CN1984791A

CN1984791A - Semi-active roll control system and control strategies for semi-active roll control

Info

Publication number: CN1984791A
Application number: CN 200580023207
Authority: CN
Inventors: J·R·霍洛韦尔; R·J·巴伦
Original assignee: Kelsey Hayes Co
Current assignee: Kelsey Hayes Co
Priority date: 2004-06-02
Filing date: 2005-05-17
Publication date: 2007-06-20

Abstract

A roll control actuator, a roll control system, and a roll control strategy for controlling the roll of a motor vehicle are disclosed. The actuator comprises a selective lock connected between an unsprung portion of the vehicle and a sprung portion of the vehicle. The system comprises such an actuator. The strategy comprises utilizing locking and unlocking thresholds to control the locked state of such an actuator.

Description

Half active roll control system and the control policy that is used for half active inclination control

Cross reference for related application

The application requires to be filed in the U.S. Provisional Application No.60/576 on June 2nd, 2004,160 right, and it openly is included in here by reference.

The application requires to be filed in the U.S. Provisional Application No.60/599 on August 6th, 2004,376 right, and it openly is included in here by reference.

Technical field

The present invention relates generally to the power actuated vehicle roll control system, and more particularly, relate to a kind of be used for roll control system from centering actr, a kind of roll control system that comprises the self-regulation actr with the method for self-regulation actr operation roll control system.

Background technology

The suspension system that is used for power actuated vehicle is known, uneven isolated in ground that this suspension system is crossed car load and vehicle '.Semi-active suspension system for example is usually included on the spring of vehicle and bonded assembly spring and bumper between the spring lower part.Semi-active suspension system generally is independently, and only works for the load that is applied on them.In active suspension system, on the contrary, typically supply with definitely by electron steering hydraulic pressure or pneumatic actuator for the antagonistic force of the load that applies.

Except that the spring top of vehicle and road are isolated, wish that the spring top of stablizing vehicle is with respect to the trend of the inclination or the inclination of its spring lower part when quickening, slowing down or turning with higher rate.Therefore, proposed vehicle is remained on suspension system in the basic horizontal position, and irrelevant with the power source of attempting this position of disturbance.For example, the U.S. Patent No. 5,630,623 of authorizing Ganzel discloses a kind of half active system of the inclination that is used for the controlling machine motor vehicle, this half active system is included in bonded assembly actr between the spring top of the spring lower part of vehicle and vehicle, this patent open by with reference to being included in here.Known roll control system not only the locking and unlocking vehicle Panhard rod (promptly, the control lock-out state), and allow the skew up or down of any wheel of four wheels of vehicle, and with influenced wheel whether be in the inboard of turning or the outside irrelevant, as below will be in greater detail.

Referring now to accompanying drawing, Fig. 1 and 2 represent to be used for the controlling machine motor vehicle inclination prior art half initiatively, no pumping system 10.System 10 comprises actr 12, first and second pressure controls or pressure-

relief valve

14 and 16 and first and second check valves 18 and 20.Also be provided with second rear actuator 21 and corresponding

hydraulic circuit.Actr

12 and 21 each comprise cylinder 42 and can reciprocally be arranged in piston 44 in the respective cylinder 42.

The

wheel

22,24,26 of vehicle and each of 28 are on the generally horizontal axis line rotatably is respectively installed to parts such as

suspension arm

30,32,34 and 36, and this

suspension arm

30,32,34 and 36 forms the part of the spring lower part of vehicles.The spring lower part of vehicle again by

actr

12 and 21 and Panhard rod or

antiroll bar

38 and 40 be connected on the spring top of vehicle.

Each actr 12 and one of 21 cylinder 42 or piston 44 are connected on

antiroll bar

38,40 or

suspension arm

30,32,43 and 36 relevant one drivingly, and right another element drives of each cylinder/piston be connected on

antiroll bar

38,40 or

suspension arm

30,32,43 and 36 relevant other one.As shown in figs. 1 and 2, for example, the cylinder 42 of front actuator 12 is connected on the free end of anterior antiroll bar 38, and the part of the piston rod that extends downwards from cylinder substantially is connected on the front right suspension arm 30.Similarly, rear portion antiroll bar 40 is connected on the cylinder 42 of right back actr 21, and the piston 44 of actr 21 is connected on the suspension arm 32.

Actr

12 and 21 each all have pair of openings 46,48 and 50,52 respectively, can will alternately offer the end of cylinder 42 such as the working medium of hydraulic fluid or discharge from this end by described opening, described end be arranged on the either side of the piston 44 that is arranged in cylinder.As hereinafter describing in detail,

actr

12 and 21 each all be used to keep and height on the ground-surface spring of the part of the vehicle above the relevant wheel of vehicle.

First pressure-gradient control valve 14 is proportional relief valve, and is communicated with first port 46 of actr 12 by hydraulic power line 54.Valve 14 is operated by proportional solenoid, and has open position and off position.Loading reality or expection in response to actr 12, screw actuator is to encourage valve 14 with the proportional power of electric signal that is applied on it to off position, this prevents to leave flowing of first port 46, up in the upper chamber of cylinder 42, producing set pressure, overcoming solenoid force, as following more fully as described in.First check valve 18 is arranged in the hydraulic circuit in parallel with first pressure-gradient control valve 14, and only allows to pass it flowing on the direction of first port 46 of actr 12.

Second pressure-gradient control valve 16 also is a proportional relief valve, and is communicated with second port 48 of actr 12 by hydraulic power line 56.Valve 16 is also by proportional solenoid control, and can by screw actuator open and off position between move, to prevent leaving flowing of second port 48, up in the lower chamber of cylinder 42, producing set pressure.Second check valve 20 is arranged in the hydraulic circuit in parallel with second pressure-gradient control valve 16, and only allows to pass its flowing to second port 48 of actr 12.

