Damper control device
A damper control device controls a damping force of each damper interposed between a vehicle body and a corresponding one of a plurality of vehicle wheels of a vehicle. The damper control device includes: a good wavy road control calculation unit that obtains, for each damper, a good wavy road control instruction suitable for a good wavy road representing a wavy road surface; a bad wavy road control calculation unit that obtains, for each damper, a bad wavy road control instruction suitable for a bad wavy road that has more concavities and convexities than the good wavy road; and a final instruction calculation unit that obtains a final control instruction for each damper based on the good wavy road control instruction and on the bad wavy road control instruction.
1. A damper control device for controlling a damping force of each damper of a vehicle interposed between a vehicle body of the vehicle and a corresponding one of a plurality of vehicle wheels of the vehicle, the damper control device comprising;
a good wavy road control calculation unit configured to obtain, for each damper, a good wavy road control instruction to generate a target damping force for a good wavy road representing a wavy road surface;
a bad wavy road control calculation unit configured to obtain, for each damper, a bad wavy road control instruction to generate a target damping force for a bad wavy road that has more concavities and convexities than the good wavy road; and
a final instruction calculation unit configured to obtain, for each damper, a final control instruction on the basis of the good wavy road control instruction of the damper and the bad wavy road control instruction of the damper, wherein
for each damper, the final instruction calculation unit is configured to obtain a good road gain and a bad road gain to be respectively multiplied by the good wavy road control instruction and the bad wavy road control instruction, and obtain the final control instruction on the basis of a value obtained by multiplying the good wavy road control instruction and the good road gain and on a value obtained by multiplying the bad wavy road control instruction and the bad road gain,
the final instruction calculation unit is configured to obtain the good road gain and the bad road gain on the basis of an unsprung vibration level representing a magnitude of vibration of each of the vehicle wheels, and
a sum of the good road gain and the bad road gain is one.
2. The damper control device according to claim 1 , further comprising
a determination unit configured to determine whether or not the vehicle is running on a wavy road, wherein
each damper is controlled on the basis of the final control instruction for the damper if it is determined that the vehicle is running on the wavy road.
3. The damper control device according to claim 2 , wherein
the determination unit is configured to determine whether or not the vehicle is running on the wavy road on the basis of a sprung vibration level representing a magnitude of vibration of the vehicle body.
4. The damper control device according to claim 1 , wherein
the good wavy road control calculation unit comprises a speed correction unit configured to correct the good wavy road control instruction of each damper on the basis of a sprung vibration level representing a magnitude of vibration of the vehicle body and a speed of the vehicle.
5. The damper control device according to claim 1 , wherein
the good wavy road control calculation unit comprises an acceleration correction unit configured to correct the good wavy road control instruction on the basis of a stroke acceleration of each damper.
6. The damper control device according to claim 1 , wherein
the good wavy road control calculation unit is configured to obtain, in accordance with a stroke speed of each damper, the good wavy road control instruction, for each damper, and
the bad wavy road control calculation unit is configured to obtain, in accordance with the stroke speed of each damper and the unsprung vibration level representing a magnitude of vibration of each of the vehicle wheels, the bad wavy road control instruction for each damper.
7. A damper control device for controlling a damping force of each damper of a vehicle interposed between a vehicle body of the vehicle and a corresponding one of a plurality of vehicle wheels of the vehicle, the damper control device comprising:
a good wavy road control calculation unit configured to obtain, for each damper, a good wavy road control instruction to generate a target damping force for a good wavy road representing a wavy road surface;
a bad wavy road control calculation unit configured to obtain, for each damper, a bad wavy road control instruction to generate a target damping force for a bad wavy road that has more concavities and convexities than the good wavy road; and
a final instruction calculation unit configured to obtain, for each damper, a final control instruction on the basis of the good wavy road control instruction of the damper and the bad wavy road control instruction of the damper, wherein
for each damper, the final instruction calculation unit is configured to obtain a good road gain and a bad road gain to be respectively multiplied by the good wavy road control instruction and the bad wavy road control instruction, and obtain the final control instruction on the basis of a value obtained by multiplying the good wavy road control instruction and the good road gain and on a value obtained by multiplying the bad wavy road control instruction and the bad road gain,
for each damper, the final instruction calculation unit is configured to obtain the good road gain and the bad road gain on the basis of an unsprung vibration level representing a magnitude of vibration of the corresponding one of the vehicle wheels, and
a sum of the good road gain and the bad road gain is one.
8. The damper control device according to claim 7 , further comprising
a determination unit configured to determine whether or not the vehicle is running on a wavy road, wherein
each damper is controlled on the basis of the final control instruction for the damper if it is determined that the vehicle is running on the wavy road.
9. The damper control device according to claim 8 , wherein
the determination unit is configured to determine whether or not the vehicle is running on the wavy road on the basis of a sprung vibration level representing a magnitude of vibration of the vehicle body.
10. The damper control device according to claim 7 , wherein
the good wavy road control calculation unit comprises a speed correction unit configured to correct the good wavy road control instruction of each damper on the basis of a sprung vibration level representing a magnitude of vibration of the vehicle body and a speed of the vehicle.
11. The damper control device according to claim 7 , wherein
the good wavy road control calculation unit comprises an acceleration correction unit configured to correct the good wavy road control instruction on the basis of a stroke acceleration of each damper.
12. The damper control device according to claim 7 , wherein
the good wavy road control calculation unit is configured to obtain, in accordance with stroke speed of each damper, the good wavy road control instruction, for each damper, and
the bad wavy road control calculation unit is configured to obtain, in accordance with a stroke speed of each damper and the unsprung vibration level representing a magnitude of vibration of each of the vehicle wheels, the bad wavy road control instruction for each damper.