Roll stabiliser device

Abstract

The invention relates to a roll stabiliser device having an adjustable roll stabiliser (1) which has an actuator (13) comprising an actuator housing (21) and an actuator shaft (22) which is rotatable relative to the latter about a stabiliser axis of rotation (18) extending in a transverse direction (y), an elastokinematic decoupling element (14) and a stabiliser bar (17) which is divided into two bar halves (15, 16), of which a first bar half (15) is connected to the actuator housing (21) for conjoint rotation and a second bar half (16) is connected to the actuator shaft (22) with the interposition of the elastokinematic decoupling element (14), and a measuring arrangement (26) by means of which measurement variables describing a state of the roll stabiliser (1) can be determined, wherein the measuring arrangement (26) has a first measuring unit (27) by means of which, as a first of the measurement variables, a rotation of at least one of the bar halves (16) about the stabiliser axis of rotation (18) or an angle of rotation (Δθ_HL) of the two bar halves (15, 16) relative to one another about the stabiliser axis of rotation (18) can be determined, and wherein the measuring arrangement (26) has a second measuring unit (28) which is connected to the actuator housing and by means of which an orientation of the actuator housing (21) relative to the earth can be determined and, from this, as a second of the measurement variables, a rotation (θ_F) of the actuator housing (21) relative to the earth about the stabiliser axis of rotation (18) can be determined.

Description

[0001] ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0002] Roll stabilizer device

[0003] The invention relates to a roll stabilizer device with an adjustable roll stabilizer comprising an actuator housing and an actuator shaft rotatable relative to the actuator housing about a stabilizer axis extending in a transverse direction, an elastokinematic decoupling element, and a stabilizer rod divided into two rod halves, a first rod half being rigidly connected to the actuator housing and a second rod half being connected to the actuator shaft via the elastokinematic decoupling element, and a measuring arrangement by means of which measured variables describing a state of the roll stabilizer can be determined, wherein the measuring arrangement has a first measuring unit by means of which a rotation of at least one of the rod halves about the stabilizer axis or a rotation angle of the two rod halves relative to each other about the stabilizer axis can be determined as a first of the measured variables.

[0004] The elastokinematic decoupling element is a comfort feature and allows, within certain limits, a rotation of the actuator shaft relative to the second half of the rod before a torque is transmitted from the actuator shaft to the second half of the rod. The relationship between engine torque and the stabilizer's rotation angle / torque is therefore distorted, preventing optimal control.

[0005] Based on this, the invention is primarily aimed at improving the controllability of the stabilizer.

[0006] This problem is solved according to the invention by a roll stabilizer device according to claim 1. Preferred embodiments of the invention are given in the dependent claims and in the following description.

[0007] A roll stabilizer device with an adjustable roll stabilizer comprising an actuator housing and an actuator shaft rotatable relative to the actuator shaft about a stabilizer axis extending in a transverse direction, an elastokinematic decoupling element and a stabilizer rod which is divided into two rod halves, a first rod half being torsionally rigid to the actuator housing and a second rod half being connected to the actuator shaft via the elastokinematic decoupling element, and a measuring arrangement by means of which measured variables describing a state of the roll stabilizer can be determined, wherein the measuring arrangement comprises a first measuring unit.The measuring arrangement, by means of which a rotation of at least one of the rod halves about the stabilizer axis of rotation or a rotation angle of the two rod halves relative to each other about the stabilizer axis of rotation can be determined as a first of the measured quantities, is further developed in particular by the fact that the measuring arrangement has a second measuring unit connected to the actuator housing, by means of which an orientation of the actuator housing relative to the earth can be determined and from this a rotation of the actuator housing about the stabilizer axis of rotation relative to the earth can be determined as a second of the measured quantities.

[0008] From the rotation of the actuator housing around the stabilizer's axis of rotation relative to the ground and the angle of rotation of the two rod halves around the stabilizer's axis of rotation relative to each other, or from the rotation of at least one rod half around the stabilizer's axis of rotation, the rotation of the second rod half relative to the actuator shaft can be determined or at least estimated, particularly by considering a reference value for the rotation of the actuator housing around the stabilizer's axis of rotation. Thus, the contribution of the elastokinematic decoupling element to the rotation of the two rod halves relative to each other can be determined and taken into account when controlling the stabilizer.

[0009] A reference value for the rotation of the actuator housing about the stabilizer axis of rotation is preferably predefined. For example, the reference value for the rotation of the actuator housing about the stabilizer axis of rotation is determined by the design position of the actuator housing.

[0010] Preferably, the rotation of at least one rod half about the stabilizer axis of rotation is determined taking into account a reference value for the rotation of at least one rod half about the stabilizer axis of rotation. For example, the reference value for the rotation of at least one rod half about the stabilizer axis of rotation can be determined by a reference value. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0011] The position of at least one half of the rod around the stabilizer's axis of rotation is determined by its design position. This at least one half of the rod is preferably the second half.