Also be provided with the hydraulic circuit that is used for rear actuator 21, and identical with the hydraulic circuit that is used for front actuator 12 substantially.Thereby proportional pressure control valve 58 and check valve in parallel 60 are arranged to be communicated with first port 50 of rear actuator 21, and another proportional pressure control valve 62 and check valve in parallel 64 are arranged to be communicated with second port 52 of rear actuator.

In operation, electronic control unit (ECU) 70 is handled from one or more vehicle-wheel speed sensors 72, laterally accelerometer 74, and the input of steering angle sensor 76.Given these inputs, ECU predicts the seriousness of inclination on the horizon, and sends control command to the screw actuator of

suitable valve

14 and 58 or 16 and 62.For example, power actuated vehicle may begin the fair speed turnon left, if this then can make the spring lower part of vehicle tend to around the inclination deasil generally of its longitudinal axis not by the compensation of system 10.

When the beginning of this action,

sensor

72,74 and 76 signals to ECU 70 to transition condition.ECU calculate again or the net pressure P that obtains in one or two the upper chamber of cylinder 42 of

actr

12 and 21, needing to produce by look-up table with the opposing vehicle roll, and the motivating solenoid of pressure-

gradient control valve

14 and 58 to being enough to the mobile amount that stop pressure P of handle by these valves.

In order to resist expection vehicle roll in the opposite direction, for example as may experiencing during right-hand corner, ECU 70 repeats this process, and the screw actuator of

excitation valve

16 and 62, to allow the foundation of pressure in the lower chamber of actr 12 and 21.Under any situation, to be used for offsetting vehicle roll needed instantaneous or expection reduces or when increasing, ECU sends signal to suitable pressure-gradient control valve, to reduce or to increase their the pressure cut off limit accordingly when

sensor

72,74 and 76 indications.

If unexpected load is applied on one of actr, as when a wheel when rolling on the protuberance in the road contingent, in a chamber of influenced actr, produce increased pressure.For example, if right front wheel 22 runs into protuberance and upwards skew during turnon left, then piston 44 moves up in cylinder 42, and the pressure in the upper chamber of actr 12 increases.Even at this moment valve 14 is closed, increase pressure and also overcome solenoid force, allow suspension compresses and keep ride quality.When wheel 22 crosses the top of protuberance and valve 14 then and cuts out once more, check valve 18 allow pistons 44 and suspension arm 30 land back they the initial position and less than any resistance from roll control system.This process takies the limited amount time, this time durations car body may inclination to a certain degree, and therefore piston 44 and suspension arm 30 can not turn back to their initial position fully.

Rise and under the situation that valve 14 is energized, suspension arm 36 and antiroll bar 38 transform these power, and extending cylinder 42, reduce the pressure in the upper chamber of actr 12 at inboard wheel 28 suddenly.If this pressure decay is to below pre-pressure of filling in the energy storage 78, then check valve 18 allows to enter flowing in the upper chamber of actr 12, thereby antiroll bar 38 can move to new location not from the resistance of roll control system.This new location can or surmount the initial position near the initial position.For example, if antiroll bar 38 original center or the midways location of being in, then when antiroll bar 38 moved to new location, valve 14 was energized by means of the antiroll bar 38 that leaves the initial position, this new location may be near the initial position or through the initial position, promptly through center or midway location.In this system advantageously, adopt firmer antiroll bar to be beneficial to this process.

Energy storage 78 is arranged in each of the front and rear hydraulic circuit that is communicated with pressure-

gradient control valve

14,16 and 58,62.By the fluid in hydraulic circuit is remained under the certain pressure, energy storage 78 plays to prevent the cavitation erosion in system 10 when the skew of the wheel of vehicle, and also plays a part to replenish for through the leakage of the dynamic sealing storage box by any fluid of system loss.All valves and be used for each energy storage of front and rear hydraulic circuit and be packaged in

unit

80 and 82, this

unit

80 and 82 is installed near

antiroll bar

38 and 40.

The front and rear hydraulic circuit keeps separating, thereby the valve in each loop can be floated (ride) with their corresponding antiroll bar, and this has eliminated the needs that are used for arranging expensive flexible hydraulic flexible pipe from the carbody to the bar.

Summary of the invention

The present invention includes and be used for the actr of inclination of controlling machine motor vehicle.Actr is connected between the spring top of the spring lower part of vehicle and vehicle, is used for optionally the spring top of vehicle being connected on the spring lower part of vehicle.In one embodiment, actr is the actr of hydraulically operating, and comprises the piston on one of the spring top that is fixed to vehicle and spring lower part of vehicle and is fixed to the spring top of vehicle and the cylinder of the spring lower part of vehicle on another.Cylinder has surface, inside and at least one first and second port of limiting hole.Piston is arranged in the cylinder hole between first and second ports, and engages the surface, inside of cylinder hermetically.A fluid conduit systems exterior or that limit by piston connects first and second ports by the hole.The hydraulic fluid of one constant volume is arranged in the cylinder hole, thereby when preventing by the hydraulic fluid of fluid conduit systems between first port and second port mobile, piston can only move on the direction of the midway location in cylinder.

Thereby, the invention provides a kind of half roll control system initiatively that comprises above-mentioned actr, when roll control system just in action the time, this actr allows vehicle suspension component to return position in the middle of it when external loading is applied on the vehicle suspension component.

The present invention also comprises and is used for the inclination control policy of controlling machine motor vehicle inclination.Strategy comprises the lock-out state that utilizes the locking and unlocking threshold value control inclination control actr.

When reading under the enlightenment at accompanying drawing, by the following detailed description of preferred embodiment, various purposes of the present invention and advantage will become obvious for those skilled in the art.

