KR20190000643A - Method and apparatus for improving response of active roll stabilizer for vehicle - Google Patents

Abstract

The invention includes a processor and one or more sensors for measuring one or more element values relating to the running of a vehicle, a memory for storing a map of the position of an actuator relative to a target torque of a predetermined stabilizer bar, Determining a target torque of the stabilizer bar based on the measured one or more element values, generating a reference position of the actuator based on the predetermined map and the determined target torque, and calculating a feed- Feed-forward control of the active roll stabilizer.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active roll stabilizer for a vehicle,

The present invention relates to a method and apparatus for improving the responsiveness of an active roll stabilizer for a vehicle. More particularly, the present invention relates to a method and apparatus for improving responsiveness by performing feedforward control in addition to feedback control for a vehicle active roll stabilizer.

In the active roll stabilizer of the vehicle, the stabilizer bar reduces the roll generated when the vehicle turns, and maintains the equilibrium of the vehicle body, thereby improving the riding comfort and driving stability of the vehicle.

The stiffness of the stabilizer bar changes according to the operation of the actuator controlled by the controller. The stabilizer bars are mounted so as to be arranged in the lateral direction of the vehicle and connected to the left and right wheels, respectively, and are twisted when the left and right wheels move relatively up and down with respect to each other. The stabilizer bar reduces the tilting of the vehicle body through the restoring force generated at this time, and controls the so-called roll.

Regarding the control of the stabilizer bar, the main controller generates target torque based on various traveling elements of the vehicle. However, since the torque generation of the stabilizer bar is driven by the actuator, when a delay occurs in response to the generated target torque of the actuator, the torque actually generated in the stabilizer bar may differ from the target torque in time have. When the difference between the target torque and the actually generated torque occurs as described above, there is a problem that the riding comfort of the driver of the vehicle may be lowered and the running stability of the vehicle may also be deteriorated.

Therefore, it is urgent to develop a technique for improving the responsiveness of the stabilizer.

A method and an apparatus for improving responsiveness of an active stabilizer for a vehicle according to an embodiment of the present invention aim to solve the above-described problems by solving the following problems.

In the present invention, in addition to the feedback control performed based on the deviation between the actual torque and the target torque in the existing stabilizer, the feedforward control is performed using the map of the hardware characteristics of the vehicle in parallel, And to improve the running stability of the vehicle, and to provide a method and an apparatus for improving the responsiveness of an active-vehicle stabilizer for a vehicle.

The present invention has been made in view of the above problems, and it is an object of the present invention to provide an apparatus and method for controlling the same.

According to an aspect of the present invention, there is provided an apparatus for controlling an active roll stabilizer including a stabilizer bar driven by an actuator and an actuator in a vehicle, And a processor for determining a target torque of the stabilizer bar based on the measured one or more element values and for determining a target torque of the stabilizer bar based on the at least one measured element value, Generates a reference position of the actuator based on the predetermined map and the determined target torque, and performs feed-forward control on the actuator based on the generated reference position.

Preferably, the system further comprises a torque sensor for measuring the actual torque of the stabilizer bar, and the processor may further be configured to perform feed-back control for the actuator based on the difference between the target torque and the actual torque have.

Preferably, the processor is further configured to perform the feed-back control in parallel with the feed-forward control.

Preferably, one or more element values relating to the running of the vehicle may include at least one of a vehicle speed, a steering angle, a lateral acceleration and a Yaw Rate value.

Preferably, the map may be predetermined according to the hardware characteristics of the stabilizer bar and the actuator.

A method of controlling an active roll stabilizer including a stabilizer bar driven by an actuator and an actuator in a vehicle according to another embodiment of the present invention includes the steps of measuring one or more element values relating to running of the vehicle, Generating a reference position of the actuator based on the determined target torque and a map of the position of the actuator to the target torque of the predetermined stabilizer bar based on the reference position of the stabilizer bar, And performing feed-forward control on the actuator based on the feed-forward control signal.