[0012] Preferably, the second measuring unit is fixed and / or rigidly or torsionally rigidly connected to the actuator housing. Preferably, the actuator housing extends along the stabilizer's axis of rotation. Advantageously, the stabilizer's axis of rotation runs centrally through the actuator housing. Preferably, the actuator shaft extends along the stabilizer's axis of rotation. Preferably, the stabilizer's axis of rotation runs centrally through the actuator shaft.

[0013] Preferably, the elastokinematic decoupling element runs along the stabilizer's axis of rotation. Preferably, the stabilizer's axis of rotation runs centrally through the elastokinematic decoupling element.

[0014] Preferably, the rod halves run along the stabilizer's axis of rotation. Preferably, the stabilizer's axis of rotation runs centrally through the rod halves. Any angled end regions of the rod halves, which, for example, run transversely or obliquely to the stabilizer's axis of rotation, are specifically disregarded.

[0015] Preferably, measurement signals characterizing the measured quantities can be provided by means of the measurement arrangement and / or by means of the measurement units.

[0016] The elastokinematic decoupling element is preferably a coupling, which is designed in particular such that the actuator shaft can rotate within a limited range relative to the second rod half about the stabilizer's axis of rotation. Preferably, the elastokinematic decoupling element is an elastic coupling. For example, the elastokinematic decoupling element is an elastomer coupling.

[0017] Preferably, the second measuring unit comprises an acceleration sensor, in particular one- or multi-dimensional, preferably three-dimensional. Advantageously, the second measuring unit also comprises a gyroscope, in particular one- or multi-dimensional, preferably three-dimensional. In particular, the gyroscope improves the accuracy of the measurement. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0018] The orientation of the actuator housing relative to the earth, and thus also the rotation of the actuator housing around the stabilizer axis of rotation relative to the earth, can be increased.

[0019] The second measuring unit preferably comprises an inertial measurement unit (IMU) or is formed, for example, by one. Preferably, this inertial measurement unit is configured to detect several, for example, six kinematic degrees of freedom. An inertial measurement unit preferably comprises a multidimensional, preferably three-dimensional, accelerometer and a multidimensional, preferably three-dimensional, angular rate sensor.

[0020] Preferably, the second measuring unit and / or its inertial measuring unit is implemented in the form of a microelectromechanical system (MEMS). A microelectromechanical system is generally relatively space-saving and cost-effective to design.

[0021] According to an advantageous embodiment, a vehicle body and two laterally spaced vehicle wheels are provided, which are connected to the vehicle body by at least one wheel suspension or by individual wheel suspensions. Preferably, the roll stabilizer is mounted on the vehicle body so that it is rotatable about the stabilizer's axis of rotation. In particular, the actuator housing is rotatable about the stabilizer's axis of rotation relative to the vehicle body. The transverse direction is also referred to, for example, as the vehicle's transverse direction. The rotation of at least one half of the stabilizer bar about the stabilizer's axis of rotation is preferably a rotation relative to the vehicle body.

[0022] Preferably, the end regions of the stabilizer bars facing away from the actuator are angled. For example, the angled end regions of the stabilizer bars run transversely or obliquely to the stabilizer's axis of rotation. Preferably, the end regions of the stabilizer bars facing away from the actuator are connected to the vehicle wheels, in particular at least indirectly. For example, the end region or end region of the first stabilizer bar facing away from the actuator is connected to a first of the vehicle wheels, in particular at least indirectly. The end region or end region of the second stabilizer bar facing away from the actuator is, for example, connected to a second of the vehicle wheels, in particular at least indirectly.

[0023] According to a first embodiment, the first measuring unit preferably comprises a height-measuring arrangement by means of which the wheel travel of at least one of the vehicle wheels or the wheel travel of the vehicle wheels can be detected. For example, the height-measuring arrangement comprises at least one height-measuring sensor by means of which the wheel travel of at least one of the vehicle wheels or of the at least one vehicle wheel can be detected. The at least one vehicle wheel is or comprises, in particular, the vehicle wheel connected to the at least one or the second half of the frame. Preferably, the height-measuring arrangement comprises two or more height-measuring sensors by means of which the wheel travel of the vehicle wheels can be detected.The rotation of at least one of the rod halves or the at least one rod half about the stabilizer axis of rotation, or the rotation angle of the two rod halves relative to each other about the stabilizer axis of rotation, can be determined or at least estimated using the first measuring unit, in particular from the wheel travel of the at least one vehicle wheel or from the difference in wheel travel (wheel travel difference). The at least one rod half is, in particular, the rod half connected to the at least one vehicle wheel. Advantageously, the at least one rod half is the second rod half.

[0024] Preferably, according to the first variant, the angle of rotation of the two rod halves relative to each other about the stabilizer's axis of rotation can be determined by multiplying the wheel travel difference by a kinematic transmission. The kinematic transmission is preferably predetermined and, in particular, determined by the at least one wheel suspension or by the wheel suspensions. The kinematic transmission can, for example, be dependent on or independent of the wheel travel difference.