Description of drawings

Fig. 1 is the scheme drawing of the known inclination that is used for the controlling machine motor vehicle;

Fig. 2 is another scheme drawing of the roll control system represented in Fig. 1;

Fig. 3 is the scheme drawing according to first embodiment of roll control system of the present invention;

Fig. 3 a is another scheme drawing of the roll control system represented in Fig. 3;

Fig. 4 is the scheme drawing according to second embodiment of roll control system of the present invention;

Fig. 5 is the scheme drawing according to the 3rd embodiment of roll control system of the present invention;

Fig. 6 is the cutaway view that is used in the check valve apparatus in the roll control system of Fig. 5;

Fig. 7 is the scheme drawing according to the 4th embodiment of roll control system of the present invention;

Fig. 8 is the scheme drawing according to the 5th embodiment of roll control system of the present invention;

Fig. 9 is the scheme drawing according to the 6th embodiment of roll control system of the present invention;

Figure 10 is the diagram of circuit that is used for the method for inclination control according to of the present invention.

The specific embodiment

Referring again to accompanying drawing, Fig. 3 and 3a illustrate according to of the present invention, generally with a kind of roll control systems of 110 indications, and indicate same reference numerals with Fig. 1 and 2 similar elements.Roll control system 110 comprises actr 112, check valve apparatus 114 and energy storage 178.Check valve apparatus 114 and energy storage 178 are preferably packaged in the unit 180, and are installed near the antiroll bar 38.Yet unit 180 can be installed near the actr 112, perhaps is installed in any other appropriate location.To the present invention be described for single actr 112 and hydraulic circuit.Yet, be appreciated that as above for as described in the prior art roll control system, also be provided with second, rear actuator and corresponding hydraulic circuit.Roll control system 110 can be to be used in the vehicle with the similar mode of the mode of describing in Fig. 1 and 2 and illustrating for the prior art roll control system.

In order to be provided with actr 112 with the above similar purposes of describing for prior art actr 12 and 21.Actr 112 comprises cylinder 118 and the bar 120 that is arranged in the cylinder 118.One of the cylinder 118 of each actr or bar 120 are connected on one of antiroll bar 38 and suspension arm 30 drivingly, and right another of cylinder/piston be connected on another of antiroll bar 38 and suspension arm 30 drivingly, as above about Fig. 1 for as described in the prior art roll control system.

First opening 122 and second opening 124 that bar 120 is passed in the chamber of cylinder 118 extend, and install for first sealing member 126 in being arranged in first opening 122 and second opening 124 and the crank motion between second sealing member 128 therein.Cylinder 118 comprises the annular lip 130 in the hollow chamber that extends inward into cylinder 118.Bar 120 comprises annular lip 132, and this annular lip 132 extends outwardly in the hollow chamber of cylinder 118, thus bar 120 can be in cylinder 118 crank motion and do not make annular lip 132 contact annular lip 130.First annular piston 134 is arranged on the inherent annular lip 130 and a side of annular lip 132 around bar 120 of cylinder 118, and second annular piston 136 is arranged in cylinder 118 inherences also on the opposite side of the annular lip 130 of bar 120 and annular lip 132.First and second pistons 134,136 can each comprise inner seal member 138,140 respectively and comprise external sealing part 142,144 respectively.134,136 cooperations of first and second pistons are to be divided into upper chamber 146, lower chamber 148 and central lumen 150 to the hollow chamber of cylinder 118.Each of upper chamber 146 and lower chamber 148 has the spring 147,149 that is arranged in wherein respectively.Spring 147,149 is pushed piston 134,136 to annular lip 130 respectively.

Each has the port one of linking 52,154 and 156 upper chamber 146 of cylinder 118, lower chamber 148 and central lumen 150, by this port one 52,154 and 156, the working medium such as hydraulic fluid can alternately be supplied with and discharges from the relevant chamber 152,154 and 156 of cylinder 118.Check valve apparatus 114 is communicated with the port one 56 of actr 112 by hydraulic power line 158, and is communicated with port one 52,154 by hydraulic power line 160.Energy storage 178 is communicated with fluid line 158 fluids between check valve apparatus 114 and port one 56.

Check valve apparatus 114 is by solenoid-operated, and has open position and check position.When check valve apparatus 114 dead electricity, it is in check position, and the unidirectional element of check valve apparatus 114 allows to flow by the fluid of check valve apparatus 114 on the counter current direction by check valve apparatus 114 flowing and preventing on the direction of (that is, from port one 56 to port one 52 and 154) from hydraulic power line 158 to hydraulic power line 160.Except that when inclination control is hope (, when vehicle is operated than straight path in the edge), when vehicle was in the operation, the screw actuator of check valve apparatus 114 was energized.When being energized, check valve apparatus 114 is shown in an open position, thereby check valve apparatus 114 allows by its flowing on either direction, and thereby is at check valve apparatus 114 that fluid can be mobile to the direction of port one 56 from port one 52,154 under the situation about opening in (excitation) position.Bar 120 and piston 134,136 can be freely by corresponding chambers 146 and 148 motions because when piston 134,136 when chamber 146,148 moves fluid, fluid can enter central bore 150.On the contrary, the fluid that moves from central bore 150 can enter chamber 146,148.Actual or the expection of response actr 112 loads, the screw actuator dead electricity, thus check valve apparatus 114 moves to check position.To recognize that check valve apparatus 114 can comprise any valve gear that can finish above-mentioned functions.Check valve apparatus 114 can comprise check valve and bypass disc.The state of bypass disc can be determined by any proper method.A kind of such method is to measure air gap through driving action induction ground, loop, and as in the U.S. Patent No. 6,577 of authorizing Barron, as described in 133, the open of this patent is included in here by reference.

