Vehicle body tilting apparatus and control method thereof
AssigneeHl Mando Corporation
InventorDaehee Jung
Life of this patent
Estimating the term…
Abstract
Disclosed herein is a vehicle body tilting apparatus including a swing member connected to a pair of tie rods and provided to be swung around an output shaft, a lean actuator configured to swing the swing member by rotating the output shaft through a motor and a reducer so that a vehicle body is tilted in a right-left direction, and a controller electrically connected to the motor. The controller is configured to correct a rotation angle of the output shaft based on a relative angle of the motor, and control the motor according to the corrected rotation angle.
Claims19
A vehicle body tilting apparatus comprising:
- a swing member connected to a pair of tie rods and provided to be swung around an output shaft;
- a lean actuator configured to swing the swing member by rotating the output shaft through a motor and a reducer so that a vehicle body is tilted in a right-left direction,
- a first angle sensor provided on the motor and configured to detect a relative angle of the motor;
- and
- a controller electrically connected to the motor,
- wherein the controller is configured to:
- correct a rotation angle of the output shaft based on the relative angle of the motor, and
- control the motor according to the corrected rotation angle, and
- wherein the vehicle body tilting apparatus further comprises:
- an output shaft rotation detector configured to indirectly detect the rotation angle of the output shaft, or
- a second angle sensor including at least one of an absolute angle sensor provided on the output shaft or a relative sensor provided on the output shaft.
A control method of a vehicle body tilting apparatus including a swing member connected to a pair of tie rods and provided to be swung around an output shaft, a lean actuator configured to swing the swing member by rotating the output shaft through a motor and a reducer so that a vehicle body is tilted in a right-left direction, and a controller electrically connected to the motor, the vehicle body tilting apparatus further including an output shaft rotation detector including a first gear coupled to the output shaft and having a central shaft positioned coaxially with the output shaft, a second gear engaged with the first gear to rotate in an opposite direction to the first gear around an auxiliary shaft, and a rotation angle sensor provided on the auxiliary shaft and configured to detect a rotation angle of the auxiliary shaft, the control method comprising:
- detecting the rotation angle of the auxiliary shaft through the rotation angle sensor;
- estimating a rotation angle of the output shaft according to the detected rotation angle of the auxiliary shaft;
- estimating a relative angle of the motor according to the detected rotation angle of the auxiliary shaft;
- detecting the relative angle of the motor through a relative angle sensor provided on the motor;
- determining a difference between the estimated relative angle of the motor and the detected relative angle of the motor;
- and
- correcting the estimated rotation angle of the output shaft based on the difference.
Dependencies are inferred from the claim text.