Suspension Control Apparatus for Vehicle State Estimation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing suspension control systems for vehicles face complexity in state estimation due to matrix calculations and increased tuning parameters, making it difficult to accurately estimate vehicle state using vehicle height sensors.
Innovation Solution
A suspension control apparatus with a damping force adjustable shock absorber, vehicle height sensors, and a control device that includes an external force calculation unit, vertical force calculation unit, acceleration calculation unit, sprung speed estimation unit, and damping characteristic determination unit, allowing for easy estimation of vehicle state by calculating external forces and damping characteristics based on sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an observer with matrix calculation is used to estimate vehicle state, then estimation capability is achieved, but calculation complexity increases and tuning becomes difficult
Solution Approach 1:
The patent extracts the essential estimation functionality from the complex observer system and implements it through a simplified calculation approach. Instead of using a full matrix-based observer, the invention uses direct calculation of sprung mass acceleration from suspension forces and integration to obtain velocity, removing the unnecessary mathematical complexity while retaining the core estimation capability
Solution Approach 2:
The patent replaces the mathematical/mechanical system (matrix calculation) with a simpler computational approach. The complex matrix operations are substituted with direct force-to-acceleration calculations and integration, reducing computational burden while achieving the same physical estimation goal
2Measurement precision
If an observer with matrix calculation is used to estimate vehicle state, then estimation capability is achieved, but the number of tuning parameters increases making tuning difficult
Solution Approach 1:
The patent removes the weight matrix and associated tuning parameters from the estimation system. By using direct force-based acceleration calculation and integration, the invention eliminates the need for tuning matrix weights while maintaining accurate sprung mass velocity estimation
Solution Approach 2:
The patent changes the estimation approach from parameter-heavy matrix operations to a physics-based calculation using measurable forces and integrals. This parameter reduction simplifies tuning by eliminating the weight matrix parameters that previously required adjustment
Data Source
AI summary
An object of the present invention is to provide a suspension control apparatus allowing a vehicle state to be easily estimated with use of a vehicle height sensor. A controller 11 includes an external force estimation portion 31, which calculates an external force applied to a vehicle body from a displacement calculated from a vehicle height sensor 10, a vertical force calculation portion 32A, which calculates a vertical force of the vehicle body 1 from the calculated external force, a sprung acceleration calculation portion 32B, which calculates an acceleration from the calculated vertical force, a filter portion 32C, which estimates a sprung speed of the vehicle body 1 from the calculated acceleration, and a damping characteristic determination portion 14, which acquires a damping characteristic based on the estimated sprung speed.