Actual or the expection of response actr 112 loads, check valve apparatus 114 dead electricity, and fluid can discharge from central bore 150, but can not supply to central bore 150 from chamber 146,148 as described above.Anti-stopping bar 120 is the central motion of cylinder 118 further away from each other, because for the central motion of cylinder 118 further away from each other, if for example actr 112 is compressed, then the fluid in upper chamber 146 must outflow port 152.Yet, if check valve 114 is in the check position, for such flow path that flows into chamber 150 does not exist.Fluid can not flow into chamber 148, because piston 136 is against flange 130, and can not moves and enlarges the volume of chamber 148.If actr 112 stands to trend towards prolonging the power of actr 112,, then prevent from similarly to flow from the fluid of chamber 148 if then bar 120 is attempted away from central motion.Yet when check valve apparatus 114 dead electricity, bar 120 is freely to the central motion of cylinder 118.When bar 120 during to the central motion of cylinder 118, push the center of cylinder 118 to by the spring 147,149 that links for corresponding one of piston 134,136, and the fluid in chamber 150 flows to chamber 146 or chamber 148 on the opposite side of the piston 134,136 of motion by check valve 114.Another of piston 134,136 keeps seating on annular lip 130.

Unlike the prior art roll control system, when activateding, roll control system 110 allows the central motion of bar 120 to cylinder 118, and anti-stopping bar 120 is away from the central motion of cylinder 118.Therefore, the antiroll bar locking puts in place, thereby antiroll bar can not move on the direction away from center or midway location, but can turn back to center or midway location.

Energy storage 178 can be communicatively connected on the hydraulic power line 158 between port one 56 and the check valve apparatus 114.The life period that energy storage is arranged to replenish energy storage 178 spills any amount fluid of system and the variable density that compensation is caused by temperature traverse.The low pressure accumulator that energy storage 178 is preferably operated to the pressure of about 5bar at about 2bar.

Referring now to Fig. 4, show have according to of the present invention, generally with second embodiment of roll control systems of 210 indications.Roll control system 210 is similar to roll control system 110, and like wherein uses the respective figure marker number of increase ' 100 '.With only describe with for the element of roll control system 110 descriptions those elements of different roll control system 210.To the present invention be described for single actr 212 and hydraulic circuit.Yet, be appreciated that as described above, also be provided with second, rear actuator and corresponding hydraulic circuit.Roll control system 210 can be to be used in the vehicle for the similar mode of the mode of first embodiment description with above.

The opening 222 that bar 220 is passed in the cylinder 218 extends in the chamber of cylinder 218, and is mounted to crank motion between the sealing member in being arranged in opening 222 226 therein.Unlike the bar 120 of former embodiment, second opening that bar 220 is not passed in the cylinder 218 extends.Thereby the outer seal that needs in cylinder 218 reduces to one, and promptly sealing member 226.

On the end of the bar 220 in being arranged in cylinder 218, bar 220 comprises annular lip 232, and this annular lip 232 extends outwardly in the hollow chamber of cylinder 218, thus make bar 220 can be in cylinder 218 crank motion and do not make annular lip 232 contact annular lip 230.First piston 234 is arranged on the side of cylinder 218 inherent annular lip 230 and annular lip 232, and second annular piston 236 is arranged on the inherent annular lip 230 and the opposite side of annular lip 232 around bar 220 of cylinder 218.First piston 234 is not an annular element, unlike first piston 134, does not arrange because bar 220 does not pass first piston 234.First piston 234 can comprise external sealing part 242.Second piston 236 is similar to second piston 236, and first and second pistons 234,236 with the similar mode cooperation of describing for system 110, so that the hollow chamber of cylinder 218 is divided into upper chamber 246, lower chamber 248 and central bore 250.

Because the changing unit of bar 220 can extend in the cylinder 218, so the volume change in cylinder 218 that occupies by bar 220.Therefore, energy storage 278 must not only compensate the fluid loss that is caused by the leakage from system 210 and the change in fluid pressure that causes, and also compensates by in the bounded system of the cylinder 218 of system 210 and the potential volume change in system 210 that causes of the motion of the part of outer bar 220.

Referring now to Fig. 5, illustrate according to of the present invention, generally with the 3rd embodiment of roll control systems of 310 indications.Roll control system 310 is similar to roll control system 110, and like wherein uses the respective figure marker number of increase ' 200 '.With only describe with for the element of roll control system 110 descriptions those elements of different roll control system 310.To the present invention be described for single actr 312 and hydraulic circuit.Yet, be appreciated that as described above, also be provided with second, rear actuator and corresponding hydraulic circuit.Roll control system 310 can be to be used in the vehicle for the similar mode of the mode of first embodiment description with above.

The opening 322 that bar 320 is passed in the cylinder 318 extends in the chamber of cylinder 318, and is mounted to crank motion between the sealing member in being arranged in opening 322 226 therein.Unlike the bar 120 of first embodiment, second opening that bar 320 is not passed in the cylinder 318 extends.Thereby, only in opening 322, need an outer seal.

On the end of the bar 320 in being arranged in cylinder 318, bar 320 comprises annular lip 332, and this annular lip 332 extends outwardly in the hollow chamber of cylinder 318.Cup type piston 335 is arranged in the cylinder 318, thereby piston 335 is opened wide to bar 320.Bar 320 extends in the piston 335, thereby annular lip 332 is arranged in the piston 335.Piston 335 comprises the annular lip 337 in the chamber that extends inward into cylinder 318.The annular lip 332 of annular lip 337 barres 320 remains in the piston 335.Ring gasket 339 can be arranged between annular lip 337 and the annular lip 332, although this is not requirement.Ring gasket 339 can be the Bellville packing ring.To recognize that similarly ring gasket may be suitable for being used among other embodiment described herein, although this pad does not illustrate.

The cylinder 318 and first sealing member 341 and second sealing member 343 are limited to the fluid chamber 345 in the cylinder 318.Port 356 is arranged in the cylinder 318, can communicatively chamber 345 being connected with energy storage 378 with check valve apparatus 314 through hydraulic power line 347.As showing, during bar 320 and piston 335 mediate with respect to cylinder 318.When check valve apparatus 314 is energized, bar 320 and piston 335 on demand can be in cylinder 318 crank motion freely.The motion of bar 320 and piston 335 can be moved fluid from chamber 345.The fluid storage that moves is in energy storage 378.When check valve apparatus 314 dead electricity, when for example roll control system 310 was engaged, bar 320 and piston 335 were locked with respect to cylinder 318, thereby bar 320 can not further extend in the piston 335, and piston 335 can not move downward in the chamber 345.Yet, if the fluid pressure in energy storage greater than the fluid pressure in chamber 345, fluid can flow into the chamber 345 from energy storage.Thereby, if during any in bar 320 and the piston 335 do not mediate when the check valve apparatus dead electricity, then will allow it to turn back to midway location.