Preferably, measuring the actual torque of the stabilizer bar and performing feed-back control on the actuator based on the difference between the target torque and the actual torque may be performed.

Preferably, the feed-back control may be performed in parallel with the feed-forward control.

Preferably, one or more element values relating to the running of the vehicle may include at least one of a vehicle speed, a steering angle, a lateral acceleration and a Yaw Rate value.

Preferably, the map may be predetermined according to the hardware characteristics of the stabilizer bar and the actuator.

A method and an apparatus for improving the responsiveness of a vehicle active roll stabilizer according to an embodiment of the present invention include a feedback control performed based on a deviation between a torque actually generated and a target torque in an existing stabilizer, The feedforward control can be performed using the map of the hardware characteristics of the vehicle.

Accordingly, it is possible to increase the response speed of the actuator, and hence the active roll stabilizer, through the feedforward control, and to perform the feedback active control based on the deviation between the target torque and the actually generated torque, And can ultimately improve the driving stability of the vehicle.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 shows an example of an active roll stabilizer control device that performs feed-back control for an actuator.
Fig. 2 shows an example of an active roll stabilizer control device that performs feed-forward control for an actuator.
Figure 3 shows an active roll stabilizer control device which performs in parallel a feed-back control and a feed-forward control for an actuator in accordance with an embodiment of the present invention.
Fig. 4 shows a map of the target torque versus actuator position of a predetermined stabilizer bar according to an embodiment of the present invention. Fig.
FIG. 5 is a graph showing experimental results of torque generated when the feed-back control and the feed-forward control are performed in parallel according to the embodiment of the present invention, and the target torque, .
6 shows an example of an active roll stabilizer control method for performing feed-back control for an actuator.
7 shows an active roll stabilizer control method performed in parallel with feed-back control and feed-forward control for an actuator according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

1 shows an example of an active roll stabilizer control device that performs feed-back control for an actuator.

1, an example of the active roll stabilizer control apparatus 10 includes a vehicle sensor 100, a main controller 200, a torque controller 300, an actuator 400, a stabilizer bar 500, and a torque sensor 600).

The vehicle sensor 100 measures an element value relating to running of the vehicle including at least one of values such as a vehicle speed, a steering angle, a lateral acceleration, and a yaw-rate generated from the vehicle. The vehicle sensor 100 is located in four wheels, or some wheels, and transmits element values relating to the running of the vehicle measured on each wheel to the main controller 200.

The main controller 200 determines the target torque based on the element value of the vehicle measured by the vehicle sensor 100. [ Specifically, the main controller 200 determines whether the vehicle is cornering or rolled based on the travel element value received from the vehicle sensor 100, reduces the roll angle, The target torque of the stabilizer bar 500 is determined. The main controller 200 transmits the determined target torque to the torque controller 300. The main controller 200 is not shown but can be implemented by a processor.

The torque controller 300 receives the target torque determined from the main controller 200 and receives the actual generated torque measured in the stabilizer bar 500 from the torque sensor 600. [ The torque controller 300 generates a control signal to be transmitted to the actuator 400 based on the deviation between the target torque and the actual generated torque so that the actual generated torque follows the target torque. The generation of such a control signal corresponds to a feed-back control since it is based on the actually generated torque as a result of the previous control. The torque controller 300 is not shown but may be implemented by a processor.

The actuator 400 receives the feed-back control signal from the torque controller 300 and drives the stabilizer bar 500. The actuator 400 is mechanically connected to the stabilizer bar 500. Therefore, the stabilizer bar 500 is driven by the operation of the actuator 400.

The stabilizer bar 500 operates by driving the actuator 400. The stabilizer bar 500 is connected to the left wheel and the right wheel of the vehicle, respectively, and the stiffness is changed according to the driving of the actuator 400, and the roll generation of the vehicle can be controlled while adjusting the changed stiffness. Therefore, the stabilizer bar 500 actively controls rolls generated during cornering of the vehicle, and prevents overturning of the vehicle.