[0025] According to a second variant, the first measuring unit can detect the orientation of the second rod half relative to the Earth, and from this, the rotation of the second rod half about the stabilizer's axis of rotation relative to the Earth can be determined as the first measured variable. Preferably, the first measuring unit is connected to the second rod half, in particular rigidly and / or in a torsionally rigid manner. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0026] From the rotation of the actuator housing around the stabilizer axis of rotation relative to the earth and the rotation of the second rod half around the stabilizer axis of rotation relative to the earth, the angle of rotation of the two rod halves relative to each other around the stabilizer axis of rotation can preferably be determined or at least estimated.

[0027] The rotation of the second half of the rod about the stabilizer's axis of rotation relative to the ground can be determined, for example, by considering a reference value for the rotation of the second half of the rod about the stabilizer's axis of rotation. The reference value for the rotation of the second half of the rod about the stabilizer's axis of rotation is preferably predetermined. For example, the reference value for the rotation of the second half of the rod about the stabilizer's axis of rotation is determined by the design position of the second half of the rod.

[0028] Preferably, the first measuring unit according to the second variant comprises a one- or multi-dimensional, preferably three-dimensional, accelerometer. Advantageously, the first measuring unit according to the second variant additionally comprises a one- or multi-dimensional, preferably three-dimensional, angular rate sensor.

[0029] The first measuring unit according to the second variant preferably comprises an inertial measuring unit or is formed, for example, by such a unit. Preferably, this inertial measuring unit is configured to detect several, for example, six kinematic degrees of freedom. Advantageously, the first measuring unit according to the second variant and / or its inertial measuring unit is implemented in the form of a micro-electromechanical system.

[0030] According to an advantageous embodiment, the actuator comprises a motor with a motor shaft and a gearbox with a drive shaft and an output shaft. The drive shaft of the gearbox is preferably formed by the motor shaft or, for example, connected to the motor shaft, particularly rigidly and / or in a torsionally rigid manner. The output shaft of the gearbox preferably forms the actuator shaft or is, for example, connected to the ZF Friedrichshafen AG file 303578-DE-NP Friedrichshafen 2024-11-15

[0031] The actuator shaft is connected, in particular in a fixed and / or rigid or torsionally rigid manner. The gearbox is preferably a planetary gearbox, preferably a multi-stage planetary gearbox.

[0032] Preferably, the motor shaft runs along the stabilizer's axis of rotation. Preferably, the stabilizer's axis of rotation passes centrally through the motor shaft. Preferably, the transmission's input shaft runs along the stabilizer's axis of rotation. Preferably, the stabilizer's axis of rotation passes centrally through the transmission's input shaft. Preferably, the transmission's output shaft runs along the stabilizer's axis of rotation. Preferably, the stabilizer's axis of rotation passes centrally through the transmission's output shaft.

[0033] Preferably, the motor is an electric motor to which an electric motor current can preferably be supplied. Advantageously, the motor is equipped with a rotary encoder. Preferably, the rotary encoder, particularly as a supplementary measurement parameter, detects a rotation of the motor shaft about the stabilizer's axis of rotation relative to a stator of the motor and / or to the actuator housing. Preferably, the rotary encoder provides a motor shaft rotation angle signal characterizing this rotation of the motor shaft, which, for example, forms one of the measurement parameter signals. The stator of the motor is preferably rigidly connected to the actuator housing or formed by it.

[0034] According to an advantageous embodiment, the measuring arrangement includes an additional measuring unit connected to the vehicle body, in particular rigidly and / or torsionally rigidly, by means of which the orientation of the vehicle body relative to the ground can be detected and, as an additional measured variable, a rotation of the vehicle body about a transverse axis of the body relative to the ground that coincides with or is parallel to the stabilizer's axis of rotation. From the rotation of the vehicle body about the transverse axis of the body relative to the ground and the rotation of the actuator housing about the stabilizer's axis of rotation relative to the ground, the rotation of the actuator housing relative to the vehicle body can preferably be determined or at least estimated. Thus, for example, the rotation of the first half of the stabilizer bar about the stabilizer's axis of rotation can also be determined or at least estimated. (ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15)For example, this can also take into account an incline or decline in a roadway on which the vehicle is stationary or driving.

[0035] The rotation of the vehicle body about its transverse axis relative to the ground can be determined, for example, by considering a reference value for the rotation of the vehicle body about its transverse axis. The reference value for the rotation of the vehicle body about its transverse axis is preferably predetermined. For example, the reference value for the rotation of the vehicle body about its transverse axis is determined by the vehicle body's design position. The rotation of the first half of the stabilizer bar about the stabilizer's axis of rotation is, in particular, a rotation relative to the vehicle body.

