Movement stabilizing apparatus for combination vehicle

• Main Authors: MIYATA KAZUAKI, FUTAMURA TOMOYUKI, KOJIMA TAKESHI
• Format: Patent
• Language: English
• Published: 15.05.2012
• Subjects: ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; PERFORMING OPERATIONS; PHYSICS; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OFVEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES; VEHICLES IN GENERAL

A movement stabilizing control ECU 25 includes a differential unit 25a, a cycle calculation unit 25b, a time constant/gain setting portion 25c, a first-order lag processing unit 25d, a pendulum movement detection unit 25e, a control amount calculation portion 25f and a control amount output unit 25g. The time constant/gain setting portion 25c sets a time constant τ and a gain K used at the time of subjecting a yaw acceleration ω′ which is a time-differential value of a yaw rate ω to the first-order lag processing at the first-order lag processing unit 25d, with reference to a function or data of a look-up table, for example, depending on the cycle or the frequency of the yaw acceleration ω′ due to the pendulum movement. The control amount calculation portion 25f multiplies the amplitude of a yaw acceleration ωd′ outputted from the first-order lag processing unit 25d by a predetermined constant to calculate a yaw control amount with a phase in opposite to that of the yaw acceleration ωd′ and outputs the yaw control amount to the control amount output unit 25g.