The torque sensor 600 measures a torque value actually generated for the torsion of the stabilizer bar 500 whose rigidity is changed by driving of the actuator 400. [ The actually generated torque value in the stabilizer bar 500 may be different from the target torque determined by the main controller 200. [ Therefore, the torque controller 300 must reduce the gap between the actually generated torque and the target torque, and ultimately must follow the target torque. Thus, the torque sensor 600 enables feed-back control by measuring the torque value actually generated in the stabilizer bar 500 and transmitting it to the torque controller 300. [

Fig. 2 shows an example of an active roll stabilizer control device that performs feed-forward control for an actuator.

2, an example of the active roll stabilizer control device 20 includes a vehicle sensor 100, a main controller 200, a position controller 700, a map 710, an actuator 400, a stabilizer bar 500 ).

The operation of the vehicle sensor 100 and the main controller 200 is generally the same as in Fig. The vehicle sensor 100 measures element values relating to running of the vehicle including at least one of values such as vehicle speed, steering angle, lateral acceleration and yaw-rate from the vehicle. In addition, the main controller 200 determines the target torque based on the element value of the vehicle measured by the vehicle sensor 100. [ However, the main controller 200 transmits the determined target torque to the position controller 700.

The position controller 700 receives the target torque determined from the main controller 200. [ The position controller 700 generates a control signal for the actuator 400 on the basis of a predetermined map 710 for the position of the target torque to actuator 400. Specifically, the position controller 700 generates the position of the actuator 400 corresponding to the target torque determined by the main controller 200 in the predetermined map 710 as a reference position. Further, the position controller 700 generates a control signal of the actuator 400 based on the generated reference position. The generation of the control signal corresponds to a feed-forward control because it is performed without receiving the result of the previous control. Since the feed-forward control generates the control signal in a state in which the actual generated torque resulting from the control is not received from the stabilizer bar 500 to be controlled, unlike the feed-back control, the control signal is generated relatively quickly can do. The position controller 700 is not shown but may be implemented by a processor.

The map 710 is a predetermined map of the position of the target torque-to-actuator 400 used by the position controller 700 to generate the feed-forward control signal. The map 710 is not shown but may be stored in memory and used by the location controller 700. The map 710 may be predetermined by a preliminary experiment based on the hardware characteristics of the actuator 400 and the stabilizer bar 500 and stored in the memory.

The actuator 400 receives the feed-forward control signal from the position controller 700 and drives the stabilizer bar 500. Since the feed-forward control signal is generated faster than the feed-back control signal because it does not need to receive a measured value of the actually generated torque, the actuator 400 is relatively fast to the stabilizer bar 500). The actuator 400 drives the stabilizer bar 500 according to the position reference generated in correspondence with the target torque according to the hardware characteristics of the actuator 400 based on the map 710 by the position controller 700. [

The stabilizer bar 500 operates by driving the actuator 400. Since the actuator 400 is operated by the position reference generated by the predetermined map 710 without measuring the actual generated torque in the stabilizer bar 500 in contrast to the feed-back control, the stabilizer bar 500 is also driven by the actuator 400). ≪ / RTI > The stabilizer bar 500 also operates relatively quickly compared to the feed-back control, reflecting the fact that the control signal is generated relatively quickly relative to the feed-back control and the actuator 400 is operating.

Figure 3 shows an active roll stabilizer control device which performs in parallel a feed-back control and a feed-forward control for an actuator in accordance with an embodiment of the present invention.

3, an active roll stabilizer control device 30 according to an embodiment of the present invention includes a vehicle sensor 100, a main controller 200, a position controller 700, a map 710, a torque controller 300 An actuator 400, a stabilizer bar 500, and a torque sensor 600. [

The operation of the vehicle sensor 100 and the main controller 200 is generally the same as in Fig. The vehicle sensor 100 measures element values relating to running of the vehicle including at least one of values such as vehicle speed, steering angle, lateral acceleration and yaw-rate from the vehicle. In addition, the main controller 200 determines the target torque based on the element value of the vehicle measured by the vehicle sensor 100. [ The main controller 200 is not shown but can be implemented by a processor. However, the main controller 200 transmits the determined target torque to both the torque controller 300 and the position controller 700.

