CN113525539A - Device for controlling stability of vehicle body - Google Patents
Device for controlling stability of vehicle body Download PDFInfo
- Publication number
- CN113525539A CN113525539A CN202110707830.8A CN202110707830A CN113525539A CN 113525539 A CN113525539 A CN 113525539A CN 202110707830 A CN202110707830 A CN 202110707830A CN 113525539 A CN113525539 A CN 113525539A
- Authority
- CN
- China
- Prior art keywords
- flywheel
- rotor
- central shaft
- telescopic
- vehicle body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a device for controlling the stability of a vehicle body, which comprises a bracket, wherein a spherical hinge lower seat is fixed on the bracket, a spherical hinge upper seat is arranged on the spherical hinge lower seat in a matching way, a flywheel battery is connected on the spherical hinge upper seat, and a telescopic driving device is connected on the flywheel battery; the flywheel battery comprises a central shaft, a flywheel rotor rotationally sleeved on the central shaft, a motor stator fixedly sleeved on the central shaft, a rotary transformer for acquiring the angular displacement and the angular speed of the flywheel rotor, and a motor rotor which is positioned between the flywheel rotor and the motor stator and fixedly connected with the flywheel rotor; the lower end of the central shaft is connected to the spherical hinge upper seat, and the telescopic part of the telescopic driving device is connected with the upper end of the central shaft; the rotary transformer and the motor stator are both electrically connected with a flywheel controller, and the telescopic driving device is connected with a telescopic controller. According to the invention, the inclination angle of the flywheel battery is actively controlled, the gyro effect of the flywheel and automatic control are utilized to compensate the inclination of the vehicle during movement, and the stability of the vehicle body is improved.
Description
Technical Field
The invention belongs to the technical field of vehicle energy storage and vehicle stability control, and particularly relates to a device for vehicle body stability control.
Background
Vehicle stability control is currently mainly ensured by software controlled brake and traction distribution and mechanical systems. In response to the roll of the vehicle during high-speed over-bending, the current technical method mainly adopts the step of installing a balance bar or a lateral stabilizing bar on the shock absorption of the left wheel and the right wheel. But the existing independent suspension is coupled together due to the existence of the balance bar, so that the advantages of the independent suspension are limited. In addition, when the vehicle is parked on a laterally inclined road surface for a long time, the deformation of the stabilizer bar also causes the vehicle suspension to be skewed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a device for controlling the stability of a vehicle body, which actively controls the inclination angle of a flywheel battery, utilizes the gyro effect of a flywheel and automatic control to compensate the inclination of the vehicle during movement, and improves the stability of the vehicle body.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a device for vehicle body stability control comprises a support, wherein a spherical hinge lower seat is fixed on the support, a spherical hinge upper seat is arranged on the spherical hinge lower seat in a matching manner, a flywheel battery is connected to the spherical hinge upper seat, and a telescopic driving device is connected to the flywheel battery; the flywheel battery comprises a central shaft, a flywheel rotor rotationally sleeved on the central shaft, a motor stator fixedly sleeved on the central shaft, a rotary transformer for acquiring angular displacement and angular speed of the flywheel rotor, and a motor rotor which is positioned between the flywheel rotor and the motor stator and fixedly connected with the flywheel rotor; the lower end of the central shaft is connected to the spherical hinge upper seat, the telescopic part of the telescopic driving device is connected with the upper end of the central shaft, and the non-telescopic part of the telescopic driving device is connected with the bracket; the rotary transformer and the motor stator are electrically connected with a flywheel controller, and the telescopic driving device is connected with a telescopic controller.
Furthermore, a lower end cover and an upper end cover are correspondingly arranged at two ends of the central shaft, the lower end of the central shaft and the lower end cover are locked through a lower locking nut, and the upper end of the central shaft and the upper end cover are locked through an upper locking nut; the lower end of the central shaft is connected to the spherical hinge upper seat through the lower end cover; and the telescopic part of the telescopic driving device is connected with the upper end of the central shaft through the upper end cover.
