CN111267574A - Steering and suspension integrated anti-roll structure and control method - Google Patents
Steering and suspension integrated anti-roll structure and control method Download PDFInfo
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- CN111267574A CN111267574A CN202010257273.XA CN202010257273A CN111267574A CN 111267574 A CN111267574 A CN 111267574A CN 202010257273 A CN202010257273 A CN 202010257273A CN 111267574 A CN111267574 A CN 111267574A
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- electromagnetic valve
- air spring
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- hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/056—Regulating distributors or valves for hydropneumatic systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
- B62D5/12—Piston and cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/014—Pitch; Nose dive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a steering and suspension integrated anti-roll structure, which comprises a hydraulic oil tank, wherein the hydraulic oil tank is connected with an oil pump through a hydraulic pipeline, the oil pump is connected with one end of a hydraulic cylinder through a channel electromagnetic valve and a first main oil way, one end of the hydraulic cylinder is connected with the hydraulic oil tank through a first electromagnetic valve, the oil pump is connected with the other end of the hydraulic cylinder through a second main oil way and a channel electromagnetic valve, and the other end of the hydraulic cylinder is connected with the hydraulic oil tank through a second electromagnetic valve; the first main oil way is connected with the first air spring through a fourth electromagnetic valve, the second main oil way is connected with the second air spring through a third electromagnetic valve, and the first air spring is connected with the second air spring through a fifth electromagnetic valve. When the automobile steers, the ECU controls the on-off of the electromagnetic valve according to the information of the sensor, and on the basis of the intercommunication of the air spring, the volume of the air spring is changed by using a steering hydraulic system, so that the anti-roll effect is enhanced.
Description
Technical Field
The invention relates to the technical field of suspension systems, in particular to a steering and suspension integrated anti-roll structure and a control method.
Background
The automobile is the most used vehicle, and the comprehensive performance of the automobile is more and more valued by people. Among them, the suspension performance is mainly expressed in riding comfort and handling stability. In the prior art, passive suspensions often improve the anti-roll and anti-pitch performance of a vehicle by increasing the rigidity of the suspension or installing a transverse stabilizer bar, but the higher rigidity of the suspension can easily make the suspension hard, and the riding comfort of the vehicle is damaged; on the other hand, if a suspension with low roll stiffness and low pitch stiffness is used, ride comfort is improved, but running safety of the vehicle in a turning and braking state cannot be guaranteed.
Therefore, active and semi-active suspension technology is increasingly applied to the vehicle suspension stiffness control problem. In recent years, researchers propose that the aim of considering both the riding comfort and the operation stability of the vehicle is fulfilled by changing the interconnection state of the air springs in the air suspension, although the anti-roll and anti-pitch performance of the vehicle can be improved to a certain extent by interconnecting the elastic elements and the shock absorber elements of the air suspension, the improvement of the performance of the whole vehicle is limited due to the fixed interconnection volume of the elastic elements.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention overcomes the defects of the prior art and provides a steering and suspension integrated anti-roll structure and a control method.
The technical scheme adopted by the invention for solving the technical problems is as follows: a steering and suspension integrated anti-roll structure comprises a hydraulic oil tank, wherein the hydraulic oil tank is connected with an oil pump through a hydraulic pipeline, the oil pump is connected with one end of a hydraulic cylinder through a first main oil way by a channel electromagnetic valve, one end of the hydraulic cylinder is connected with the hydraulic oil tank through a first electromagnetic valve, the oil pump is connected with the other end of the hydraulic cylinder through a second main oil way by a channel electromagnetic valve, and the other end of the hydraulic cylinder is connected with the hydraulic oil tank through a second electromagnetic valve; the first main oil way is connected with the first air spring through a fourth electromagnetic valve, the second main oil way is connected with the second air spring through a third electromagnetic valve, and the first air spring is connected with the second air spring through a fifth electromagnetic valve.
Furthermore, the structure of each air spring is the same, each air spring comprises an air spring cavity, a volume adjuster, a limiting spring, a volume adjusting piston, a volume adjusting oil cavity input port and a piston position sensor, the air spring cavity is the main body part of the air spring, the bottom of the air spring cavity is a cylindrical hole, the volume adjuster, the limiting spring and the volume adjusting piston are coaxially installed in the hole from top to bottom, the volume adjusting oil cavity is arranged below the volume adjusting piston, the volume adjusting oil cavity input port is arranged at the bottom end of the cavity, and the piston position sensor is installed in the volume adjusting oil cavity.