The operation of the position controller 700 and the torque controller 300 is the same as described above with reference to FIG. 2 and FIG.

The position controller 700 receives the determined target torque from the main controller 200 and generates a control signal for the actuator 400 based on a predetermined map 710 for the position of the actuator torque sensor to the target torque. . The map 710 may be predetermined by a preliminary experiment based on the hardware characteristics of the actuator 400 and the stabilizer bar 500 and stored in the memory. The position controller 700 is not shown but may be implemented by a processor.

The torque controller 300 receives the target torque determined from the main controller 200 and receives the actual generated torque measured in the stabilizer bar 500 from the torque sensor 600. [ The torque controller 300 generates a control signal to be transmitted to the actuator 400 based on the deviation between the target torque and the actual generated torque so that the actual generated torque follows the target torque. The torque controller 300 is not shown but may be implemented by a processor.

3, the active roll stabilizer control device 30 is different from the active roll stabilizer control devices 10 and 20 of FIG. 1 or 2 in that the position controller 700 and the torque controller 300 ). The position controller 700 performs feed-forward control as described in FIG. 2, and the torque controller 300 performs feed-back control as described in FIG.

An active roll stabilizer control device (30) according to an embodiment of the present invention performs feed-forward control and feed-back control in parallel. The actuator 400 can be controlled by generating the control signal faster than the existing feedback control through the feed-forward control, reducing the gap between the target torque and the actually generated torque through the feedback control and following the target torque You can do a feed-back for That is, parallel execution of feed-forward control and feed-back control complement each other. For example, even if an overshoot or other side effect occurs in the torque generation of the stabilizer bar 500, it can be eliminated by parallel execution of both controls. Therefore, it is possible to control the actuator 400 relatively quickly and accurately than when performing only one control.

The actuator 400 receives the feed-forward control signal or the feed-back control signal from the position controller 700 or the torque controller 300 and drives the stabilizer bar 500. The actuator 400 can drive the stabilizer bar 500 relatively quickly and accurately by the parallel execution of the feed-forward control and the feed-back control.

The stabilizer bar 500 operates by driving the actuator 400. The stabilizer bar 500 also operates relatively quickly and accurately by the parallel execution of feed-forward control and feed-back control. Therefore, the responsiveness of the stabilizer bar 500 to the target torque generation of the main controller 200 can be enhanced.

The torque sensor 600 measures the actually generated torque value with respect to the torsion of the stabilizer bar 500 and then transmits it to the torque controller 300. The actually generated torque value transmitted by the torque sensor 600 is used for the feedback control by the torque controller 300.

Figure 4 shows a map 710 of the target torque versus actuator position of a predetermined stabilizer bar in accordance with an embodiment of the present invention.

The map 710 is a predetermined map of the position of the target torque to actuator 400 used when the position controller 700 generates the feed-forward control signal, as described above. The map 710 is predetermined by a preliminary experiment based on the hardware characteristics of the actuator 400 and the stabilizer bar 500. Referring to FIG. 4, the reference position of the actuator 400 has a shape substantially proportional to the target torque. The map 710 is not shown in FIGS. 2 and 3 but may be stored in a memory and used by the position controller 700.

The map 710 is used to generate the reference position corresponding to the target torque of the main controller 200 regardless of the actually generated torque in the stabilizer bar 500. [ Therefore, by using the map 710, the position controller 700 can generate the control signal immediately after measuring the actual driving characteristic from the stabilizer bar 500, without needing to receive it, and further, the actuator 400 and the stabilizer The bar 500 can be driven quickly, and responsiveness to the target torque generation of the main controller 200 can be enhanced.

FIG. 5 is a graph showing experimental results of torque generated when the feed-back control and the feed-forward control are performed in parallel according to the embodiment of the present invention, and the target torque, .