[0036] Preferably, the additional measuring unit comprises a one- or multi-dimensional, preferably three-dimensional, accelerometer. Advantageously, the additional measuring unit also comprises, in particular, a one- or multi-dimensional, preferably three-dimensional, angular rate sensor.

[0037] The additional measuring unit preferably comprises an inertial measuring unit or is, for example, formed by one. Preferably, this inertial measuring unit is configured to detect several, for example, six kinematic degrees of freedom. Advantageously, the additional measuring unit and / or its inertial measuring unit is implemented in the form of a micro-electromechanical system.

[0038] According to an advantageous embodiment, the measuring arrangement has a third measuring unit connected to the second half of the rod, in particular fixedly and / or rigidly or torsionally rigidly, by means of which an orientation of the second half of the rod relative to the earth can be detected and from this a rotation of the second half of the rod about the stabilizer axis of rotation relative to the earth can be determined as a third of the measured quantities.

[0039] From the rotation of the actuator housing around the stabilizer's axis of rotation relative to the ground and the rotation of the second rod half around the stabilizer's axis of rotation relative to the ground, the angle of rotation of the two rod halves relative to each other around the stabilizer's axis of rotation can preferably be determined or at least estimated. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0040] The rotation of the second rod half about the stabilizer axis of rotation relative to the ground can be determined, for example, by considering a reference value for the rotation of the second rod half about the stabilizer axis of rotation. The reference value for the rotation of the second rod half about the stabilizer axis of rotation is preferably predetermined. For example, the reference value for the rotation of the second rod half about the stabilizer axis of rotation is determined by the design position of the second rod half.

[0041] Preferably, the third measuring unit comprises a one- or multi-dimensional, preferably three-dimensional, accelerometer. Advantageously, the third measuring unit additionally comprises a one- or multi-dimensional, preferably three-dimensional, angular rate sensor.

[0042] The third measuring unit preferably comprises an inertial measuring unit or is formed, for example, by one. Preferably, this inertial measuring unit is configured to detect several, for example, six kinematic degrees of freedom. Advantageously, the third measuring unit and / or its inertial measuring unit is implemented in the form of a micro-electromechanical system.

[0043] According to an advantageous embodiment, a control unit connected to the actuator is provided, by means of which the actuator can be controlled, particularly depending on the measured variables. The terms "control" or "controllable" also include, in particular, the meanings of "regulate" or "adjustable." Preferably, the control unit is connected to the measuring arrangement. Preferably, the actuator can also be controlled by means of the control unit depending on the electric motor current. For this purpose, a motor current signal characterizing the electric motor current can be supplied to the control unit.

[0044] For example, the electric motor current can be measured using a current measuring device, which can provide the motor current signal or a signal characterizing the electric motor current. Alternatively, the motor current signal can be calculated and / or derived from other quantities. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0045] According to an advantageous embodiment, an observer based on a model of the roll stabilizer is provided, by means of which at least one output variable can be generated depending on the measured variables. The model of the roll stabilizer is, in particular, an elastokinematic model of the transfer behavior from one half of the bar to the other half. The output variable is, for example, a state variable, in particular one characterizing the state of the roll stabilizer. Preferably, the output variable can also be generated by the observer as a function of the electric motor current. For this purpose, the motor current signal, in particular one characterizing the electric motor current, can be supplied to the observer. The observer is, in particular, a control system observer.

[0046] The output variable characterizes, for example, a twist angle and / or a torque of the stabilizer. Preferably, the output variable characterizes or considers the contribution of the elastokinematic decoupling element to the twist of the two rod halves relative to each other and / or to the stabilizer torque. Preferably, the output variable is a twist angle of the second rod half relative to the actuator shaft or the motor shaft about the stabilizer axis of rotation and / or a stabilizer torque between the two rod halves, or at least a signal characterizing this twist angle and / or this stabilizer torque.

[0047] For example, an observation unit comprising the observer is provided, which is preferably connected to the measuring arrangement. Preferably, the control unit comprises the observer and / or the observer unit. Preferably, the actuator can be controlled by the control unit depending on the output variable.

[0048] The stabilizer device is preferably provided for a vehicle. For example, the stabilizer device is provided on a vehicle. The vehicle preferably comprises the vehicle body, the vehicle wheels, and the at least one wheel suspension or suspensions. The vehicle is, in particular, a motor vehicle. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0049] The invention further relates in particular to a vehicle with a previously described stabilizer device, a vehicle body, and two laterally spaced vehicle wheels, which are connected to the vehicle body by at least one or by a wheel suspension each. Preferably, the roll stabilizer is rotatably mounted on the vehicle body, particularly about the stabilizer's axis of rotation. Preferably, the actuator housing is rotatable about the stabilizer's axis of rotation relative to the vehicle body. The transverse direction is also referred to, for example, as the vehicle's transverse direction. The vehicle is in particular a motor vehicle.