Further, a flywheel battery protection cover is connected between the lower end cover and the upper end cover.
Further, the both ends of center pin are fixed with lower bearing and upper bearing respectively, it is equipped with support ring on support ring under the rotor and the rotor to overlap respectively on lower bearing and the upper bearing, the both ends correspondence of flywheel rotor is connected support ring under the rotor and on the rotor.
Further, the stator of the rotary transformer is connected to the upper end cover, and the rotor of the rotary transformer is connected to the support ring on the rotor.
Furthermore, three telescopic driving devices are uniformly distributed and connected on the flywheel battery along the same circumferential direction.
Furthermore, the telescopic driving device adopts an electric cylinder, and is electrically connected with the telescopic controller.
Further, the flywheel controller is used for being connected with a vehicle energy management system.
Compared with the prior art, the invention has at least the following beneficial effects: when the device for stably controlling the vehicle body is used, the bracket is arranged on a chassis of a vehicle, the flywheel controller is connected with a vehicle energy management system, the flywheel controller controls the motor stator to generate a rotating magnetic field with a certain size according to the angular displacement and the angular speed of the flywheel rotor acquired by the rotary transformer, the motor stator rotates under the action of the magnetic field to further drive the flywheel rotor connected with the motor stator to synchronously rotate, the process converts electric energy into mechanical energy of the flywheel battery, and the flywheel battery becomes a gyroscope by the high-speed rotation of the flywheel rotor. The bottom of the flywheel battery is connected with the spherical hinge upper seat, the spherical hinge upper seat and the spherical hinge lower seat are arranged in a matched mode, namely the flywheel battery is connected through the spherical hinge, the translational freedom degree of the lower portion of the flywheel battery is limited, the telescopic rod of the telescopic driving device is controlled to stretch through the telescopic controller, the deflection angle of the flywheel battery rotating shaft in the space is controlled, therefore, the rotating axis of the flywheel rotor can deflect, the deflection torque is generated due to the gyro effect, the deflection direction of the flywheel rotor rotating shaft can be controlled by controlling the lengths of the three telescopic driving devices, the direction and the size of the deflection torque can be changed, and the torque can be used for compensating the roll phenomenon and the head-pointing phenomenon during braking when a vehicle turns. In conclusion, the invention can achieve the aim of applying the torque for correcting the posture of the vehicle body to the vehicle by actively controlling the rotating shaft deflection angle of the flywheel rotor. In addition to roll suppression, vehicle nodding during braking may be reduced. The flywheel battery body can be used for stabilizing the vehicle body, and can store energy in a mechanical energy mode to serve as an energy storage device of the vehicle. After the invention is applied, a transverse stabilizer bar in the vehicle suspension can be cancelled, and the performance of the independent suspension is improved.
Furthermore, a lower end cover and an upper end cover are correspondingly arranged at two ends of the central shaft, the central shaft is fixedly installed through the lower end cover and the upper end cover, the lower end of the central shaft is connected with the upper seat of the spherical hinge through the lower end cover, and the telescopic part of the telescopic driving device is connected with the upper end of the central shaft through the upper end cover, so that the connecting structure is more reliable.
Further, a flywheel battery protection cover is connected between the lower end cover and the upper end cover and used for protecting the flywheel battery.
Furthermore, the lower bearing, the upper bearing, the lower rotor support ring and the upper rotor support ring which correspond to the lower bearing and the upper bearing realize the rotary connection of the flywheel rotor and the central shaft, and the connection structure is reliable.
Furthermore, three telescopic driving devices are uniformly distributed and connected on the flywheel battery along the same circumferential direction, the three uniformly distributed telescopic driving devices are matched together to realize position adjustment of the flywheel battery, and the adjustment reliability is high.
Furthermore, the telescopic driving device adopts an electric cylinder, the telescopic driving device is electrically connected with the telescopic controller, and the sensitivity of the electric cylinder is high.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a vehicle body stability control apparatus according to the present invention;
fig. 2 is a sectional view of the flywheel battery according to the present invention.
