To provide a zero moment point calculation unit of a vehicle which calculates a position of a zero moment point of a vehicle while reducing an influence of vibrations absorbed by a suspension with frequencies larger than a roll resonance frequency and a pitch resonance frequency of the vehicle.SOLUTION: A zero moment point calculation unit of a vehicle comprises: an acceleration sensor 12 which detects acceleration of a center C of gravity of the vehicle in a vehicle longitudinal direction (X-axis direction), a vehicle width direction (y-axis direction), and a height direction (z-axis direction); an angular velocity sensor 14 which detects angular speed of the center C of gravity of the vehicle around an X axis, a Y axis, and a Z axis; a low pass filter 16 which reduces signal components in detection signals of the acceleration sensor 12 and the angular velocity sensor 14 in which frequencies of the signal components are larger than a resonance frequency that is a larger one of a roll resonance frequency of the vehicle and a pitch resonance frequency; and an arithmetic logical unit 20 which calculates a position of a zero moment point ZMP of the vehicle based on the detection signals of the acceleration sensor 12 and the angular velocity sensor 14 after applying the low pass filter 14 and based on the detection signal of the angular velocity sensor 14 to which the low pass filter is applied and which is differentiated.SELECTED DRAWING: Figure 1
【課題】サスペンションで吸収される、車両のロール共振周波数及びピッチ共振周波数より大きい周波数の振動の影響を低減して、車両のゼロモーメントポイントの位置を演算する。【解決手段】加速度センサ12は、車両前後方向(X軸方向)、車幅方向(Y軸方向)、及び高さ方向(Z軸方向)における車両の重心Cの加速度を検出する。角速度センサ14は、X、Y、及びZ軸周りにおける重心Cの角速度を検出する。ローパスフィルタ16は、加速度センサ12及び角速度センサ14の検出信号において、車両のロール共振周波数とピッチ共振周波数のうち大きい方の共振周波数よりも大きい周波数の信号成分を低減する。演算部20は、ローパスフィルタ14適用後の加速度センサ12及び角速度センサ14の検出信号、並びに、ローパスフィルタが適用され且つ微分された角速度センサ14の検出信号に基づいて、車両のゼロモーメントポイントZMPの位置を演算する。【選択図】図1
ZERO MOMENT POINT CALCULATION UNIT OF VEHICLE
車両のゼロモーメントポイント演算装置
24.07.2024
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Angular Dependency of the Zero Moment Point
TIBKAT | 2021
|Zero-moment point determination of worst-case manoeuvres leading to vehicle wheel lift
Kraftfahrwesen | 2012
|Zero-moment point determination of worst-case manoeuvres leading to vehicle wheel lift
Online Contents | 2012
|Zero-moment point determination of worst-case manoeuvres leading to vehicle wheel lift
Taylor & Francis Verlag | 2012
|