[0050] The vehicle according to the invention can be further developed in accordance with all the embodiments explained in connection with the stabilizer device according to the invention.

[0051] The invention is described below with reference to preferred embodiments and the drawing. The drawing shows:

[0052] Fig. 1 shows a schematic view of a roll stabilizer device with an adjustable roll stabilizer and two vehicle wheels arranged side by side in a transverse direction at a distance from each other, which are coupled to each other by the roll stabilizer.

[0053] Fig. 2 shows a schematic view of a roll stabilizer device according to a first embodiment,

[0054] Fig. 3 shows a schematic circuit diagram of a measuring arrangement and a control unit of the roll stabilizer device according to the first embodiment,

[0055] Fig. 4 shows a schematic view of a roll stabilizer device according to a second embodiment,

[0056] Fig. 5 shows a schematic circuit diagram of a measuring arrangement and a control unit of the roll stabilizer device according to the second embodiment, ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0057] Fig. 6 shows a schematic view of a roll stabilizer device according to a third embodiment,

[0058] Fig. 7 shows a schematic circuit diagram of a measuring arrangement and a control unit of the roll stabilizer device according to the third embodiment.

[0059] Fig. 8 shows a schematic view of a roll stabilizer device according to a fourth embodiment and

[0060] Fig. 9 shows a schematic circuit diagram of a measuring arrangement and a control unit of the roll stabilizer device according to the fourth embodiment.

[0061] Figure 1, relevant for all embodiments, shows a schematic view of a roll stabilization device with an adjustable roll stabilizer 1 of a vehicle and two vehicle wheels 2 and 3 arranged side by side at a distance in a transverse direction y of the vehicle. Each wheel is rotatably mounted about a wheel axis on a wheel carrier 4 or 5, respectively. Vehicle wheel 2 is rotatably mounted about the wheel axis 6 on the wheel carrier 4, and vehicle wheel 3 is rotatably mounted about the wheel axis 7 on the wheel carrier 5. Each wheel carrier is articulated to a vehicle body 8 (only schematically indicated) by a suspension link, preferably designed as a transverse arm. The roll stabilizer 1 is also mounted on the vehicle body 8. Wheel carrier 4 is articulated to the vehicle body 8 by the suspension link 9, and wheel carrier 5 by the suspension link 10.Each suspension link is part of a wheel suspension by means of which the respective vehicle wheel is connected to the vehicle body 8. Vehicle wheel 2 is connected to the vehicle body 8 by the wheel suspension 11, and vehicle wheel 3 is connected to the vehicle body 8 by the wheel suspension 12. Each wheel suspension preferably includes additional components, such as at least one vehicle spring and / or at least one damper and / or at least one tie rod and / or at least one additional suspension link and / or at least one other wheel suspension component. Furthermore, a longitudinal direction x and a vertical direction z are shown. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15.

[0062] The roll stabilizer 1 comprises an actuator 13, an elastokinematic decoupling element 14, and a stabilizer bar 17 divided into two sections 15 and 16. Sections 15 and 16 are connected in series by the actuator 13 and the elastokinematic decoupling element 14 and are rotatable relative to each other about a stabilizer axis of rotation 18. Section 15 is angled at its end facing away from the actuator 13 and connected to the landing gear link 9 via a coupling element 19. Section 16 is also angled at its end facing away from the actuator 13 and connected to the landing gear link 10 via a coupling element 20. A torque M acting between sections 15 and 16 about the stabilizer axis of rotation 18 is indicated by an arrow and is also referred to, for example, as stabilizer torque.The stabilizer pivot axis 18 runs in the transverse direction y of the vehicle, which in connection with the roll stabilizer 1 is also simply referred to as the transverse direction.

[0063] A more detailed view of the roll stabilizer 1 of the roll stabilizer device according to a first embodiment is shown in Fig. 2, according to which the actuator 13 comprises an actuator housing 21, which is rigidly connected to the rod half 15. Furthermore, the actuator 13 comprises an actuator shaft 22 rotatable relative to the actuator housing 21 about the stabilizer axis of rotation 18, to which the rod half 16 is connected via the interposition of the elastokinematic decoupling element 14. The actuator 13 has an electric motor 23 with a motor shaft 24 and a gearbox 25 with a drive shaft and an output shaft, which forms the actuator shaft 22. The motor shaft 24 is rigidly connected to, or forms, the drive shaft of the gearbox 25. The gearbox 25 is, in particular, a planetary gearbox.

[0064] The roll stabilizer device comprises a measuring arrangement 26 by means of which one or more measured variables characterizing a state of the roll stabilizer can be determined, wherein the measuring arrangement 26 has a first measuring unit 27 by means of which, as a first of the measured variables, a rotation angle A9_HL of the two rod halves 15, 16 relative to each other about the stabilizer rotation axis 18 can be determined. Furthermore, the measuring arrangement 26 has a second measuring unit 28 rigidly connected to the actuator housing 21, by means of which an orientation of the ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0065] The position of the actuator housing 21 relative to the ground can be determined, and from this, a rotation 9_F of the actuator housing 21 about the stabilizer rotation axis 18 relative to the ground can be determined as a second measured quantity. The second measuring unit 28 is formed in particular by an inertial measuring unit, preferably in the form of a micro-electromechanical system. A schematic block diagram of the measuring arrangement 26 is shown in Fig. 3.