The target torque is represented by a thin solid line, and the torque generated in the stabilizer bar 500 by performing the existing feed-back control as shown in FIG. 1 is indicated by a dotted line, and according to an embodiment of the present invention, - Torque generated in the stabilizer bar 500 by parallel execution of forward control and feed-back control is indicated by a thick solid line.

Referring to FIG. 5, when the feed-forward control and the feed-back control are performed in parallel according to an embodiment of the present invention, when the conventional feed-back control is performed, do. That is, when the feed-forward control and the feed-back control are performed in parallel according to an embodiment of the present invention, the response of the stabilizer bar 500 to the target torque generation of the main controller 200 can be improved . Such an improvement in the responsiveness of the stabilizer bar 500 can ultimately provide stability to ride comfort and steering feel of the vehicle.

6 shows an example of an active roll stabilizer control method for performing feed-back control for an actuator.

Each sensor 100 in the vehicle measures an element value relating to running of the vehicle including at least one of values such as a vehicle speed, a steering angle, a lateral acceleration and a yaw-rate generated from the vehicle. (S110) The step S110 of measuring the element value with respect to the running of the vehicle is performed by the vehicle sensor 100 located in each of four wheels, or a part of the wheels.

The main controller 200 determines the target torque based on the element value of the vehicle measured by the vehicle sensor 100. [ (S120) Specifically, the main controller 200 determines whether or not the vehicle is cornering or roll based on the travel element value received from the vehicle sensor 100, reduces the roll angle And determines the target torque of the stabilizer bar 500 necessary for preventing the overturning of the vehicle.

The torque controller 300 generates a control signal to be transmitted to the actuator 400 based on the deviation between the target torque and the actual generated torque so that the actual generated torque follows the target torque. (S130) The generation of such a control signal corresponds to a feed-back control because it is based on actual generated torque as a result of the previous control.

The actuator 400 operates based on the generated feed-back control signal. (S140) Since the actuator 400 is mechanically connected to the stabilizer bar 500, the stabilizer bar 500 is driven by the operation of the actuator 400.

After all the processes are performed, each sensor 100 repeats the step S100 of measuring the element value of the running of the vehicle.

(S130) of generating a control signal to be transmitted to the actuator 400 based on the deviation between the target torque and the actual generated torque, so as to cause the actual generated torque to follow the target torque, It is difficult to perform the measurement within a relatively short time after the target torque determination step S120. That is, there is a structural problem that the reactivity of the stabilizer bar 500 relative to the determination of the target torque (S120) is inevitably lowered.

7 shows an active roll stabilizer control method performed in parallel with feed-back control and feed-forward control for an actuator according to an embodiment of the present invention.

Each sensor 100 in the vehicle measures an element value relating to running of the vehicle including at least one of values such as a vehicle speed, a steering angle, a lateral acceleration and a yaw-rate generated from the vehicle. (S210) The step S210 of measuring the element value with respect to the running of the vehicle is performed by the vehicle sensor 100 located on each of the four wheels, or on some of the wheels.

The main controller 200 determines the target torque based on the element value of the vehicle measured by the vehicle sensor 100. [ (S220) Specifically, the main controller 200 determines whether or not the vehicle is cornering or roll based on the travel element value received from the vehicle sensor 100, and reduces the roll angle And determines the target torque of the stabilizer bar 500 necessary for preventing the overturning of the vehicle.

A step of generating an actuator control signal for following a target signal, that is, a step of generating an actuator control signal based on a predetermined map for a position of the target torque-to-actuator (400) The feed-forward control step S240 is performed in parallel. Since the feed-forward control step S240 directly generates the actuator control signal based on the predefined map without measurement and reception of the actual generated torque, the actual feedforward torque of the stabilizer bar 500 as a result of the drive of the actuator 400 It is possible to increase the reactivity of the stabilizer bar 500 compared to the feed-back control step S230 which requires measurement and reception. However, the feed-back control step S230 reduces the gap between the measured value of the actual generated torque and the target torque so that it can ultimately follow the target torque. Therefore, the feed-back control step S230 and the feed-forward control step S240 are performed complementarily.