In the figure: 1-a scaffold; 2-spherical hinge lower seat; 3-a spherical hinge upper seat; 4-a telescopic driving device; 5-central axis; 6-flywheel rotor; 7-a motor stator; 8-a motor rotor; 9-a rotary transformer; 10-flywheel controller; 11-a telescoping controller; 12-a lower bearing; 13-an upper bearing; 14-rotor lower support ring; 15-rotor upper support ring; 16-lower end cap; 17-upper end cap; 18-lower locknut; 19-upper locking nut; 20-flywheel battery protection cover.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, as a specific embodiment of the present invention, a device for controlling the stability of a vehicle body includes a bracket 1, a lower ball hinge seat 2 is fixed to the bracket 1, specifically, the lower ball hinge seat 2 is fixedly mounted on a base of the bracket 1, an upper ball hinge seat 3 is provided on the lower ball hinge seat 2 in a matching manner, a flywheel battery is connected to the upper ball hinge seat 3, and the upper portion of the upper ball hinge seat 3 has three rotational degrees of freedom around the center of the upper ball hinge seat. As shown in fig. 1, a telescopic driving device 4 is connected to the flywheel battery, and the position of the flywheel battery along the three rotational degrees of freedom is adjusted by the extension and retraction of a telescopic rod of the telescopic driving device 4.
As shown in fig. 2, the flywheel battery includes a central shaft 5, a flywheel rotor 6 rotatably sleeved on the central shaft 5, a motor stator 7 fixedly sleeved on the central shaft 5, a rotary transformer 9 for acquiring angular displacement and angular velocity of the flywheel rotor 6, and a motor rotor 8 located between the flywheel rotor 6 and the motor stator 7 and fixedly connected to the flywheel rotor 6, and specifically, the motor rotor 8 is clamped in a central hole of the flywheel rotor 6.
As shown in fig. 2, in a preferred embodiment of the present invention, a lower bearing 12 and an upper bearing 13 are respectively fixed to both ends of the central shaft 5, a rotor lower support ring 14 and a rotor upper support ring 15 are respectively sleeved on the lower bearing 12 and the upper bearing 13, and both ends of the flywheel rotor 6 are correspondingly connected to the rotor lower support ring 14 and the rotor upper support ring 15.
Referring to fig. 1 and 2, the lower end of the central shaft 5 is connected to the ball-joint upper seat 3, the telescopic portion of the telescopic driving device 4 is connected to the upper end of the central shaft 5, and the non-telescopic portion of the telescopic driving device 4 is connected to the stand 1. The coils on the rotary transformer 9 and the motor stator 7 are electrically connected with a flywheel controller 10, and the flywheel controller 10 is used for connecting a vehicle energy management system. The flywheel controller 10 controls the motor in the flywheel battery to be charged or discharged through the feedback information of the resolver 9. The telescopic driving device 4 is connected with a telescopic controller 11. Preferably, the flywheel battery is uniformly connected with three telescopic driving devices 4 along the same circumferential direction, namely, an included angle formed between every two adjacent telescopic driving devices 4 is 120 degrees, the three telescopic driving devices 4 move in a matched manner, and the deflection angle of the flywheel battery rotating shaft in the space can be controlled through different elongation amounts. In this embodiment, the telescopic driving device 4 is an electric cylinder, and the telescopic driving device 4 is electrically connected to the telescopic controller 11 through a cable.
As a preferred embodiment of the present invention, as shown in fig. 2, a lower end cap 16 and an upper end cap 17 are provided at both ends of the center shaft 5, and the lower end of the center shaft 5 and the lower end cap 16 are fastened by a lower fastening nut 18, and the upper end of the center shaft 5 and the upper end cap 17 are fastened by an upper fastening nut 19. The lower end of the central shaft 5 is connected to the spherical hinge upper seat 3 through a lower end cover 16, and the telescopic part of the telescopic driving device 4 is connected with the upper end of the central shaft 5 through an upper end cover 17. The stator of the resolver 9 is connected to the upper end cap 17 and the rotor of the resolver 9 is connected to the rotor support ring 15.
