CN104228514B - Vehicle suspension system, working method thereof and motor vehicle - Google Patents
Vehicle suspension system, working method thereof and motor vehicle Download PDFInfo
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- CN104228514B CN104228514B CN201410422834.1A CN201410422834A CN104228514B CN 104228514 B CN104228514 B CN 104228514B CN 201410422834 A CN201410422834 A CN 201410422834A CN 104228514 B CN104228514 B CN 104228514B
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- vehicle suspension
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Abstract
The invention discloses a vehicle suspension system. The vehicle suspension system comprises a hydraulic cylinder connected between a wheel assembly and a vehicle body, a pressure regulation unit, a hydraulic power unit, a hydraulic loop for communicating the hydraulic cylinder, the pressure regulation unit and the hydraulic power unit, an energy storage device arranged in the hydraulic loop, a time relay for electrically connecting the pressure regulation unit with the hydraulic power unit, and an oil tank for communicating the pressure regulation unit with the hydraulic power unit. The invention also provides a working method of the vehicle suspension system. The working method of the vehicle suspension system comprises the following steps of selecting a mode by virtue of a mode selection switch in the vehicle suspension system; starting an oil transfer process corresponding to the mode; finishing the oil transfer process when the time of the time relay in the vehicle suspension system is reached. The invention also provides a motor vehicle, which is provided with the vehicle suspension system. According to the vehicle suspension system, the working method thereof and the motor vehicle, the working pressure of the hydraulic suspension system can be regulated according to different driving conditions of a vehicle and subjective requirements of a driver, so that rigidity parameters of the suspension system can be changed.
Description
Technical field
The invention belongs to vehicle structure field, in particular to vehicle suspension system and
Method of work and motor vehicles.
Background technology
Suspension is as the load transfer device between vehicle bridge and vehicle frame, and tire will be connect by its active force
Ground property and body vibrations produce impact, and then have influence on handling stability and the ride performance of car load.
The passive suspension system of application includes leaf spring, helical spring, torsion-bar spring at present
With air spring etc., generally, the bodywork height change caused by load change
And inclination, the change of the vehicle body state such as pitching in travelling also increases.But correlation technique
Be suspended in and design after, its rigidity will not change according to above-mentioned change.
Summary of the invention
It is an object of the invention to provide vehicle suspension system and method for work thereof and motor-driven
Car, to solve above-mentioned problem.
Provide a kind of vehicle suspension system in an embodiment of the present invention, including: hydraulic cylinder,
It is connected between wheel set and vehicle body；Pressure regulating unit；Hydraulic power unit；Hydraulic pressure
Loop, its connection hydraulic cylinder, pressure regulating unit and hydraulic power unit；Accumulator, if
Put in hydraulic circuit；The time relay, electrical connection pressure regulating unit and hydraulic power list
Unit；Fuel tank, connection pressure regulating unit and hydraulic power unit.
Preferably, pressure regulating unit includes: electromagnetic valve and overflow valve, time relay electricity
Connect the control end of electromagnetic valve, electromagnetic valve connection overflow valve in hydraulic circuit and fuel tank it
Between, overflow valve connects between electromagnetic valve and fuel tank.
Preferably, hydraulic power unit includes: pump, manual overflow valve and motor, and the time continues
Electrical equipment electrical connection motor, the pivotally connected pump of motor, pump all connect with overflow valve electromagnetic valve with
Between hydraulic circuit, the two ends of manual overflow valve connection pump.
Preferably, also include in above-mentioned vehicle suspension system: mode selection switch, electricity
Connect control end and the motor of electromagnetic valve.
Preferably, overflow valve is multiple manual overflow valves, and it is respectively equipped with different pressure,
Electromagnetic valve is multiple, is respectively communicated with each overflow valve.
Additionally provide the method for work of a kind of vehicle suspension system in an embodiment of the present invention,
Including: a pattern that mode selection switch in vehicle suspension system is selected；It is right to start
Answer the process of buying oil of pattern；Time relay timing in vehicle suspension system is full, then terminate
Buy oil process.