[0066] The motor 23 is equipped with a rotary encoder 29, by means of which a rotation 0_M of the motor shaft 24 about the stabilizer axis of rotation 18 relative to the actuator housing 21 can be detected as a supplementary measurement parameter. The rotary encoder 29 is specifically attributed to the measuring arrangement 26.

[0067] The first measured variable A9_HL, the second measured variable 0_F, and the supplementary measured variable 0_M are supplied to a control unit 30, by means of which the motor 23 and thus the actuator 13 can be controlled. For this purpose, the control unit 30 is connected to the motor 23. Preferably, a motor current signal l_M, which characterizes an electrical motor current supplied to the motor 23, is also supplied to the control unit 30.

[0068] The rotation angle A0_Actuator_EKE shown in Fig. 2 represents the contribution of the elastokinematic decoupling element 14 to the rotation of the two rod halves 15 and 16 relative to each other and is a function of the first measured variable A0_HL and the second measured variable 0_F. Thus, the rotation angle A0_Actuator_EKE can be determined from the first and second measured variables. For this purpose, the control unit 30 includes, in particular, an observer 31 based on a model of the roll stabilizer 1, by means of which at least one output variable AG can be generated as a function of the measured variables. This output variable AG characterizes or takes into account, in particular, the contribution of the elastokinematic decoupling element 14 to the rotation of the two rod halves 15 and 16 relative to each other. For example, the output variable AG corresponds to or characterizes the rotation angle A0_actuator_EKE or a torque of the stabilizer, which in particular takes into account the elastokinematic decoupling element 14.ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15.

[0069] The motor 23 is preferably controllable by means of the control unit 30 depending on the output variable AG. The model of the roll stabilizer is in particular an elastokinematic model of the transmission behavior from one half of the bar to the other half.

[0070] The first measuring unit 27 comprises two height sensors 32 and 33, which detect the wheel strokes of vehicle wheels 2 and 3. The wheel stroke Z_HL_R of vehicle wheel 2 is detected by height sensor 32, and the wheel stroke Z_HL_L of vehicle wheel 3 is detected by height sensor 33. From these wheel strokes, the wheel stroke difference AZ_HL is calculated as Z_HL = Z_HL_L - Z_HL_R, which, multiplied by a kinematic transmission i_kin, yields the rotation A0_HL of the two rod halves 15 and 16 relative to each other. The kinematic transmission i_kin is predetermined and determined in particular by the wheel suspensions 11 and 12. However, it can depend on the wheel stroke difference AZ_HL.

[0071] Figures 4 and 5 show a schematic view and a schematic circuit diagram of a roll stabilization device according to a second embodiment, wherein features identical or similar to those of the first embodiment are designated with the same reference numerals as in the first embodiment. In particular, the representation according to Figure 1 is also applicable to the second embodiment.

[0072] In contrast to the first embodiment, the second embodiment of the measuring arrangement 26 has an additional measuring unit 34 that is rigidly connected to the vehicle body 8. This unit detects the orientation of the vehicle body 8 relative to the ground and, as an additional measurement, determines the rotation 0_A of the vehicle body 8 about a transverse axis 35 of the body relative to the ground that coincides with or is parallel to the stabilizer rotation axis 18. The additional measurement 0_A is supplied to the control unit 30, so that the output variable AG can be additionally generated by the observer 31 as a function of the additional measurement 0_A. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0073] According to a first possible alternative, in the second embodiment only a height sensor is provided for detecting the wheel stroke Z_HL_L of the vehicle wheel 3, so that by means of the first measuring unit 27 only a rotation angle 9_L of the rod half 16 relative to the vehicle body 8 about the stabilizer rotation axis 18 is determined and transmitted to the control unit 30.

[0074] According to a second possible alternative, in the second embodiment a height level sensor is provided for each vehicle wheel, so that by means of the first measuring unit 27, as in the first embodiment, the angle of rotation A9_HL is determined and transmitted to the control unit 30, which is indicated in brackets in Fig. 5.

[0075] Apart from these differences, the second embodiment is identical to the first embodiment, so for a further description of the second embodiment, reference is made to the description of the first embodiment.

[0076] Figures 6 and 7 show a schematic view and a schematic circuit diagram of a roll stabilization device according to a third embodiment, wherein features identical or similar to those of the first embodiment are designated with the same reference numerals as in the first embodiment. In particular, the representation according to Figure 1 is also applicable to the third embodiment.