The actuator 400 operates by receiving a feed-forward control signal or a feed-back control signal in parallel. The stabilizer bar 500 is driven by the operation of the actuator 400 and the stabilizer bar 500 is driven by the parallel execution of the feed-forward control S240 and the feed- 6 than the case where only the feed-back control of 6 is performed. Therefore, in the case of the method of FIG. 7, the stabilizer bar 500 can provide stability to the ride comfort and steering feel of the vehicle due to the increased responsiveness.

The embodiments described above are those in which the elements and features of the present invention are combined in a predetermined form. Each component or feature shall be considered optional unless otherwise expressly stated. Each component or feature may be implemented in a form that is not combined with other components or features. It is also possible to construct embodiments of the present invention by combining some of the elements and / or features. The order of the operations described in the embodiments of the present invention may be changed. Some configurations or features of certain embodiments may be included in other embodiments, or may be replaced with corresponding configurations or features of other embodiments. It is clear that the claims that are not expressly cited in the claims may be combined to form an embodiment or be included in a new claim by an amendment after the application.

It will be apparent to one skilled in the art that the present invention may be embodied in other forms without departing from the spirit or essential characteristics thereof. Accordingly, the above embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention should be determined by reasonable interpretation of the appended claims and all possible variations within the scope of the invention.

100: vehicle sensor 200: main controller
300: Torque controller 400: Actuator
500: Stabilizer bar 600: Torque sensor
700: Position controller 710: Map

Claims (10)

An apparatus for controlling an active roll stabilizer including an actuator in a vehicle and a stabilizer bar driven by the actuator,
One or more sensors for measuring one or more element values relating to running of the vehicle;
A main controller configured to determine a target torque of the stabilizer bar based on the measured one or more element values;
A memory for storing a predetermined map of the target torque versus the position of the actuator; And
And a position controller configured to generate a reference position of the actuator based on the predetermined map and the determined target torque and perform feed-forward control on the actuator based on the generated reference position doing,
An apparatus for controlling an active roll stabilizer. The method according to claim 1,
A torque sensor for measuring an actual torque of the stabilizer bar; And
Further comprising a torque controller configured to perform feed-back control for the actuator based on a difference between the target torque and the actual torque.
An apparatus for controlling an active roll stabilizer. 3. The method of claim 2,
Wherein the position controller and the torque controller are configured to perform the feedforward control and the feedback control in parallel,
An apparatus for controlling an active roll stabilizer. The method according to claim 1,
Wherein at least one element value relating to the running of the vehicle includes at least one of a vehicle speed, a steering angle, a lateral acceleration and a Yaw Rate value,
An apparatus for controlling an active roll stabilizer. The method according to claim 1,
Wherein the map is predetermined according to hardware characteristics of the stabilizer bar and the actuator,
An apparatus for controlling an active roll stabilizer. A method of controlling an active roll stabilizer including an actuator in a vehicle and a stabilizer bar driven by the actuator,
Measuring one or more element values relating to running of the vehicle;
Determining a target torque of the stabilizer bar based on the measured one or more element values;
Generating a reference position of the actuator based on the determined target torque and a map of a position of the actuator relative to a predetermined target torque of the stabilizer bar; And
And performing feed-forward control on the actuator based on the generated reference position.
A method of controlling an active roll stabilizer. The method according to claim 6,
Measuring an actual torque of the stabilizer bar; And
Further comprising performing feed-back control on the actuator based on a difference between the target torque and the actual torque.
A method of controlling an active roll stabilizer. 8. The method of claim 7,
Characterized in that the feed-back control is performed in parallel with the feed-forward control.
A method of controlling an active roll stabilizer. The method according to claim 6,
Wherein at least one element value relating to the running of the vehicle includes at least one of a vehicle speed, a steering angle, a lateral acceleration and a Yaw Rate value,
A method of controlling an active roll stabilizer. The method according to claim 6,
Wherein the map is predetermined according to hardware characteristics of the stabilizer bar and the actuator,
A method of controlling an active roll stabilizer.

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