Preferably, the process of buying oil includes: mode selection switch makes the time relay, vehicle outstanding
Motor and the electromagnetic valve of associative mode in frame system are opened；Motor-driven vehicle suspension system
The pump in system hydraulic circuit in vehicle suspension system is bought oil.
Preferably, mode selection switch selects the electromagnetic valve of associative mode to open, wherein, and electricity
Magnet valve connection has the overflow valve of relevant pressure.
Preferably, terminate the process of buying oil to include: the time relay meter in vehicle suspension system
Shi Man, makes motor close, and makes the closed electromagnetic valve opened.
Additionally providing a kind of motor vehicles in an embodiment of the present invention, it has any of the above-described kind
Vehicle suspension system.
The present invention can according to vehicle travel different situations and the subjective requirement of driver,
The operating pressure of regulation hydraulic suspension system, thus change the stiffness parameters of suspension system.
It should be appreciated that it is only exemplary that above general description and details hereinafter describe
, the disclosure can not be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that
Meet embodiments of the invention, and for explaining the principle of the present invention together with description.
Fig. 1 shows the schematic diagram of vehicle suspension system according to an embodiment of the invention；
Fig. 2 shows the signal of vehicle suspension system in accordance with a preferred embodiment of the present invention
Figure；
Fig. 3 shows the signal of the vehicle suspension system according to another preferred embodiment of the present invention
Figure；
Fig. 4 shows the work of vehicle suspension system in accordance with a preferred embodiment of the present invention
Flow chart；
Fig. 5 shows the work of vehicle suspension system in accordance with a preferred embodiment of the present invention
Flow chart.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing and the present invention is done further in detail
Describe.
Fig. 1 shows the schematic diagram of vehicle suspension system according to an embodiment of the invention,
This system includes: hydraulic cylinder 100, is connected between wheel set and vehicle body；Pressure regulates
Unit 200；Hydraulic power unit 300；Hydraulic circuit 400, its connection hydraulic cylinder 100,
Pressure regulating unit 200 and hydraulic power unit 300；Accumulator 500, is arranged on hydraulic pressure and returns
In road 400；The time relay 600, electrical connection pressure regulating unit 200 and hydraulic power
Unit 300；Fuel tank 700, connection pressure regulating unit 200 and hydraulic power unit 300.
The present invention is additionally arranged the pressure regulating unit controlling pressure in conventional suspension system,
The different situations that can travel according to vehicle and the subjective requirement of driver, regulate hydraulic suspension
The operating pressure of frame system, thus change the stiffness parameters of suspension system.
Preferably, pressure regulating unit includes: electromagnetic valve and overflow valve, time relay electricity
Connect the control end of electromagnetic valve, electromagnetic valve connection overflow valve in hydraulic circuit and fuel tank it
Between, overflow valve connects between electromagnetic valve and fuel tank.
This gives the structure that realizes of a kind of pressure regulating unit, the time relay comes
Control electromagnetic valve, it is not necessary to complicated controller, simple, with low cost, respond well.
Preferably, hydraulic power unit includes: pump, manual overflow valve and motor, and the time continues
Electrical equipment electrical connection motor, the pivotally connected pump of motor, pump all connect with overflow valve overflow valve with
Between hydraulic circuit, the two ends of manual overflow valve connection pump.
This gives the structure that realizes of a kind of hydraulic power unit, the time relay comes
Control motor, it is not necessary to complicated controller, simple, with low cost, respond well.
Preferably, vehicle suspension system also includes: mode selection switch, electrically connects electromagnetic valve
Control end and motor.It can select various pattern, the most corresponding different suspension stiffness.
Such as corresponding soft mode formula, then for the pressure of hydraulic circuit is arranged 1MPA；In correspondence
Pattern, then for the pressure of hydraulic circuit is arranged 2MPA；Corresponding die formula, then use
In the pressure of hydraulic circuit is arranged 3MPA.
The present embodiment directly utilizes mode selection switch to control electromagnetic valve and motor, it is not necessary to multiple
Miscellaneous controller, simple, with low cost, respond well.
Preferably, overflow valve is multiple manual overflow valves, and it is respectively equipped with different pressure,
Electromagnetic valve is multiple, is respectively communicated with each overflow valve.
