Method for controlling a rotation damper functioning according to the gyroscopic principle

Patent metadata

Field	Value
Publication number	US-10247276-B2
Application number	US-201515543666-A
Country	US
Kind code	B2
Filing date	Dec 12, 2015
Priority date	Jan 17, 2015
Publication date	Apr 2, 2019
Grant date	Apr 2, 2019

Abstract

A method for controlling a rotation damper operating according to the gyroscopic principle for a motor vehicle, wherein the rotation damper includes a flywheel, which is driven by a drive and rotating about a rotation axis with an angular velocity ω φ , which is cardanically mounted via a first bearing element and via a second bearing element, wherein the flywheel is rotatably mounted on a first bearing element and at a rotation angle φ, and the first bearing element is rotatably mounted on a second bearing means about a first axis that is oriented orthogonally to the rotation axis of the flywheel, and the second bearing element is rotatably mounted at a second rotational angle (ψ).

First claim

The invention claimed is:

1. A method for controlling a rotation damper operating according to the gyroscopic principle for a motor vehicle, wherein the rotation damper comprises:
a flywheel driven by a drive, rotating about a rotation axis with an angular velocity ω φ , which is cardanically mounted via a first bearing element and a second bearing element, wherein the flywheel is rotatably mounted at a rotation angle φ on the first bearing element,

and the first bearing element is rotatably mounted at the second bearing element about a first axis oriented orthogonally to the rotation axis of the flywheel at a first rotation angle Θ, and the second bearing element is rotatably mounted about a second axis oriented orthogonally to the first axis at a second rotation angle Ψ, wherein the first bearing element is operationally connected to a shaft drive and the second bearing element is connected to a wheel carrier, so that an inward and outward movement of the wheel carrier causes a rotation of the second bearing element at the second rotation angle Ψ, wherein a torque M Ψ acting on the second bearing element is used as a control variable and an adjustable torque M Θ that is set via the shaft motor is used as a manipulated variable, wherein the control of the manipulated variable M Θ is carried out as a function of the first rotation angle Θ and of the angular velocity ω θ of the first bearing element about the first axis.

2. The method for controlling a rotation damper operating according to the gyroscopic principle according to claim 1 , wherein the control of the manipulated variable M Θ is carried out with a controller with the PD characteristic according to the equation:
M θ =c*θ+k*ω θ , wherein c and k are constants and | c | and | k|< 0.

3. The method for controlling a rotation damper operating according to the gyroscopic principle according to claim 2 , wherein in addition to the control of the manipulated variable M Θ , the rotation angle ψ and the angular velocity ω ψ of the second bearing element are taken into account according to the equation:
M θ =c*θ+k*ω θ +a*ω ψ , and/or
M θ =c*θ+k*ω θ +a*ω ψ +b*ψ,
Wherein |a| and |b|<0 or a or b=0.

4. The method for controlling a rotation damper operating according to the gyroscopic principle according to claim 2 , wherein along with the control of the manipulated variable M Θ , a translation acceleration is taken into consideration in the x-, y- and z-direction.

5. The method for controlling a rotation damper operating according to the gyroscopic principle according to claim 2 , wherein along with the control of the of the manipulated variable M Θ , a rotational angle position, angular velocity and angular acceleration in the x-, y- and z-directions of the chassis are taken into consideration relative to the road or street.

Assignees

• Audi Ag
• Karlsruher Inst Technologie

Inventors

• Koch Tilo
• Scheurich Bastian
• Gauterin Frank
• Frey Michael

Classifications

• B60G2202/42

  Electric actuator · CPC title

• F16F15/30 Primary

  Flywheels (F16F15/16, F16F15/28 take precedence; suppression of vibrations in rotating systems using elastic members or friction-damping members moving with the system, {i.e. split flywheels or single masses connected to a hub by elastic members or friction-damping members} F16F15/12; rotary-body aspects in general F16C13/00, F16C15/00) · CPC title

• B60G2600/14

  Differentiating means, i.e. differential control · CPC title

• B60G21/08

  characterised by use of gyroscopes (gyroscopes for stabilising vehicle bodies without controlling suspension arrangements B62D37/06) · CPC title

• B60G2600/17

  Proportional control, i.e. gain control · CPC title