[0077] In contrast to the first embodiment, in the third embodiment the measuring arrangement 26 has a third measuring unit 36 ​​firmly connected to the second rod half 16, by means of which an orientation of the second rod half 16 relative to the earth can be detected and from this a rotation 9_D of the second rod half 16 about the stabilizer rotation axis 18 relative to the earth can be determined as a third measured quantity.

[0078] The third measured variable 9_D is supplied to the control unit 30, so that the output variable AG can additionally be determined by the observer 31 as a function of the third measured variable 9_D. The third measuring unit 36 ​​is in particular formed by an inertial measuring unit, preferably in the form of a micro-electromechanical system. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0079] According to the third embodiment, the first measuring unit 27 comprises at least one or two height level sensors, such that at least one rotation of one of the rod halves or the rotation angle A9_HL of the two rod halves relative to each other is determined as the first measuring signal and transmitted to the control unit 30, the latter being indicated in Fig. 7.

[0080] Apart from these differences, the third embodiment is identical to the first embodiment, so for a further description of the third embodiment, reference is made to the description of the first embodiment.

[0081] Figures 8 and 9 show a schematic view and a schematic circuit diagram of a roll stabilization device according to a fourth embodiment, wherein features identical or similar to those of the first embodiment are designated with the same reference numerals as in the first embodiment. In particular, the representation according to Figure 1 is also applicable to the fourth embodiment.

[0082] In contrast to the first embodiment, the fourth embodiment uses the first measuring unit 27 to detect the orientation of the second rod half 16 relative to the earth, and from this, the first measured variable, a rotation 0_D of the second rod half 16 about the stabilizer axis of rotation 18 relative to the earth, can be determined. The first measuring unit 27 is rigidly connected to the second rod half 16.

[0083] The first measured quantity 0_D is supplied to the control unit 30, so that the output quantity AG can be generated by the observer 31 as a function of the first measured quantity 0_D. The first measuring unit 27 is in particular formed by an inertial measuring unit, preferably in the form of a micro-electromechanical system.

[0084] Apart from these differences, the fourth embodiment is identical to the first embodiment, so for a further description of the fourth embodiment, reference is made to the description of the first embodiment. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0085] It should also be noted that, optionally, in the third and fourth embodiments, the additional measuring unit 34 according to the second embodiment may be present, so that the additional measured variable 9_A can be taken into account when forming the output variable AG and / or when controlling the actuator 23.

[0086] ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0087] Reference sign

[0088] 1 roll stabilizer

[0089] 2 vehicle wheels

[0090] 3 vehicle wheel

[0091] 4 bike carriers

[0092] 5 bike carriers

[0093] 6 Wheel pivot

[0094] 7 Wheel pivot

[0095] 8 Vehicle body

[0096] 9 suspension control arms

[0097] 10 suspension control arms

[0098] 11 Wheel suspension

[0099] 12 Wheel suspension

[0100] 13 Actuator

[0101] 14 elastokinematic decoupling element

[0102] 15 bar half

[0103] 16 bar half

[0104] 17 Stabilizer bar

[0105] 18 Stabilizer pivot axis

[0106] 19 coupling link

[0107] 20 coupling link

[0108] 21 actuator housings

[0109] 22 Actuator shaft

[0110] 23 Engine

[0111] 24 Motor shaft

[0112] 25 gearboxes

[0113] 26 Measuring setup

[0114] 27 first measuring unit

[0115] 28 second measuring unit

[0116] 29 rotary encoders

[0117] 30 control unit

[0118] 31 observers ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15

[0119] 32 Height level sensor

[0120] 33 Height level sensor

[0121] 34 additional measuring units

[0122] 35 Superstructure transverse axis

[0123] 36 third unit of measurement

[0124] AG output signal observer i_kin kinematic translation

[0125] M Torque x Vehicle longitudinal axis y Transverse axis / Vehicle transverse axis z Vehicle vertical axis

[0126] Z_HL_R Wheel Hub

[0127] Z_HL_L Wheel stroke

[0128] AZ_HL Wheel travel difference

[0129] 9_A Rotation of the vehicle body relative to the Earth

[0130] 0_D Rotation of time: Half of the staff relative to the Earth

[0131] 0_F Rotation of the actuator housing relative to the earth

[0132] 0_L Rotation of the time bar half relative to the vehicle structure

[0133] A0_HL Rotation of the rod halves relative to each other

[0134] 0_M Rotation of the motor shaft relative to the actuator housing

[0135] A0_Stabi Rotation of the actuator housing relative to the vehicle body

[0136] A0_Actuator_EKE Rotation of the second rod half relative to the actuator shaft or motor shaft

Claims

ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15 Patent claims 1. Roll stabilizer device comprising: an adjustable roll stabilizer (1) comprising an actuator (13) including an actuator housing (21) and an actuator shaft (22) rotatable relative to the actuator housing about a stabilizer rotation axis (18) extending in a transverse direction (y), an elastokinematic decoupling element (14) and a stabilizer rod (17) which is divided into two rod halves (15, 16), of which a first rod half (15) is rotationally rigidly connected to the actuator housing (21) and a second rod half (16) is connected to the actuator shaft (22) via the interposition of the elastokinematic decoupling element (14), and a measuring arrangement (26) by means of which measured quantities describing a state of the roll stabilizer (1) can be determined, wherein the measuring arrangement (26) comprises a first measuring unit (27),by means of which, as a first of the measured quantities, a rotation of at least one of the rod halves (16) about the stabilizer axis of rotation (18) or a rotation angle (A9_HL) of the two rod halves (15, 16) relative to each other about the stabilizer axis of rotation (18) can be determined, characterized in that the measuring arrangement (26) has a second measuring unit (28) connected to the actuator housing, by means of which an orientation of the actuator housing (21) relative to the earth can be determined and from this, as a second of the measured quantities, a rotation (0_F) of the actuator housing (21) about the stabilizer axis of rotation (18) relative to the earth can be determined. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15 2. Roll stabilizer device according to claim 1, characterized in that the second measuring unit (28) is formed by an inertial measuring unit in the form of a micro-electromechanical system.

3. Roll stabilizer device according to claim 1 or 2, characterized by a vehicle body (8) and two vehicle wheels (2, 3) spaced apart in the transverse direction (y), which are connected to the vehicle body (8) by at least one wheel suspension (11 , 12), wherein the roll stabilizer (1 ) is rotatably mounted on the vehicle body (8) about the stabilizer pivot axis (18).

4. Roll stabilizer device according to claim 3, characterized in that the ends of the rod halves (15, 16) are angled and are at least indirectly connected to the vehicle wheels (2, 3).

5. Roll stabilizer device according to claim 3 or 4, characterized in that the first measuring unit (27) comprises a height level measuring arrangement (32, 33) by means of which the wheel strokes (Z_HL_R, Z_HL_L) of the vehicle wheels (2, 3) can be detected and from which the rotation angle (A9_HL) of the two rod halves (15, 16) relative to each other about the stabilizer rotation axis (18) can be determined.

6. Roll stabilizer device according to claim 3 or 4, characterized in that the first measuring unit (27) is connected to the second rod half (16), by means of which an orientation of the second rod half (16) relative to the earth can be detected and from this the rotation (0_D) of the second rod half (16) about the stabilizer rotation axis (18) relative to the earth can be determined as the first measured quantity.

7. Roll stabilizer device according to claim 6, characterized in that the first measuring unit (27) is formed by an inertial measuring unit in the form of a micro-electromechanical system.

8. Roll stabilizer device according to one of claims 3 to 7, characterized in that the measuring arrangement (26) has an additional measuring unit (34) connected to the vehicle body (8), by means of which an orientation of the ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15 The vehicle body (8) can be detected relative to the earth, and from this, as an additional measurement parameter, a rotation (9_A) of the vehicle body (8) about a transverse axis (35) of the body that coincides with or is parallel to the stabilizer rotation axis (18) can be determined relative to the earth.

9. Roll stabilizer device according to claim 8, characterized in that the additional measuring unit (34) is formed by an inertial measuring unit in the form of a microelectromechanical system.

10. Roll stabilizer device according to one of the preceding claims, characterized in that the measuring arrangement (27) has a third measuring unit (36) connected to the second rod half (16), by means of which an orientation of the second rod half (16) relative to the earth can be detected and from which a rotation (0_D) of the second rod half (16) about the stabilizer rotation axis (18) relative to the earth can be determined as a third of the measured quantities.

11. Roll stabilizer device according to claim 10, characterized in that the third measuring unit (36) is formed by an inertial measuring unit in the form of a micro-electromechanical system.

12. Roll stabilizer device according to one of the preceding claims, characterized in that the actuator (13) has a motor (23) with a motor shaft (24) and a gearbox (25) with a drive shaft connected to or formed by the motor shaft (24) and an output shaft forming the actuator shaft (22).

13. Roll stabilizer device according to claim 12, characterized in that the motor (23) is an electric motor to which an electric motor current (l_M) can be supplied, wherein the motor (23) is provided with a rotary encoder by means of which, as a supplementary of the measured variables, a rotation (0_M) of the motor shaft (24) about the stabilizer rotation axis (18) relative to the actuator housing (21) can be detected. ZF Friedrichshafen AG File 303578-DE-NP Friedrichshafen 2024-11-15 14. Roll stabilizer device according to one of the preceding claims, characterized by a control unit (30) connected to the actuator (13), by means of which the actuator (13) can be controlled depending on the measured variables.

15. Roll stabilizer device according to claim 14, characterized in that the control unit (30) comprises an observer (31) based on a model of the roll stabilizer (1), by means of which at least one output variable (AG) characterizing the state of the roll stabilizer (1) can be generated depending on the measured variables.

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