The present embodiment directly by arrange multiple overflow valve come corresponding multiple different pattern, from
And without complicated control circuit, overflow valve also can directly use manual overflow valve, the most easily
OK, with low cost, respond well.
Fig. 2 shows the signal of vehicle suspension system in accordance with a preferred embodiment of the present invention
Figure.
As in figure 2 it is shown, hydraulic circuit 400 includes the first branch road 402 and the second branch road 404；
Hydraulic cylinder includes multiple hydraulic cylinder 112,114,116,118, and its rod chamber is supported on wheel
On assembly, being divided into two groups, first group of hydraulic cylinder 114,118 is connected to each car of left side
Between wheel assembly and vehicle body, second group of hydraulic cylinder 112,116 is connected to each car of right side
Between wheel assembly and vehicle body；First branch road 402 connects the nothing of first group of hydraulic cylinder 114,118
Bar chamber and the rod chamber of second group of hydraulic cylinder 112,116, the second branch road 404 connects first group
The rod chamber of hydraulic cylinder 114,118 and the rodless cavity of second group of hydraulic cylinder 112,116；Many
Individual accumulator 502,504, it is divided into two groups, and first group of accumulator 502 is arranged on first
In road 402, second group of accumulator 504 is arranged in the second branch road 404.
Fig. 3 shows the signal of the vehicle suspension system according to another preferred embodiment of the present invention
Figure.
As it is shown on figure 3, hydraulic circuit 400 includes the first branch road 402 and the second branch road 404；
Hydraulic cylinder includes multiple hydraulic cylinder 112,114,116,118, and its rodless cavity is supported on wheel
On assembly, being divided into two groups, first group of hydraulic cylinder 114,118 is connected to each car of left side
Between wheel assembly and vehicle body, second group of hydraulic cylinder 112,116 is connected to each car of right side
Between wheel assembly and vehicle body；First branch road 402 connects having of first group of hydraulic cylinder 114,118
Bar chamber and the rodless cavity of second group of hydraulic cylinder 112,116, the second branch road 404 connects first group
The rodless cavity of hydraulic cylinder 114,118 and the rod chamber of second group of hydraulic cylinder 112,116；Many
Individual accumulator 502,504, it is divided into two groups, and first group of accumulator 502 is arranged on first
In road 402, second group of accumulator 504 is arranged in the second branch road 404.
Above-described embodiment of the disclosure lists two kinds of hydraulic cylinder mutual contact modes, but does not limit
Hydraulic cylinder can also use other mutual contact mode, thus meets the particular requirement of user.
As shown in Figures 2 and 3, pressure regulating unit 200 includes: electromagnetic valve 207,208,
209 and 210 and overflow valve 205,206 and 220, the time relay 600 is electrically connected
The control end of electromagnetic valve 207,208,209 and 210 and electrical connection motor, electromagnetic valve 207,
208,209 the hydraulic cylinder 100 in hydraulic circuit 400 and overflow valve 205 are connected with 210
With between 206, overflow valve 220 connects at electromagnetic valve 207,208,209 and 210 and oil
Between case 700, overflow valve 205 is arranged between electromagnetic valve 208 and fuel tank 700, overflow
Valve 206 is arranged between electromagnetic valve 207 and fuel tank 700.Electromagnetic valve can use normally closed electricity
Magnetic ball valve.Can also use multiple time relay, each time relay connects respectively respectively
Individual electromagnetic valve.
As shown in Figures 2 and 3, electromagnetic valve includes two groups of electromagnetic valves, first group of electromagnetic valve 208
With the 209 first group of hydraulic cylinder 114 and 118 being arranged in series in the first branch road 402 with excessive
Between stream valve 206, second group of electromagnetic valve 207 and 210 is arranged in series in the second branch road 404
In second group of hydraulic cylinder 112 and 116 and overflow valve 205 between, pump 330 is respectively communicated with
Between first group of electromagnetic valve 208 and 209, and second group of electromagnetic valve 207 and 210 it
Between.
Overflow valve belongs to pressure-control valve, the pressure in control system, works as system pressure
Equal to or more than just opening overflow during its set pressure, system pressure is had maintenance constant
Overload protective function is played with to system.
As shown in Figures 2 and 3, hydraulic power unit 300 includes: pump 330, manually overflow
Stream valve 340 and motor 320, the time relay 600 electrically connects motor 320, motor 320
Pivotally connected pump 330, the outfan connection hydraulic circuit 400 of pump 330, the input of pump 330
End all connects fuel tank 700 with overflow valve 205,206 with 220, and manual overflow valve 340 connects
The two ends of pump 330.This gives the structure that realizes of a kind of hydraulic power unit, letter
Single easy, respond well.Manual overflow valve 340 can the most manually set oil pressure relief,
Such that it is able to be used for protecting motor 320, in case the hypertonia that oil-line plugging etc. cause burns out
Motor.This manual overflow valve 340 is desirably integrated in motor 320.
Pressure regulating unit 200 and hydraulic power unit 300 share fuel tank 700 so that from
In pressure regulating unit 200, the hydraulic oil of overflow can be with circulation-supplied to hydraulic power unit
300。
Overflow valve 205,206 and 220 can use manual overflow valve, and pressure can the most not
Identical, such as, overflow valve 206 arranges pressure 1MPA, and overflow valve 205 arranges pressure 2MPA,
Overflow valve 220 arranges pressure 3MPA.Use the connected mode of Fig. 2 and Fig. 3, when pump 330
When buying oil, by opening electromagnetic valve 209, can only buy oil to the first branch road, by opening
Electromagnetic valve 210, can only buy oil to the second branch road.Additionally by opening or closing electricity respectively
Magnet valve 207 and 208, then can make overflow valve 205,206 and 220 start working respectively.
Such as electromagnetic valve 207 and 208 is turned off, and the most only overflow valve 220 works, thus pressure
Remain to 3MPA.Once open electromagnetic valve 207, then overflow valve 205 also begins to work,
Therefore pressure drops to 2MPA.And once open electromagnetic valve 208, then overflow valve 206 is also
Starting working, therefore pressure is further lowered into 1MPA.As shown in Figures 2 and 3, car
Suspension system also includes: mode selection switch 622, its be electrically connected electromagnetic valve 207,
208,209 and 210 control end and electrical connection motor 320, be used for providing soft mode formula,
Middle pattern and die formula.
This device can arrange suspension system soft or hard degree, such as arrange Three models respectively by
Three button controls, press the button of correspondence, all can make motor work and corresponding normally closed electricity
Magnet valve is opened.Setting value can include multiple selectable value, and mode selection switch is for from multiple
Selectable value selects one.The setting value of die formula operating pressure is 3Mpa, middle pattern work
The setting value making pressure is 2Mpa, and the setting value of soft mode formula operating pressure is 1Mpa.Overflow
Valve 220,205 and 206 is pressure regulator valve, the most corresponding output pressure value.Model selection
Switch can be an adjustable selected pattern additional near the instrumental panel of driver's cabin by
Button.Pattern in button is pressed by such as driver, and mode selection switch 622 will make the time
Relay 600, electromagnetic switch 207,209 and 210 and motor 320 are opened, motor
320 drive pumps 330 buy oil toward hydraulic circuit 400, and overflow valve 205 due to electromagnetic valve
207 connections, so that the pressure of hydraulic circuit 400 is less than 2MPA.Time relay
Device 600, after default time t, disconnects automatically so that electromagnetic switch 207,209 and
210 and motor 320 close, thus the pressure of hydraulic circuit 400 is maintained at 2MPA.
Preferably, the first filter 352 is set between pump 330 and hydraulic circuit 400,
Second filter 354 is set between pump 330 and fuel tank 700.
Preferably, orifice valve 230 is set between hydraulic cylinder and hydraulic circuit 400, is storing
Between device and hydraulic circuit 400, orifice valve 240 can be set.
The embodiment of Fig. 2 and Fig. 3 achieves interconnection type vehicle suspension system, mutual equipped with hydraulic pressure
Although the vehicle of connection suspension has certain anti-roll capability, but in order to be able to this is better achieved
The ability of kind, increases an active control part in interconnection suspension fork mechanism, makes to interconnect suspension
Performance improve further.This vehicle suspension system adds active pressure regulation, Ke Yikang
Roll and improve vehicle riding comfort simultaneously, be effectively improved intact stability.
Additionally providing a kind of motor vehicles in an embodiment of the present invention, it has any of the above-described kind
Vehicle suspension system.
Fig. 4 shows the work of vehicle suspension system in accordance with a preferred embodiment of the present invention
Flow chart, including:
Step S10, a pattern that mode selection switch in vehicle suspension system is selected；
Step S20, starts the process of buying oil of associative mode；
Step S30, the time relay timing in vehicle suspension system is full, then terminate to buy oil
Process.
This method can according to vehicle travel different situations and the subjective requirement of driver,
The operating pressure of regulation hydraulic suspension system, thus change the stiffness parameters of suspension system.
Preferably, the process of buying oil includes: mode selection switch makes the time relay, vehicle outstanding
Motor and the electromagnetic valve of associative mode in frame system are opened；Motor-driven vehicle suspension system
The pump in system hydraulic circuit in vehicle suspension system is bought oil.
Preferably, mode selection switch selects the electromagnetic valve of associative mode to open, wherein, and electricity
Magnet valve connection has the overflow valve of relevant pressure.
Preferably, terminate the process of buying oil to include: the time relay meter in vehicle suspension system
Shi Man, makes motor close, and makes the closed electromagnetic valve opened.
Fig. 5 shows the work of vehicle suspension system in accordance with a preferred embodiment of the present invention
Flow chart, comprises the following steps:
Step S212, mode selection switch is selected the soft mode formula that pressure is 1MPa.Step
S214, mode selection switch 622 controls the time relay 600 and closes, and makes motor 320
Work, drives pump 330 to buy oil to hydraulic circuit 400, and controls electromagnetic valve 208,209
Opening with 210, electromagnetic valve 208 makes pressure be pre-arranged the manual overflow of 1MPA
Valve 206 works and (although manual overflow valve 210 also works, but is because pressure more than manually
Overflow valve 206, so not affecting the pressure of hydraulic circuit), the oil pressure in loop raises
Or reduce.Step S216, the time relay after timing reaches t, now hydraulic circuit 400
In pressure should have equalized to soft mode formula set 1MPa, the time relay disconnect, make
Motor 320 and electromagnetic valve 208,209 and 210 simultaneously close off, and in loop, pressure is i.e. maintained at
Preset pressure 1MPa that soft mode formula is corresponding.
Step S222, mode selection switch is selected the middle pattern that pressure is 2MPa.Step
S224, mode selection switch 622 controls the time relay 600 and closes, and makes motor 320
Work, drives pump 330 to buy oil to hydraulic circuit 400, and controls electromagnetic valve 207,209
Opening with 210, electromagnetic valve 207 makes pressure be pre-arranged the manual overflow of 2MPA
Valve 205 works and (although manual overflow valve 210 also works, but is because pressure more than manually
Overflow valve 206, so not affecting the pressure of hydraulic circuit), the oil pressure in loop raises
Or reduce.Step S226, the time relay after timing reaches t, now hydraulic circuit 400
In pressure should have equalized to middle pattern set 2MPa, the time relay disconnect, make
Motor 320 and electromagnetic valve 207,209 and 210 simultaneously close off, and in loop, pressure is i.e. maintained at
Preset pressure 2MPa that middle pattern is corresponding.
Step S232, mode selection switch is selected the die formula that pressure is 3MPa.Step
S234, mode selection switch 622 controls the time relay 600 and closes, and makes motor 320
Work, drives pump 330 to buy oil to hydraulic circuit 400, and controls electromagnetic valve 208,209
Opening with 210, electromagnetic valve 208 makes only pressure be pre-arranged the manual of 3MPA
Overflow valve 210 works, and the oil pressure in loop is raised and lowered.Step S236, time relay
Device is after timing reaches t, and now the pressure in hydraulic circuit 400 should have equalized to die
The 3MPa that formula sets, the time relay disconnects, makes motor 320 and electromagnetic valve 208,209
Simultaneously closing off with 210, in loop, pressure is i.e. maintained at the preset pressure that die formula is corresponding
3MPa。
This device Three models can press the button of correspondence respectively by three button controls,
Motor work and corresponding normally closed solenoid valve will be made to open.This preferred embodiment can pass through
Setting value provides multiple soft or hard pattern easily, it is possible to ensure the spy of suspension system well
Levy the applying working condition of parameter vehicle-mounted and subjective requirement of driver and change, it is possible to simultaneously
Take into account comfortableness and the control stability of automobile.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention,
For a person skilled in the art, the present invention can have various modifications and variations.All
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made,
Should be included within the scope of the present invention.
Claims (4)
1. the method for work of a vehicle suspension system, it is characterised in that
Described vehicle suspension system includes:
Hydraulic cylinder, is connected between wheel set and vehicle body；
Pressure regulating unit；
Hydraulic power unit；
Hydraulic circuit, it connects described hydraulic cylinder, described pressure regulating unit and described hydraulic pressure
Power unit；
Accumulator, is arranged in described hydraulic circuit；
The time relay, electrically connects described pressure regulating unit and described hydraulic power unit；
Fuel tank, connects described pressure regulating unit and described hydraulic power unit；
Described pressure regulating unit includes: electromagnetic valve and overflow valve, described time relay electricity
Connect the control end of described electromagnetic valve, described electromagnetic valve connection institute in described hydraulic circuit
Stating between overflow valve and described fuel tank, the connection of described overflow valve is at described electromagnetic valve and described oil
Between case；
Described hydraulic power unit includes: pump, manual overflow valve and motor, and the described time continues
Electrical equipment electrically connect described motor, the pivotally connected described pump of described motor, described pump and described overflow
Valve all connects between described electromagnetic valve with described fuel tank stream, described manual overflow valve connects institute
State the two ends of pump；
Also include: mode selection switch, electrically connect the control end of described electromagnetic valve and described electricity
Machine；
Described overflow valve is multiple manual overflow valves, and it is respectively equipped with different pressure, described
Electromagnetic valve is multiple, is respectively communicated with each described overflow valve；
The method includes:
A pattern that mode selection switch in described vehicle suspension system is selected；
Start the process of buying oil of corresponding described pattern；
Time relay timing in described vehicle suspension system is full, then terminate the process of buying oil.
Method the most according to claim 1, it is characterised in that the process of buying oil includes:
Described mode selection switch makes in the described time relay, described vehicle suspension system
The electromagnetic valve of motor and corresponding described pattern is opened；
Described motor drives the pump in described vehicle suspension system in described vehicle suspension system
Hydraulic circuit buy oil.
Method the most according to claim 2, it is characterised in that described model selection
Switch selects the electromagnetic valve of corresponding described pattern to open, and wherein, the connection of described electromagnetic valve has
The overflow valve of relevant pressure.
Method the most according to claim 3, it is characterised in that terminate to buy oil process
Including:
Time relay timing in described vehicle suspension system is full, makes described motor close,
And the closed electromagnetic valve opened described in making.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410422834.1A CN104228514B (en) | 2014-08-25 | 2014-08-25 | Vehicle suspension system, working method thereof and motor vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410422834.1A CN104228514B (en) | 2014-08-25 | 2014-08-25 | Vehicle suspension system, working method thereof and motor vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN104228514A CN104228514A (en) | 2014-12-24 |
| CN104228514B true CN104228514B (en) | 2017-01-11 |
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| CN201410422834.1A Active CN104228514B (en) | 2014-08-25 | 2014-08-25 | Vehicle suspension system, working method thereof and motor vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109318675B (en) * | 2018-08-23 | 2022-03-22 | 江苏大学 | Interconnection formula ISD suspension |
| CN109501545B (en) * | 2018-10-31 | 2021-06-22 | 江苏大学 | Air suspension, vehicle with air suspension and method for installing air suspension |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN86100291A (en) * | 1986-01-15 | 1987-07-29 | 盖书俊 | Car brakeing vibration reclaiming scrap with measurable loading |
| CN103276933A (en) * | 2013-06-30 | 2013-09-04 | 梁崇彦 | Rising low voltage protection device of car carrying plate of hydraulic type parking equipment |
| CN204037282U (en) * | 2014-08-25 | 2014-12-24 | 常州万安汽车部件科技有限公司 | Vehicle suspension system and self-propelled vehicle |
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