Check valve apparatus 314 is finished the general utility functions identical with check valve apparatus 114.Yet, when check valve apparatus 314 when dead electricity switches to foment, the controlled release of check valve apparatus 314 other voltage supply power.Fig. 6 shows the embodiment of check valve apparatus 314.

Energy storage 378 is depicted as conventional low pressure spring type mechanical accumulator, although this is not requirement.To recognize, be applicable to any energy storage of purposes described herein and expression here or any of the energy storage described can be used in any of the embodiment of the invention.Be similar to the above operation of describing about second embodiment, because the changing unit of bar 320 can extend in the cylinder 318, so the volume change that in cylinder 318, occupies by bar 320.Therefore, energy storage 378 must not only compensate the fluid loss that is caused by the leakage from system 310 and the change in fluid pressure that causes, and also compensates by in the bounded system of the cylinder 318 of system 310 and the potential volume change in system 310 that causes of the motion of the part of outer bar 320.In addition, energy storage 378 is depicted as spring type mechanical accumulator.As described above, if the pressure in energy storage is higher than the pressure in chamber 345, then the fluid from energy storage 378 can supply in the chamber 345 by check valve apparatus 314, even also be like this when check valve apparatus 314 dead electricity.The spring that comprises in energy storage 378 is adjusted in the pressure in the energy storage 314, is detectable thereby make the difference of pressure between energy storage 378 and chamber 345.

The embodiment of check valve apparatus 314 is illustrated among Fig. 6.Check valve apparatus 314 has the throttling passage 380 that opens wide with the difference of pressure that reduces to stride across valve.In case pressure reduces, thereby make the pressure that is applied on the valve less than the electromagnetic force that is applied on the valve, second channel 382 is just opened.The controlled release that difference of pressure is arranged by this way.

Referring now to Fig. 7, illustrate according to of the present invention, generally with the 4th embodiment of roll control systems of 410 indications.Roll control system 410 is similar to roll control system 310.

Referring now to Fig. 8, illustrate according to of the present invention, generally with the 5th embodiment of roll control systems of 510 indications.Roll control system 510 is similar to roll control system 310.Actr 512 has the solid strut that has gas spring, to play the low pressure accumulator described in the former embodiment.Any vent that actr 512 does not have to atmosphere.Actr has upper chamber 585, and this upper chamber 585 is partially filled oil, and residual volume is filled with gas.

Referring now to Fig. 9, illustrate according to of the present invention, generally with the 6th embodiment of roll control systems of 610 indications.Actr 612 has whole energy storage 678, and this energy storage 678 is partially filled oil, and residual volume is filled with gas.Check valve apparatus 614 is with the form setting of inserted valve, although this is not requirement.Check valve apparatus 614 is as operating as described in previous embodiment.When the check valve apparatus dead electricity, check valve 691 is opened, and makes bar 620 and piston 635 midway location shown in turning back to moving between the chamber of cylinder 618 and the energy storage 678 to allow fluid.

To recognize, and be connected to drivingly when respective pistons on the suspension arm of vehicle, and cylinder is when being connected on the antiroll bar of vehicle, the 3rd, the 4th, the 5th and the 6th embodiment operates best.

Alternative embodiment of the present invention is included in place, the end buffering of stroke or the actr of damping.The damping of any appropriate form can be set.For example, in having the inclination control actr of pistons reciprocating in cylinder, when piston during near the end of stroke, the part of piston joins in the cylinder with little gap, the fluid of catching thus can be overflowed through piston, for example by the choking flow path of diameter clearance or separation, plays the last stroke part of buffering or damping, and except that other benefit, avoid strike note and work the pulsation-free effect of travelling that makes.In addition or replacedly, also can be provided with certain elastomeric material, with the decline of buffering or damping stroke.

Although described various embodiment of the present invention with linear function, yet, it must be understood that the present invention expects rotating pattern.For example, the straight line aspect of the foregoing description can replace with the rotation aspect, and the present invention includes such embodiment, and these embodiment comprise rotary actuator.

Except that embodiment described above, other embodiment of the present invention comprises the system and method (that is strategy) that is used for controlling said system and actr.For example, another alternative embodiment of the present invention comprises a kind of control policy, wherein the front and rear actr can optionally lock and release independently of one another, i.e. homophase and out of phase the locking and unlocking, and promptly the front and rear actr can be in different time lockings and release.For example, the front and rear actr is the locking and unlocking out of phase, with crooked or be modified in the inclination distribution of torque of vehicle between the front and rear, influence the excessive or understeering of vehicle.As another example, during yaw and sideslip state,, can regulate track of vehicle by optionally locking inclination control actr to revise oversteer or understeering.In this example, locking rear portion and make front unlocked cause oversteer, and locking is anterior and make rear unlocked cause understeering.

Referring now to Figure 10, the embodiment that is used for controlling the method for lockable roll control actr according to of the present invention is shown.Method begins in function block 701, is identified at least one of the locking and unlocking threshold value of lockable roll control actr at this place.In any appropriate manner, as from tabling look-up or, can deriving the value of the locking and unlocking threshold value from algorithm.Any suitable input can be used to lock or the determining of the value of release threshold value, as at least one of car speed, road irregularity, vehicle deceleration and acceleration/accel, moment of momentum, deflection angle, vehicle load, driving ground, vehicle implementation (describing below) or any other suitable detected parameters of at least one wheel of vehicle.And determining of the value of locking or release threshold value can be based on the selection of drive pattern, as travelling drive pattern, comfortable drive pattern and motion drive pattern.Manually (for example, chaufeur input) or selection automatically of drive pattern.

It must be understood that a vehicle parameter can be determined the threshold value of another vehicle parameter, under this threshold value, inclination control actr will lock or release.For example, be used for the speed of vehicle lock threshold (in other words, more than it, can lock control actr speed) can be based on detected load of carrying (weight) (vehicle load) by vehicle.

Method continues in function block 702, determine the state of vehicle at this place, as at least one of car speed, road irregularity, vehicle deceleration and acceleration/accel, moment of momentum, deflection angle, vehicle load, driving ground, vehicle implementation (describing below) or any other suitable detected parameter of at least one wheel of vehicle.

Method is included in the other step of describing in the function block 703, at this place at least in part based at least one the definite state of vehicle determined with respect to lock threshold and release threshold value, the lock-out state of control inclination control actr.

It must be understood that method can comprise the lock threshold and the release threshold value of any right quantity.Based on one of threshold value, some, whole or any appropriate combination, can control the lock-out state (for example, can change the lock-out state of actr) of inclination control actr.

Another alternative embodiment of the present invention comprises a kind of control policy, and wherein the threshold value based on speed can be used for controlling inclination control actr.The locking and unlocking threshold value of actr can be modified, perhaps based on car speed or threshold speed.This is useful, because many other vehicle dynamic responses change with speed, as steering gain, yaw response or the like.In addition, the hysteresis between locking and release point based on the calculation control variable such as revising transverse acceleration also usually is a velocity dependent.

Another alternative embodiment of the present invention comprises a kind of control policy, and wherein the road irregularity input can be used for controlling inclination control actr, perhaps uses the basis of the locking and unlocking threshold value that acts on actr at least in part.When detecting uneven road condition (for example), can revise the controlled variable of the locking/unlocking that is used for inclination control actr by wheel velocity or chassis accelerograph or wheel displacement or leveling system.

Another alternative embodiment of the present invention comprises a kind of control policy, and wherein manual control can be used for controlling inclination control actr.For example, the chaufeur of vehicle can pass through the chaufeur interface, as instrument carrier panel switch or other chaufeur interface, selects inclination control actr operational threshold.What expect is that chaufeur can be selected: the mode of motion of control, and the electronic control unit (ECU) of wherein controlling the operation of inclination control actr loads the algorithm that the High Performance that is used for vehicle drives the restriction inclination; Or the another kind of pattern of control, as comfort mode, wherein ECU is according to improving the comfortable algorithm controls inclination control actr of vehicle ride.

Another alternative embodiment of the present invention comprises a kind of control policy, wherein the sensor-based input of ECU and survey the algorithm that High Performance for example drives, control operation pattern automatically or inclination control actr (that is automatic guidance).For example, variation of the frequency that can adjust based on route and amplitude, speed or the like preference pattern.The locking and unlocking threshold value of actr can be at least in part based on high-performance algorithm.

Another alternative embodiment of the present invention comprises a kind of control policy, and wherein at least one of deceleration/decel and acceleration/accel can be used for controlling inclination control actr.For example, when detecting high deceleration/decel or acceleration/accel, actr can be locked so that the turning hardening.In preferred alternative embodiment, single wheel input is corresponding with respective actuators, i.e. front-wheel and front actuator and trailing wheel and rear actuator.The variation of the moment of momentum of single wheel can change and is used for the parameter of locking/unlocking respective actuators.The locking and unlocking threshold value of actr can be at least in part based on the moment of momentum of single wheel.This provides better area of contact (that is, traction and braking) performance.For example, deceleration/decel and Acceleration Control can be under the startup of anti-skid brake system (Anti-lockBraking Systems), anti-slip regulation (Traction Control Systems) or vehicle stability controlled system (Vehicle Stability Control Systems) Be Controlled.

Another alternative embodiment of the present invention comprises a kind of control policy, and wherein load can be used for controlling inclination control actr.For example, under load, for example during the part that fish hook (fishhook) is handled, can separate lock actuator, with by actr and roll bar dissipation bar energy rather than it is put back in the car body under switching as plan action.The locking and unlocking threshold value of actr can be at least in part based on vehicle load.Thereby, optionally connect and throw off the spring top and the spring lower part of vehicle.

Another alternative embodiment of the present invention comprises a kind of control policy, wherein drives ground and can be used for controlling inclination control actr.For example, can implement a kind of cross-country vehicle body control policy based on driving ground-surface condition, promptly based on the dynamic unlocking/locking of other suspension information such as the vertical acceleration/accel of wheel hub and vehicle body bight, with than only for the hinged property taken of improving preferably of maximum wheel.For example, in this case, actr can be locked to allow single wheel input, to provide under the situation of slippage wheel than the long-pending power of large contact surface.In this case, can be for the property taken or tractive force and the exchange when the road surface changes (swap) adjustment strategy.The locking and unlocking threshold value of actr can be at least in part based on driving ground.

Another alternative embodiment of the present invention comprises a kind of control policy, and wherein vehicle implementation or external member can be used for controlling inclination control actr.For example, the torsional deflection lining for example when being placed between roll bar and the chassis frame, has idiosyncratic behavior in the roll bar support bushing.Have some slip, fixing or slippage.Control the more hinged of actr for inclination, this can be solved.A kind of mode that solves this is to use radially firm but rotates the lining of deflection easily.The locking and unlocking threshold value of actr can be at least in part based on the vehicle implementation.

Another alternative embodiment of the present invention comprises a kind of control policy, and wherein instrumentation/sensor output can be used for controlling inclination control actr.For example, can implement such algorithm, this algorithm is at least in part based on the instrumentation/sensor output of the element of vehicle, and the locking and unlocking threshold value of actr is determined in for example output of rotation direction sensor or vehicle slip control unit.As the result who determines threshold value, optionally connect and throw off on the spring of vehicle and the spring lower part.

It must be understood that, embodiments of the invention comprise the control that is used for inclination control actr, comprise influence other vehicle aspect and with the use of the inclination of other system integration control actr, can comprise system control aspect any or all, and can similarly be applied to use any locking/unlocking technology, become the rotary actuator of actr as electric liquid, electromagnetism, magneto or electric current.

According to one aspect of the present invention, the hydraulic operation actr is used for the inclination of controlling machine motor vehicle.Actr is connected between the spring top of the spring lower part of vehicle and vehicle, is used for optionally the spring top of vehicle being connected on the spring lower part of vehicle.Actr comprises the piston on one of the spring top that is fixed to vehicle and spring lower part of vehicle and is fixed to the spring top of vehicle and the cylinder of the spring lower part of vehicle on another.Cylinder has the surface, inside and at least the first and second ports of limiting hole.Piston is arranged in the cylinder hole between first and second ports, and engages the surface, inside of the cylinder of limiting hole hermetically.First and second ports are to be connected with the fluid conduit systems that limits by piston by outside in the hole.The hydraulic fluid of certain volume is arranged in the hole of described cylinder, thereby when preventing hydraulic fluid by fluid conduit systems mobile between first port and second port, piston can only move along the direction of the midway location in cylinder.

According to another aspect of the present invention, be used for half active system of inclination of controlling machine motor vehicle and comprise hydraulic operation actr between the spring top of the spring lower part that is connected vehicle and vehicle.Execution comprises the cylinder on one of the spring top that is fixed to vehicle and spring lower part of vehicle.Execution comprises the piston of spring lower part on another of the spring top that is fixed to vehicle and vehicle.Cylinder has at least the first and second ports and is arranged in the piston between first and second port in the cylinder.Energy storage is suitable for storing the hydraulic fluid of certain volume.Energy storage is communicated with the first and second port fluids.Check valve apparatus has open position and check position.Check valve apparatus is communicated with flowing of first port that is used for being controlled at actr and the hydraulic fluid between second port with first and second ports of energy storage and cylinder, thereby when check valve apparatus is in the check position, check valve is limited in flowing between first port and second port, and piston can only move along the direction of the midway location in cylinder.

According to another aspect of the present invention, a kind of strategy of half active system of the inclination that is used to be used for the controlling machine motor vehicle, wherein vehicle is provided with the inclination control actr between the spring top of the spring lower part that is connected vehicle and vehicle, be used for optionally connecting and throw off on the spring of vehicle and the spring lower part, thereby when actr is in the lock state, actr can only move along the direction to midway location, and described strategy comprises the lock-out state that utilizes the locking and unlocking threshold value control actr.

According to another aspect of the present invention, a kind of actr of the inclination that is used for the controlling machine motor vehicle is connected between the spring top of the spring lower part of vehicle and vehicle, be used for optionally the spring top of vehicle being connected on the spring lower part of vehicle, thereby when actr was in the lock state, actr can only move along the direction to midway location.

According to another aspect of the present invention, a kind of half active system of the inclination that is used for the controlling machine motor vehicle comprises the actr between the spring top of the spring lower part that is connected vehicle and vehicle, be used for optionally the spring top of vehicle being connected on the spring lower part of vehicle, thereby when actr was in the lock state, actr can only move along the direction to midway location.

Operating principle of the present invention and pattern are explained and explanation in its preferred embodiment.Yet, it must be understood that the present invention can be with the embodied in other except that detailed explanation and description, and does not break away from its spirit and scope.

Claims

1. one kind is used for half method of roll control system initiatively of controlling machine motor vehicle, this roll control system comprises the inclination control actr between the spring top of the spring lower part that is connected vehicle and vehicle, be used for optionally connecting and throw off on the spring of described vehicle and the spring lower part, described roll control system is arranged to, when described inclination control execution is locked, described actr only can move along the direction to midway location, and when described inclination control actr is unlocked, described inclination control actr can to described midway location or away from described midway location motion, this method comprises:

Based in the locking and unlocking threshold value at least one, control the lock-out state of described inclination control actr.

2. method according to claim 1, wherein, described inclination control actr provides first inclination control actr as one of front and rear inclination control actr, and another second inclination control actr that provides as in the front and rear inclination control actr is provided described vehicle, wherein said first and second actrs can be optionally the locking and unlocking independently of one another.

3. method according to claim 1 wherein, is determined described the locking and unlocking threshold value based on car speed.

4. method according to claim 1, wherein, described the locking and unlocking threshold value is determined in input based on road irregularity.

5. method according to claim 1, wherein, but described the locking and unlocking threshold value is artificial selection.

6. method according to claim 1, wherein, described the locking and unlocking threshold value do as one likes can be determined by algorithm.

7. method according to claim 1 wherein, is determined described the locking and unlocking threshold value based on automatic guidance.

8. method according to claim 1 wherein, is determined described the locking and unlocking threshold value based on the deceleration/decel of described vehicle and in the acceleration/accel at least one.

9. method according to claim 1 wherein, is determined described the locking and unlocking threshold value based on the moment of momentum of at least one wheel of described vehicle.

10. method according to claim 1 wherein, is determined described the locking and unlocking threshold value based on vehicle load.

11. method according to claim 1 wherein, is determined described the locking and unlocking threshold value based on driving the road surface.

12. method according to claim 1 wherein, is determined described the locking and unlocking threshold value based on the vehicle implementation.

13. method according to claim 1 wherein, is determined described the locking and unlocking threshold value based in instrument and the sensor at least one.

14. the actr of an inclination that is used for the controlling machine motor vehicle, wherein, described actr is connected between the spring top of the spring lower part of vehicle and vehicle, be used for optionally the spring top of described vehicle being connected on the spring lower part of described vehicle, thereby when described actr was in the lock state, described actr can only move along the direction to midway location.

15. actr according to claim 14, wherein, described actr is a rotary actuator.

16. actr according to claim 14, wherein, described actr is the hydraulic operation actr, and this hydraulic operation actr comprises:

Piston is fixed on one of the spring top of described vehicle and spring lower part of described vehicle;

Cylinder, be fixed in the spring lower part of the spring top of described vehicle and described vehicle another, wherein said cylinder has the surface, inside and at least the first and second ports of limiting hole, wherein said piston is arranged in the described cylinder hole between described first and second ports, and engage the surface, inside of the cylinder that limits described hole hermetically, wherein said first and second ports are by connecting in outside, described hole and by the fluid conduit systems that described piston limits; And

The hydraulic fluid of certain volume is arranged in the hole of described cylinder, thereby when preventing that hydraulic fluid from passing through described fluid conduit systems mobile between described first port and second port, described piston can only move along the direction of the midway location in described cylinder.

17. actr according to claim 16, wherein, described cylinder is fixed on the spring lower part of described vehicle.

18. actr according to claim 16, wherein, described cylinder is included in the little gap in the described hole, and by this little gap, the hydraulic fluid of catching can be overflowed through piston.

19. actr according to claim 16 also comprises the elastomeric material that is arranged in the described cylinder, plays the back-page effect of the described piston of buffering stroke in one direction.

20. actr according to claim 16, also comprise check valve apparatus, this check valve apparatus has open position and check position, be arranged in the fluid conduit systems between described first port and second port, when described check valve apparatus is in the described open position, described check valve apparatus allows the bi-directional fluid flow between described first port and second port, when described check valve apparatus is in the described check position, described check valve apparatus allows the fluid from described first port to described second port to flow and prevents that the fluid from described second port to described first port from flowing, thereby described piston can only be moved along the direction of the midway location in described cylinder.

21. actr according to claim 20, wherein, described check valve apparatus comprises screw actuator.

22. actr according to claim 21, wherein, described screw actuator is used with the proportional power of electric signal that is applied on it and is encouraged described check valve apparatus to one of described open position and described check position.

23. half active system of an inclination that is used for the controlling machine motor vehicle, this system comprises:

Actr, be connected between the spring top of the spring lower part of vehicle and vehicle, be used for optionally the spring top of described vehicle being connected on the spring lower part of described vehicle, thereby when described actr was in the lock state, described actr can only move along the direction to midway location;

Sensor is surveyed the state of described vehicle and is produced the signal of representing described state; And

Controller is used at least in part based on the described actr of described signal-selectivity ground the locking and unlocking.

24. system according to claim 23, wherein, described actr is the hydraulic operation actr, and this hydraulic operation actr comprises:

Cylinder is fixed on one of the spring top of described vehicle and spring lower part of described vehicle;

Piston is fixed in the spring lower part of the spring top of described vehicle and described vehicle another, and wherein said cylinder has first and second ports at least, and described piston is arranged in the described cylinder between described first and second ports;

Fluid conduit systems, the fluid that is arranged between described first and second ports is communicated with; And

Valve gear is arranged in the described fluid conduit systems, and described valve gear to prevent that optionally fluid from passing through described fluid conduit systems and flowing, is put into lock-out state to described actr by described controller function thus.

25. system according to claim 24 also comprises:

Energy storage is suitable for storing the hydraulic fluid of certain volume, and described energy storage is communicated with the fluid conduit systems fluid; And

Wherein, described check valve apparatus is the check valve apparatus with open position and check position, described check valve apparatus is communicated with the first and second port fluids of described energy storage and described cylinder, be used for being controlled at first port of described actr and flowing of the hydraulic fluid between second port, described controller is controlled the operation of described check valve apparatus, thereby when described check valve apparatus is in the described check position, described check valve is limited in flowing between described first port and described second port, and described piston can only move along the direction of the midway location in described cylinder.

26. system according to claim 25, wherein, described actr provides first inclination control actr as one of front and rear inclination control actr, and another second actr that provides as in the front and rear inclination control actr also is provided in described system.

27. system according to claim 26, wherein, described first and second actrs are controlled independently of one another by described controller, so and can be optionally the locking and unlocking independently of one another.

28. a method that is used for controlling lockable roll control actr comprises step:

The value of at least one in a. definite lock threshold and the release threshold value;

B. determine the state of vehicle; And

C. with respect at least one the determined value in described lock threshold and the described release threshold value,, control the lock-out state of described inclination control actr at least in part based on definite state of described vehicle.

29. method according to claim 28 wherein, is determined at least one value in described lock threshold and the described release threshold value based on following at least one:

Car speed;

Road irregularity;

In described vehicle deceleration and the acceleration/accel at least one;

The moment of momentum of at least one wheel of described vehicle;

Deflection angle;

Vehicle load;

Drive ground; And

The vehicle implementation.

30. method according to claim 28, wherein, described inclination control actr electrically activates, and this method also comprises the described inclination control of control actr, thereby when the state indication of described vehicle surpassed described lock threshold, described actr only moved to midway location.

31. method according to claim 30, wherein, described inclination control actr comprises Pheological fluid, and this Pheological fluid locks described inclination control actr when excitation.

32. method according to claim 30, wherein, step c comprises that when surpassing described lock threshold actr being controlled in described inclination is activated to lock-out state.

33. method according to claim 30, wherein, step c comprises the described inclination control of release actr when the indication of the state of described vehicle surpasses described release threshold value.

34. method according to claim 28, wherein, described inclination control actr is connected on the spring of described vehicle and between the spring lower part, be used for optionally connecting and throw off on the spring of described vehicle and the spring lower part, described inclination control actr is suitable for only moving to midway location when being in the lock state, and be suitable for when being in released state, moving, and step c also comprises to midway location with away from midway location:

When the state indication of described vehicle surpasses described lock threshold, lock described inclination control actr.

35. method according to claim 28, wherein said inclination control actr is connected between the spring top and spring lower part of described vehicle, be used for optionally connecting and throwing off the spring top and the spring lower part of described vehicle, described inclination control actr is suitable for only moving to midway location when being in the lock state, and be suitable for when being in released state, moving, and step c also comprises to midway location with away from midway location: