adjusted damping force based on the information on the stroke velocity after the frequency-shaping, and adjusts the target damping force using the adjusted damping force calculated. The suspension system appropriately suppresses vibration near a system resonance point while keeping excellent ride quality of the vehicle.
1. An electrically powered suspension system comprising:
an electromagnetic actuator provided between a vehicle body and a wheel, and generating a driving force for vibration damping of a vehicle;
an information acquisition part acquiring information on a stroke velocity of the electromagnetic actuator;
a damping force calculator that calculates a target damping force as a target value of a damping operation of the electromagnetic actuator, based on the information on the stroke velocity acquired by the information acquisition part; and
a drive controller controlling drive of the electromagnetic actuator using a target driving force based on the target damping force calculated by the damping force calculator,
wherein
the damping force calculator includes:
a low-pass filter extracting a low-frequency component from the information on the stroke velocity;
a subtractor subtracting the low-frequency component extracted from the stroke velocity; and
an adjusted damping force calculator calculating an adjusted damping force based on the information on the stroke velocity after frequency-shaping by the subtractor's subtracting,
the damping force calculator adjusts the target damping force using the adjusted damping force calculated, and
a cutoff frequency of the low-pass filter is set at a frequency lower than a resonance frequency of a system resonance point of the electrically powered suspension system.
2. The electrically powered suspension system according to claim 1 , wherein
the adjusted damping force calculator calculates the adjusted damping force based on an adjusted damping force function that uses the stroke velocity after the frequency-shaping as an argument.
3. The electrically powered suspension system according to claim 2 , wherein
the information acquisition part further acquires information on a vehicle speed, and
the adjusted damping force calculator adjusts a characteristic of the adjusted damping force function based on the information on the vehicle speed acquired by the information acquisition part.
4. The electrically powered suspension system according to claim 2 , wherein
the information acquisition part further acquires information on a condition of a driving force generator generating a driving force of the vehicle, and
the adjusted damping force calculator adjusts a characteristic of the adjusted damping force function based on the information on the condition of the driving force generator acquired by the information acquisition part.
5. The electrically powered suspension system according to claim 1 , wherein
the information acquisition part further acquires information on a vehicle speed, and
the adjusted damping force calculator adjusts the cutoff frequency based on the information on the vehicle speed acquired by the information acquisition part.
6. The electrically powered suspension system according to claim 1 , wherein
the information acquisition part further acquires information on a condition of a driving force generator that generates a driving force of the vehicle, and
the adjusted damping force calculator adjusts the cutoff frequency based on the information on the condition of the driving force generator acquired by the information acquisition part.
7. The electrically powered suspension system according to claim 2 , wherein
the adjusted damping force calculator calculates the adjusted damping force based on the adjusted damping force function, and then limits a portion of a value of the adjusted damping force calculated that exceeds a predetermined limit threshold, to the predetermined limit threshold.
8. An electrically powered suspension system comprising:
an electromagnetic actuator provided between a vehicle body and a wheel and generating a driving force for vibration damping of a vehicle;
an information acquisition part that acquires information on a stroke velocity of the electromagnetic actuator;
a damping force calculator that calculates a target damping force as a target value of a damping operation of the electromagnetic actuator, based on the information on the stroke velocity acquired by the information acquisition part; and
a drive controller that controls drive of the electromagnetic actuator using a target driving force based on the target damping force calculated by the damping force calculator,
wherein
the damping force calculator includes:
a high-pass filter that performs a process of extracting a high-frequency component from the information on the stroke velocity; and
an adjusted damping force calculator that calculates an adjusted damping force based on the information on the stroke velocity after frequency-shaping by the process,
the damping force calculator adjusts the target damping force using the adjusted damping force calculated, and
a cutoff frequency of the high-pass filter is set at a frequency lower than a resonance frequency of a system resonance point of the electrically powered suspension system.
9. The electrically powered suspension system according to claim 8 , wherein
the adjusted damping force calculator calculates the adjusted damping force based on an adjusted damping force function that uses the information on the stroke velocity after the frequency-shaping as an argument.
10. The electrically powered suspension system according to claim 9 , wherein
the information acquisition part further acquires information on a vehicle speed, and
the adjusted damping force calculator adjusts a characteristic of the adjusted damping force function based on the information on the vehicle speed acquired by the information acquisition part.
11. The electrically powered suspension system according to claim 9 , wherein
the information acquisition part further acquires information on a condition of a driving force generator that generates a driving force of the vehicle, and
the adjusted damping force calculator adjusts a characteristic of the adjusted damping force function based on the information on the condition of the driving force generator acquired by the information acquisition part.
12. The electrically powered suspension system according to claim 8 , wherein
the information acquisition part further acquires information on a vehicle speed, and
the adjusted damping force calculator adjusts the cutoff frequency based on the information on the vehicle speed acquired by the information acquisition part.
13. The electrically powered suspension system according to claim 8 , wherein
the information acquisition part further acquires information on a condition of a driving force generator that generates a driving force of the vehicle, and
the adjusted damping force calculator adjusts the cutoff frequency based on the information on the condition of the driving force generator acquired by the information acquisition part.
14. The electrically powered suspension system according to claim 9 , wherein
the adjusted damping force calculator calculates the adjusted damping force based on the adjusted-damping force function, and then limits a portion of a value of the adjusted damping force calculated that exceeds a predetermined limit threshold, to the predetermined limit threshold.