Further, the first main oil way is provided with a first branch, the first branch is connected with the second air spring through a fourth electromagnetic valve, the second main oil way is provided with a second branch, and the second branch is connected with the first air spring through a third electromagnetic valve.
Furthermore, the first branch and the volume adjusting oil cavity input port of the second air spring, and the second branch and the volume adjusting oil cavity input port of the first air spring.
Further, the integrated steering and suspension anti-roll structure further comprises an ECU, wherein the ECU receives and processes information of a steering wheel angle sensor, a vehicle body roll angle sensor, a piston position sensor and an air spring pressure sensor, and controls an oil pump, a channel electromagnetic valve, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, a fourth electromagnetic valve and a fifth electromagnetic valve.
Further, a piston is arranged in the hydraulic cylinder, when the steering wheel rotates leftwards, the piston of the hydraulic cylinder moves downwards, then the steering structure drives the wheels to rotate leftwards, when the steering wheel rotates rightwards, the piston of the hydraulic cylinder moves upwards, and then the steering structure drives the wheels to rotate rightwards.
Based on the same invention creation, a control method of a steering and suspension integrated anti-roll structure is characterized in that: the method comprises the following steps:
the method comprises the following steps that (1) an ECU receives signals of a steering wheel angle sensor, a vehicle body side inclination angle sensor, a piston position sensor and an air spring pressure sensor, judges an automobile steering request and monitors the air spring pressure in real time; when the steering request is a left steering, executing the step (2); when the steering request is a right steering, executing the step (3);
step (2), when the steering request is left-turning, the ECU controls a first main oil way of a channel electromagnetic valve to be opened, a second main oil way is closed, a second electromagnetic valve and a third electromagnetic valve are in a closed state, a first electromagnetic valve, a fourth electromagnetic valve and a fifth electromagnetic valve are in a conducting state, an oil pump works, and hydraulic oil in a hydraulic oil tank is respectively pumped to the upper side of a hydraulic cylinder and a volume adjusting oil cavity of a first air spring by the oil pump; the ECU controls the closing time point of the fourth electromagnetic valve according to the value of the piston position sensor, so that the anti-roll effect is enhanced;
step (3), when the steering request is a right turn, the ECU controls a second main oil way of the channel electromagnetic valve to be opened, the first main oil way is closed, the first electromagnetic valve and the fourth electromagnetic valve are in a closed state, the second electromagnetic valve, the third electromagnetic valve and the fifth electromagnetic valve are in a conducting state, the oil pump works, and hydraulic oil in the hydraulic oil tank is respectively pumped to the lower side of the hydraulic cylinder and a volume adjusting oil cavity of the second air spring by the oil pump; and the ECU controls the closing time point of the third electromagnetic valve according to the value of the piston position sensor, so that the anti-roll effect is enhanced.
The invention has the beneficial effects that:
1. when the automobile steers, the ECU controls the on-off of the electromagnetic valve according to the information of the sensor, and on the basis of the intercommunication of the air spring, the volume of the air spring is changed by using a steering hydraulic system, so that the anti-roll effect is enhanced;
2. on the existing air suspension and hydraulic steering system, an oil way and a corresponding electromagnetic valve are added to realize the integrated control of hydraulic steering and the air suspension;
3. according to the air spring, the position of the volume adjusting piston is acquired by the piston position sensor in real time, and the volume adjuster reaches the specified position by controlling the electromagnetic valve, so that the volume of the air spring is changed.
4. According to the invention, on the basis of interconnection of the air suspensions, the volume of the air spring is changed through the steering hydraulic system, so that the anti-roll effect is enhanced.
Drawings
FIG. 1 is a schematic view of a steering and suspension integrated anti-roll structure according to the present invention;
FIG. 2 is a cross-sectional view of an air spring of the present invention;
FIG. 3 is a schematic diagram of the electronic control unit structure of the present invention;
FIG. 4 is a flow chart of a steering and suspension integrated anti-roll control method according to the present invention.
In the figure: 1-a first electromagnetic valve, 2-a second electromagnetic valve, 3-a hydraulic oil tank, 4-an oil pump, 5-a channel electromagnetic valve, 6-a left air spring, 7-a steering tie rod, 8-a steering trapezoid arm, 9-a left front wheel, 10-a third electromagnetic valve, 11-a fourth electromagnetic valve, 12-a steering wheel, 13-a steering wheel corner sensor, 14-an ECU, 15-a hydraulic cylinder, 16-a piston, 17-a right air spring, 18-a steering main tie rod, 19-a steering knuckle, 20-a fifth electromagnetic valve, 21-a right front wheel, 61-an air spring cavity, 62-a volume regulator, 63-a limiting spring, 64-a volume regulating piston, 65-a volume regulating oil cavity and 66-a volume regulating oil cavity input port, 67-piston position sensor.
Detailed Description
The invention is further explained with reference to the drawings and the embodiments.
Referring to FIGS. 1 to 4: a steering and suspension integrated anti-roll structure comprises a hydraulic oil tank 3, wherein the hydraulic oil tank 3 is connected with an oil pump 4 through a hydraulic pipeline, the oil pump 4 is connected with one end of a hydraulic cylinder 15 through a channel electromagnetic valve 5 through a first main oil way, one end of the hydraulic cylinder 15 is connected with the hydraulic oil tank 3 through a first electromagnetic valve 1, the oil pump 4 is connected with the other end of the hydraulic cylinder 15 through a second main oil way through the channel electromagnetic valve 5, and the other end of the hydraulic cylinder 15 is connected with the hydraulic oil tank 3 through a second electromagnetic valve 2; the first main oil line is connected with the first air spring through a fourth electromagnetic valve 11, the second main oil line is connected with the second air spring through a third electromagnetic valve 10, and the first air spring is connected with the second air spring through a fifth electromagnetic valve 20.
In this embodiment, the air springs are also referred to as air suspensions, and according to the orientation in fig. 1, the first air spring can be defined as the right side air spring 17, and the second air spring as the left side air spring 6. One end of the first main oil passage connected to the hydraulic cylinder 15 is defined as an upper end of the hydraulic cylinder 15, and one end of the second main oil passage connected to the hydraulic cylinder 15 is defined as a lower end of the hydraulic cylinder 15.
Referring to fig. 2, the air spring comprises an air spring cavity 61, a volume adjuster 62, a limiting spring 63, a volume adjusting piston 64, a volume adjusting oil cavity 65, a volume adjusting oil cavity input port 66 and a piston position sensor 67, wherein the air spring cavity 61 is a main body part of the air spring, the bottom of the air spring cavity 61 is a cylindrical hole, the volume adjuster 62, the limiting spring 63 and the volume adjusting piston 64 are coaxially installed in the hole from top to bottom, the volume adjusting oil cavity 65 is arranged below the volume adjusting piston 64, the volume adjusting oil cavity input port 66 is arranged at the bottom end of the cavity, and the piston position sensor 67 is installed in the volume adjusting oil cavity 65.
In this embodiment, a first branch is provided on the first main oil path, and the first branch is connected with the volume adjustment oil chamber input port 66 of the right air spring 17 through the fourth electromagnetic valve 11; a second branch is arranged on the second main oil path, and the second branch is connected with the volume adjusting oil cavity input port 66 of the left air spring 6 through a third electromagnetic valve 10. On the basis of air spring intercommunication, the volume of the air spring is changed by utilizing a steering hydraulic system, and the anti-roll effect is enhanced.
In the embodiment, the steering wheel 12 is connected with a steering gear through a steering column tube, and the steering gear is connected with a steering trapezoid arm 8 through a rocker arm, a steering main pull rod 18, a steering knuckle 19 and a steering tie rod 7; when the steering wheel 12 rotates to the left, the piston 16 of the hydraulic cylinder 15 moves downwards and then drives the left front wheel 9 and the right front wheel 21 to rotate to the left through the steering structure; when the steering wheel 12 is turned to the right, the piston 16 of the hydraulic cylinder 15 moves upward, and then the left and right front wheels 9 and 21 are turned to the right by the steering structure.
The integrated steering and suspension anti-roll structure further comprises an ECU14, wherein the ECU is an electronic control unit, also called a traveling computer, and receives and processes information of a steering wheel angle sensor 13, a vehicle body roll angle sensor, a piston position sensor 67 and an air spring pressure sensor, and controls the oil pump 4, the channel electromagnetic valve 5, the first electromagnetic valve 1, the second electromagnetic valve 2, the third electromagnetic valve 10, the fourth electromagnetic valve 11 and the fifth electromagnetic valve 20. The steering wheel angle sensor 13 detects the steering of the steering wheel 12, the vehicle body roll angle sensor detects the vehicle body roll angle, the air spring pressure sensor detects the air spring pressure, and the piston position sensor 67 detects the volume adjusting piston 64.
Referring to fig. 3 and 4, a control method of a steering and suspension integrated anti-roll structure includes the steps of:
the method comprises the following steps that (1) an ECU receives signals of a steering wheel angle sensor, a vehicle body side inclination angle sensor, a piston position sensor and an air spring pressure sensor, judges an automobile steering request and monitors the air spring pressure in real time; when the steering request is a left steering, executing the step (2); when the steering request is a right steering, executing the step (3);
step (2), when the steering request is left-turning, the ECU controls a first main oil way of a channel electromagnetic valve to be opened, a second main oil way is closed, a second electromagnetic valve and a third electromagnetic valve are in a closed state, a first electromagnetic valve, a fourth electromagnetic valve and a fifth electromagnetic valve are in a conducting state, an oil pump works, and hydraulic oil in a hydraulic oil tank is respectively pumped into volume adjusting oil cavities of upper side air springs and right side air springs of a hydraulic cylinder by the oil pump; the ECU controls the closing time point of the fourth electromagnetic valve according to the value of the piston position sensor, so that the anti-roll effect is enhanced;
step (3), when the steering request is right steering, the ECU controls a second main oil way of a channel electromagnetic valve to be opened, a first main oil way is closed, a first electromagnetic valve and a fourth electromagnetic valve are in a closed state, a second electromagnetic valve, a third electromagnetic valve and a fifth electromagnetic valve are in a conducting state, an oil pump works, and hydraulic oil in a hydraulic oil tank is respectively pumped into volume adjusting oil cavities of the air springs on the lower side and the left side of a hydraulic cylinder by the oil pump; and the ECU controls the closing time point of the third electromagnetic valve according to the value of the piston position sensor, so that the anti-roll effect is enhanced.
The present invention is not limited to the above embodiments, and various combinations and modifications of the above technical features may be provided for those skilled in the art, and modifications, variations, equivalents, or uses of the structure or method of the present invention in other fields without departing from the spirit and scope of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a turn to and prevent structure of heeling with suspension integration which characterized in that: the hydraulic oil tank is connected with an oil pump through a hydraulic pipeline, the oil pump is connected with one end of a hydraulic cylinder through a first main oil way by a channel electromagnetic valve, one end of the hydraulic cylinder is connected with the hydraulic oil tank through a first electromagnetic valve, the oil pump is connected with the other end of the hydraulic cylinder through a second main oil way by a channel electromagnetic valve, and the other end of the hydraulic cylinder is connected with the hydraulic oil tank through a second electromagnetic valve; the first main oil way is connected with the first air spring through a fourth electromagnetic valve, the second main oil way is connected with the second air spring through a third electromagnetic valve, and the first air spring is connected with the second air spring through a fifth electromagnetic valve.
2. The steering and suspension integrated anti-roll structure according to claim 1, wherein: the structure of each air spring is the same, each air spring comprises an air spring cavity, a volume adjuster, a limiting spring, a volume adjusting piston, a volume adjusting oil cavity input port and a piston position sensor, the air spring cavity is the main body part of the air spring, the bottom of the air spring cavity is a cylindrical hole, the volume adjuster, the limiting spring and the volume adjusting piston are coaxially installed in the hole from top to bottom, the volume adjusting oil cavity is arranged below the volume adjusting piston, the volume adjusting oil cavity input port is arranged at the bottom end of the cavity, and the piston position sensor is installed in the volume adjusting oil cavity.
3. The steering and suspension integrated anti-roll structure according to claim 1 or 2, characterized in that: the first main oil way is provided with a first branch, the first branch is connected with the second air spring through a fourth electromagnetic valve, the second main oil way is provided with a second branch, and the second branch is connected with the first air spring through a third electromagnetic valve.
4. The steering and suspension integrated anti-roll structure according to claim 3, wherein: the first branch and the volume-adjusting oil cavity input port of the second air spring, and the second branch and the volume-adjusting oil cavity input port of the first air spring.
5. The steering and suspension integrated anti-roll structure according to claim 1 or 2, characterized in that: the steering and suspension integrated anti-roll structure further comprises an ECU, wherein the ECU receives information of a steering wheel angle sensor, a vehicle body roll angle sensor, a piston position sensor and an air spring pressure sensor for processing, and controls an oil pump, a channel electromagnetic valve, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, a fourth electromagnetic valve and a fifth electromagnetic valve.
6. The steering and suspension integrated anti-roll structure according to claim 5, wherein: the hydraulic cylinder is internally provided with a piston, when the steering wheel rotates leftwards, the piston of the hydraulic cylinder moves downwards and then drives the wheels to rotate leftwards through the steering structure, and when the steering wheel rotates rightwards, the piston of the hydraulic cylinder moves upwards and then drives the wheels to rotate rightwards through the steering structure.
7. A control method of a steering and suspension integrated anti-roll structure is characterized in that: the method comprises the following steps:
the method comprises the following steps that (1) an ECU receives signals of a steering wheel angle sensor, a vehicle body side inclination angle sensor, a piston position sensor and an air spring pressure sensor, judges an automobile steering request and monitors the air spring pressure in real time; when the steering request is a left steering, executing the step (2); when the steering request is a right steering, executing the step (3);
step (2), when the steering request is left-turning, the ECU controls a first main oil way of a channel electromagnetic valve to be opened, a second main oil way is closed, a second electromagnetic valve and a third electromagnetic valve are in a closed state, a first electromagnetic valve, a fourth electromagnetic valve and a fifth electromagnetic valve are in a conducting state, an oil pump works, and hydraulic oil in a hydraulic oil tank is respectively pumped to the upper side of a hydraulic cylinder and a volume adjusting oil cavity of a first air spring by the oil pump; the ECU controls the closing time point of the fourth electromagnetic valve according to the value of the piston position sensor, so that the anti-roll effect is enhanced;
step (3), when the steering request is a right turn, the ECU controls a second main oil way of the channel electromagnetic valve to be opened, the first main oil way is closed, the first electromagnetic valve and the fourth electromagnetic valve are in a closed state, the second electromagnetic valve, the third electromagnetic valve and the fifth electromagnetic valve are in a conducting state, the oil pump works, and hydraulic oil in the hydraulic oil tank is respectively pumped to the lower side of the hydraulic cylinder and a volume adjusting oil cavity of the second air spring by the oil pump; and the ECU controls the closing time point of the third electromagnetic valve according to the value of the piston position sensor, so that the anti-roll effect is enhanced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010257273.XA CN111267574B (en) | 2020-04-03 | 2020-04-03 | Steering and suspension integrated anti-roll structure and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010257273.XA CN111267574B (en) | 2020-04-03 | 2020-04-03 | Steering and suspension integrated anti-roll structure and control method |
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| CN111267574A true CN111267574A (en) | 2020-06-12 |
| CN111267574B CN111267574B (en) | 2021-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010257273.XA Active CN111267574B (en) | 2020-04-03 | 2020-04-03 | Steering and suspension integrated anti-roll structure and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806316A (en) * | 2020-06-24 | 2020-10-23 | 江苏理工学院 | Side-impact prevention device and control method thereof |
| CN113460159A (en) * | 2021-07-01 | 2021-10-01 | 北京汽车集团越野车有限公司 | Oil pump motor control device and vehicle |
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| CN106183685A (en) * | 2016-08-18 | 2016-12-07 | 北京航天发射技术研究所 | Suspension, VSC and automobile |
| CN107053990A (en) * | 2017-04-12 | 2017-08-18 | 管中林 | A kind of vehicle with foot control balance system |
| CN108839529A (en) * | 2018-07-04 | 2018-11-20 | 湖南工学院 | A kind of active variable volume air suspension and its control method |
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| US20130057399A1 (en) * | 2011-09-02 | 2013-03-07 | Chrysler Group Llc | Gawr exceed warning system for a vehicle |
| CN104691267A (en) * | 2015-03-03 | 2015-06-10 | 安徽农业大学 | Automobile chassis power coordination system |
| CN105835649A (en) * | 2016-03-18 | 2016-08-10 | 江苏大学 | Oil-gas suspension with volume-variable additional gas chamber and control method of oil-gas suspension |
| CN106183685A (en) * | 2016-08-18 | 2016-12-07 | 北京航天发射技术研究所 | Suspension, VSC and automobile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111806316A (en) * | 2020-06-24 | 2020-10-23 | 江苏理工学院 | Side-impact prevention device and control method thereof |
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| CN113460159A (en) * | 2021-07-01 | 2021-10-01 | 北京汽车集团越野车有限公司 | Oil pump motor control device and vehicle |
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| Publication number | Publication date |
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| CN111267574B (en) | 2021-08-17 |
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