In this embodiment, a flywheel battery protective cover 20 is connected between the lower end cover 16 and the upper end cover 17.
The part of the invention adopts an outer rotor structure, and the motor and the inertia disc are integrally designed, thereby improving the integration level of the system.
The working principle of the invention is as follows: when the device is used, the bracket 1 is installed on a chassis of a vehicle, the flywheel controller 10 is connected with a vehicle energy management system, the flywheel controller 10 controls the motor stator 7 to generate a rotating magnetic field with a certain size according to the angular displacement and the angular speed of the flywheel rotor 6 acquired by the rotary transformer 9, the motor stator 7 is static and drives the flywheel rotor 6 connected with the motor stator to rotate synchronously under the action of the magnetic field, the electric energy is converted into the mechanical energy of the flywheel battery in the process, and the flywheel battery becomes a gyroscope by the high-speed rotation of the flywheel rotor 6. Because the bottom of the flywheel battery is connected with the spherical hinge upper seat 3, the spherical hinge upper seat 3 is matched with the spherical hinge lower seat 2, namely, the flywheel battery is connected through the spherical hinge, the translational freedom degree of the lower part of the flywheel battery is limited, the telescopic rod of the telescopic driving device 4 is controlled to stretch through the telescopic controller 11, and the deflection angle of the rotating shaft of the flywheel battery in space is further controlled, so that the rotating shaft of the flywheel rotor 6 can deviate, and further deflection torque is generated due to the gyro effect, the deflection direction of the rotating shaft of the flywheel rotor 6 can be controlled by controlling the lengths of the three telescopic driving devices 4, and further the direction and the size of the deflection torque can be changed, and the torque can be used for compensating the roll phenomenon when a vehicle turns and the head-pointing phenomenon when the vehicle brakes.
In operation, when the vehicle is started, the flywheel controller 10 drives the flywheel rotor 6 to accelerate to an initial operating speed, for example, 50% of the maximum limit speed, so that the flywheel battery completes the initial energy storage. When the vehicle brakes, the electric energy generated by the vehicle motor brake drives the flywheel rotor 6 to accelerate through the flywheel controller 10, so that the kinetic energy of the flywheel rotor 6 is increased. The process realizes the conversion of the kinetic energy of the running vehicle to the electric energy of the vehicle driving system and then to the kinetic energy of the flywheel rotor, and realizes the recovery of the braking energy of the vehicle. When the vehicle accelerates, the flywheel controller 10 controls the flywheel rotor 6 to decelerate, so that the kinetic energy of the flywheel rotor 6 is converted into electric energy, and the electric energy is provided for the vehicle driving system to accelerate. Frequent energy exchange from the chemical battery can be reduced by using a flywheel battery, achieving the effect of prolonging the life of the chemical battery.
When the vehicle runs, the flywheel battery is always in a high-speed running state, the braking and the acceleration of the vehicle can change the rotating speed of the flywheel battery, but the rotating speed of the flywheel battery cannot be reduced to be below a set critical value. That is to say, the flywheel battery always rotates like a gyro during the running of the vehicle. When the vehicle turns at a high speed, the vehicle is inclined in the opposite direction under the influence of centrifugal force. The vehicle tilt angle sensor detects the vehicle tilt angle and sends the vehicle tilt angle to the telescopic controller 11, and the telescopic controller 11 controls the flywheel battery to generate gyro moment to counteract the moment for tilting the vehicle by combining with the tilt angle feedback. The magnitude of the gyro moment can be calculated by a formula of Mg ═ J ω × Ω, where J is the rotational inertia of the flywheel battery, ω is the rotational angular velocity of the flywheel battery itself, and Ω is the rotational angular velocity of the flywheel battery itself. As can be seen from the gyro moment formula, when it is necessary to cancel the roll in the left-right direction of the vehicle, it is necessary to control the rotation axis of the flywheel battery to rotate around the axis in the left-right direction of the vehicle. Similarly, the nodding action when the vehicle brake needs to be counteracted can control the rotation axis of the flywheel battery to rotate along the axis in the front-back direction of the vehicle. The rotation of the flywheel battery axis changes the position of the upper end of the flywheel battery axis through the length combination change of the telescopic device 4 driven by the telescopic controller 11. Because the lower end of the flywheel battery is limited by the spherical hinge, the axis of the flywheel battery can realize the rotation of two degrees of freedom through the control of the telescopic device 4, and further, the effect of stabilizing the vehicle body when the vehicle runs is realized through the method.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The device for controlling the stability of the vehicle body is characterized by comprising a support (1), wherein a spherical hinge lower seat (2) is fixed on the support (1), a spherical hinge upper seat (3) is arranged on the spherical hinge lower seat (2) in a matching manner, a flywheel battery is connected to the spherical hinge upper seat (3), and a telescopic driving device (4) is connected to the flywheel battery; the flywheel battery comprises a central shaft (5), a flywheel rotor (6) rotatably sleeved on the central shaft (5), a motor stator (7) fixedly sleeved on the central shaft (5), a rotary transformer (9) used for collecting angular displacement and angular velocity of the flywheel rotor (6), and a motor rotor (8) which is positioned between the flywheel rotor (6) and the motor stator (7) and fixedly connected with the flywheel rotor (6); the lower end of the central shaft (5) is connected to the spherical hinge upper seat (3), the telescopic part of the telescopic driving device (4) is connected with the upper end of the central shaft (5), and the non-telescopic part of the telescopic driving device (4) is connected with the bracket (1); the rotary transformer (9) and the motor stator (7) are both electrically connected with a flywheel controller (10), and the telescopic driving device (4) is connected with a telescopic controller (11).
2. A device for vehicle body stability control according to claim 1, wherein a lower end cover (16) and an upper end cover (17) are correspondingly arranged at both ends of the central shaft (5), and the lower end of the central shaft (5) is connected to the ball joint upper seat (3) through the lower end cover (16); the telescopic part of the telescopic driving device (4) is connected with the upper end of the central shaft (5) through the upper end cover (17).
3. A device for the vehicle body stability control according to claim 2, wherein a flywheel battery protection cover (20) is connected between the lower end cover (16) and the upper end cover (17).
4. The device for vehicle body stability control according to claim 2, wherein a lower bearing (12) and an upper bearing (13) are respectively fixed at two ends of the central shaft (5), a rotor lower support ring (14) and a rotor upper support ring (15) are respectively sleeved on the lower bearing (12) and the upper bearing (13), and two ends of the flywheel rotor (6) are correspondingly connected to the rotor lower support ring (14) and the rotor upper support ring (15).
5. A device for vehicle body stability control according to claim 4, characterized in that the stator of said rotary transformer (9) is connected to said upper end cover (17) and the rotor of said rotary transformer (9) is connected to said rotor upper support ring (15).
6. The device for the vehicle body stability control according to claim 1, wherein three said telescopic driving devices (4) are uniformly connected to said flywheel battery along the same circumferential direction.
7. The device for vehicle body stability control according to claim 1, wherein the telescopic driving device (4) is an electric cylinder, and the telescopic driving device (4) is electrically connected with the telescopic controller (11).
8. An arrangement for vehicle body stability control according to claim 1, characterized in that the flywheel controller (10) is arranged to be connected to a vehicle energy management system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110707830.8A CN113525539A (en) | 2021-06-24 | 2021-06-24 | Device for controlling stability of vehicle body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110707830.8A CN113525539A (en) | 2021-06-24 | 2021-06-24 | Device for controlling stability of vehicle body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113525539A true CN113525539A (en) | 2021-10-22 |
Family
ID=78096784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110707830.8A Pending CN113525539A (en) | 2021-06-24 | 2021-06-24 | Device for controlling stability of vehicle body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113525539A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11427273B2 (en) * | 2017-09-04 | 2022-08-30 | Uday TUMMALA | Stabilizing device |
| CN115520353A (en) * | 2022-10-21 | 2022-12-27 | 江苏海洋大学 | Steady marine lifeboat |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102161355A (en) * | 2009-04-30 | 2011-08-24 | 无锡千里信步精密机电科技有限公司 | Action control method and device for preventing automobile body from turning over |
| DE102012202596A1 (en) * | 2012-02-21 | 2013-08-22 | Robert Bosch Gmbh | Device for operating vehicle e.g. motor car, has bearing that is pivoted against rotation axis in one direction, to increase wheel contact force of wheels |
| CN104648497A (en) * | 2014-12-24 | 2015-05-27 | 江苏科技大学 | Gyroscopic-effect-based transverse self-balancing device and method |
| US20180009286A1 (en) * | 2015-01-17 | 2018-01-11 | Audi Ag | Gyroscope-based rotation damper for a motor vehicle |
-
2021
- 2021-06-24 CN CN202110707830.8A patent/CN113525539A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102161355A (en) * | 2009-04-30 | 2011-08-24 | 无锡千里信步精密机电科技有限公司 | Action control method and device for preventing automobile body from turning over |
| DE102012202596A1 (en) * | 2012-02-21 | 2013-08-22 | Robert Bosch Gmbh | Device for operating vehicle e.g. motor car, has bearing that is pivoted against rotation axis in one direction, to increase wheel contact force of wheels |
| CN104648497A (en) * | 2014-12-24 | 2015-05-27 | 江苏科技大学 | Gyroscopic-effect-based transverse self-balancing device and method |
| US20180009286A1 (en) * | 2015-01-17 | 2018-01-11 | Audi Ag | Gyroscope-based rotation damper for a motor vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11427273B2 (en) * | 2017-09-04 | 2022-08-30 | Uday TUMMALA | Stabilizing device |
| CN115520353A (en) * | 2022-10-21 | 2022-12-27 | 江苏海洋大学 | Steady marine lifeboat |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113525539A (en) | Device for controlling stability of vehicle body | |
| US10906370B1 (en) | Active suspension system | |
| US8844943B2 (en) | Electronic control suspension system for vehicles | |
| US8973450B2 (en) | Attitude control device | |
| US11027416B2 (en) | Two-wheeled self-balancing robot | |
| US9604531B2 (en) | Suspension structure for in-wheel motor drive device | |
| CN110997362A (en) | Active suspension system | |
| US20040094928A1 (en) | Vehicle with electric motors | |
| US20040251651A1 (en) | Vehicle suspension, vehicle control method and vehicle control apparatus | |
| US9771105B2 (en) | Suspension structure for in-wheel motor drive device | |
| CN110001326B (en) | Motor-suspended electric wheel | |
| US10714807B2 (en) | Stabilization arrangement for stabilization of an antenna mast | |
| KR20180042588A (en) | Electric type damper for vehicle | |
| JP4643416B2 (en) | Vehicle vibration control device | |
| JP2015525160A (en) | Electric motor or generator system | |
| WO2006019298A1 (en) | Anti-roll/pitch system for use in a vehicle and vehicle equiped with such system | |
| JP2018131088A (en) | Vehicle attitude stabilizer | |
| JP2005324606A (en) | Electric automobile | |
| CN108515508A (en) | Two-wheel robot | |
| JP2009234472A (en) | Electromagnetic suspension unit and electromagnetic suspension device | |
| JP2007203803A (en) | Vehicle driving device | |
| JP4078290B2 (en) | Vehicle suspension system | |
| WO2018212186A1 (en) | Vehicle | |
| JP2005036943A (en) | Vehicle suspension device | |
| CN210161860U (en) | Motor-suspended electric wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |