DE2844413A1 - Attitude control for car suspension - incorporates displacement monitors on dampers and inertial sensors linked to central control - Google Patents

Attitude control for car suspension - incorporates displacement monitors on dampers and inertial sensors linked to central control

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Publication number
DE2844413A1
DE2844413A1 DE19782844413 DE2844413A DE2844413A1 DE 2844413 A1 DE2844413 A1 DE 2844413A1 DE 19782844413 DE19782844413 DE 19782844413 DE 2844413 A DE2844413 A DE 2844413A DE 2844413 A1 DE2844413 A1 DE 2844413A1
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Germany
Prior art keywords
vehicle
struts
curve
outside
control
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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.)
Granted
Application number
DE19782844413
Other languages
German (de)
Other versions
DE2844413C2 (en
Inventor
Joachim Prof Dr Ing Lueckel
Udo Dipl Ing Reber
Dieter Dipl Ing Zetsche
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Daimler Benz AG
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Daimler Benz AG
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Priority to DE19782844413 priority Critical patent/DE2844413A1/en
Publication of DE2844413A1 publication Critical patent/DE2844413A1/en
Application granted granted Critical
Publication of DE2844413C2 publication Critical patent/DE2844413C2/de
Granted legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/033—Spring characteristics, e.g. mechanical springs and mechanical adjusting means characterised by regulating means acting on more than one spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/202—Piston speed; Relative velocity between vehicle body and wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/50—Pressure
    • B60G2400/51—Pressure in suspension unit
    • B60G2400/512—Pressure in suspension unit in spring
    • B60G2400/5122—Fluid spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/08—Failure or malfunction detecting means

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

An attitude control for a car suspension in which the relative pressures and rates of displacement of the suspension dampers is monitored by a central control and compared with inertial sensors. The control provides correction signals for the height adjusting valves so that the vehicle tilts into curves for improved comfort and road holding. The control provides a fast response as well as a height control for the suspension. The response is fast enough to follow changes in steering setting.

Description

Verfahren und Vorrichtung zum Aufrichten von FahrzeugenMethod and device for erecting vehicles

entgegen einer Kurvenneigung Die Erfindung bezieht sich auf ein Verfahren und eine Vorrichtung zum Entgegenwirken gegenüber den Kräften, die beim Kurvenfahren eine Neigung eines Fahrzeugs, insbesondere eines Kraftfahrzeugs zur kurvenäußeren Seite hin hervorrufen, bei Verwendung von hydraulischen Federbeinen, durch die eine aufrichtende Gegenkraft auf die kurvenäußere Seite des Fahrzeugoberbaues ausgeübt wird.against a curve inclination The invention relates to a method and a device for counteracting the forces generated when cornering an inclination of a vehicle, in particular a motor vehicle, to the outside of the curve Cause side, when using hydraulic struts, through one righting counterforce exerted on the outside of the curve of the vehicle superstructure will.

Der Aufbau von Fahrzeugen, bei denen der Schwerpunkt desselben oberhalb der Rollachse liegt, neigt sich bei Kurvenfahrt zum Kurvenäußeren hin. Die Fahrgäste miissen die auf ihren Körper wirkenden Zentrifugalkräfte über einen zum Kurvensiußeren hin geneigten Sitz auffangen oder sich mit den händen und/oder den Füßen abstützen. Außerdem muß bei der Konstruktion der Achse die sich beim Kurvenfahren nach außen hin ergebende Neigung des Aufbaus berücksichtigt werden.The construction of vehicles where the center of gravity is above the roll axis, leans towards the outside of the curve when cornering. the passengers the centrifugal forces acting on your body have to pass through one to the outside of the curve catch an inclined seat or support yourself with your hands and / or feet. In addition, when designing the axle, it must turn outwards when cornering The inclination of the structure resulting from this must be taken into account.

Diese beiden Punkte waren die Gründe für immer wieder auftauchende Versuche, einen Aufrichter zu konzipieren, der die Aufgabe hatte, den Fahrzeugaufbau in der Kurve zum Kurveninneren zu neigen. Die bekannten Entwicklungen hatten jedoch alle den Nachteil, daß die Reaktion des Aufbaues auf das Kurvenneigersignal zu langsam war und somit bei schnellen Lenkmanövern, die beim nichtspurgebundenen Fahrzeug immer auftreten können, völlig unvorhersehbare Reaktionen des Aufbaues auftraten. Die Grtinde hierfür werden im folgenden näher erläutert: Der Aufbau sollte über ein hydropneumatisches Federbein nach innen geneigt werden. Die Federsteifigkeit dieses Federbeins war relativ klein, die Aufbaumasse sehr groß und dadurch die lahrzeugreaktion zu langsam. Die Aufbaumasse war vorgegeben und die Federsteifigkeit konnte nicht größer gewählt werden, da sonst der Fahrkomfort gelitten hätte. Weiterhin verschlechterte sich bei den bisherigen Kurvenneigerkonzeptionen die dynamische Radlast und somit die Radsicherheit erheblich.These two points were the reasons for recurring Try to design a lifting pole that had the task of building the vehicle to lean towards the inside of the curve in the curve. The known developments, however, had all have the disadvantage that the reaction of the body to the curve tilt signal is too slow was and thus with fast steering maneuvers that with non-lane-bound vehicles can always occur, completely unpredictable reactions of the structure occurred. The reasons for this are explained in more detail below: The structure should be about a hydropneumatic strut can be inclined inwards. The spring stiffness this shock absorber was relatively small, the body mass was very large and therefore the vehicle reaction was very large too slow. The structural dimensions were given and the spring stiffness could not should be chosen larger, otherwise the driving comfort would have suffered. Further deteriorated With the previous curve tilting concepts, the dynamic wheel load and thus the bike safety considerably.

Aufgabe der Erfindung ist es, diese Schwierigkeiten zu vermeiden und einen Kurvenaufrichter vorzuschlagen, der beim Kurvenfahren schnell und aktionsgerecht reagiert.The object of the invention is to avoid these difficulties and To propose a curve erector who is quick and responsive when cornering reacted.

Diese Aufgabe wird durch die Erfindung dadurch gelöst, daß aktive Federbeine gemäß Patentanmeldung P 27 38 455.o verwendet werden, in deren Zylindern der Druck und auch die Relativgeschwindigkeit sowie der Relativweg der Kolben gegenüber den Zylindern gemessen wird, und dadurch, daß die Querbeschleunigung des Fahrzeugs gemessen und die eßgrössen in einem Störbeobachter aufbereitet und Steuersignale erzeugt werden, die auf geeignete elektrohydraulische Ventile wirken, die die Auslösung von Gegenkräften auf die kurvenäußere Seite des Fahrzeugoberbaues in Abhängigkeit vom Gewicht des Fahrzeugaufbaues veranlassen.This object is achieved by the invention in that active Struts according to patent application P 27 38 455.o are used in their cylinders the pressure and also the relative speed and the relative travel of the pistons the cylinders is measured, and in that the lateral acceleration of the vehicle measured and the parameters processed in a disturbance observer and control signals generated that act on suitable electro-hydraulic valves that trigger the of opposing forces on the outside of the curve of the vehicle superstructure as a function caused by the weight of the vehicle body.

Dies Verfahren kann dadurch ergänzt werden, daß die Federbeine mit einer Niveauregulierung einste-llbar sind.This method can be supplemented by using the struts a level control can be set.

Vorteilhaft ist bei dem erfindungsgemäßen Verfahren, daß Straßenunebenheiten bei einem aktiven Federbein nicht durch die Feder vom Aufbau ferngehalten werden, sondern das Rad durch einen Kolben den Straßenunebenheiten nachgeführt wird. Ober diesen Kolben erhält man durch die Erfindung die Möglichkeit, den Aufbau sehr viel direkter, das bedeutet schneller, in gewünschter Weise zu beeinflussen.It is advantageous in the method according to the invention that bumps in the road are not kept away from the structure by the spring in the case of an active shock absorber, Instead, the wheel follows the unevenness of the road with a piston. Upper This piston is obtained by the invention the possibility of building a lot more direct, that means faster to influence in the desired way.

Zur Durchführung des erfindungsgemäßen Verfahrens kann am Fahrzeug ein Querbeschleunigungsmesser angebracht sein, der die von ihm laufend gemessenen Querbeschleunigungswerte als Signale auf einen mit einem Störbeobachter zusammenarbeitenden Regler überträgt, der eine entsprechende Verstellung von linearen elektrohydraulischen Ventilen veranlaßt, die einen Ölfluß herbeiführen, der im gegebenen Querbeschleunigungsfalle die Kolben der kurvenäußeren Federbeine der Größe der Querbeschleunigung entsprechend ausfährt und somit den Fahrzeugaufbau zur Innenseite der gerade gefahrenen Kurve neigt. In weiterer Ausgestaltung der Erfindung kann der Störbeobachter in einem Mikroprozessor verifiziert werden, der die an den einzelnen Federbeinen gemessenen Werte, die die dynamischen Gewichts- und Verschiebungswerte der Federbeine enthalten, aufnimmt und aufbereitet weitergibt. Die oben genannten linearen, elektrohydraulischen Ventile können von einer Pumpe gefördertes Öl vom Regler gesteuert über Öldruckleitungen an die Federbeine leiten oder über Clflußleitungen in Auffangbehälter zurückleiten.To carry out the method according to the invention, on the vehicle a lateral accelerometer must be attached, which is continuously measured by it Lateral acceleration values as signals to a person working with a disturbance observer Transmit controller that makes a corresponding adjustment of linear electrohydraulic Causes valves that bring about an oil flow, which in the given transverse acceleration case the pistons of the struts on the outside of the curve correspond to the magnitude of the lateral acceleration extends and thus the vehicle body to the inside of the curve just driven tends. In a further embodiment of the invention, the disturbance observer can in one The microprocessor can be verified, the measured on the individual struts Values that reflect the dynamic weight and Displacement values of the Contain shock absorbers, take them up and pass them on in a processed manner. The above linear, Electro-hydraulic valves can control oil delivered by a pump from the regulator Lead via oil pressure lines to the suspension struts or via oil flow lines into the collecting container redirect.

Die erfindungsgemäße Vorrichtung kann zweckmäßig so ausgestaltet sein, daß die Niveauregulierung einen Hydropneumatikspeicher aufweist, der über ein 3/3-egeventil an eine Pumpe angeschlossen ist, das will.kürlich mit einer Handschaltung betätigbar ist, von deren Stellung der Druck im Hydropneumatikspeicher abhängig ist.The device according to the invention can expediently be designed in such a way that that the level control has a hydropneumatic accumulator, which has a 3/3-egeventil is connected to a pump, which can be operated with a manual switch on whose position the pressure in the hydropneumatic accumulator is dependent.

Die Erfindung wird anhand eines in der Zeichnung dargestellten Ausführungsbeispiels in der folgenden Beschreibung näher erläutert, der auch weitere Einzelheiten des Gegenstandes der Erfindung entnommen werden können.The invention is based on an embodiment shown in the drawing explained in more detail in the following description, which also includes further details of the Subject of the invention can be found.

In der Zeichnung sind in schematischer Darstellung vier Federbeine 1 dargstellt, die jeweils einzeln den vier Rädern eines vierrädrigen Kraftfahrzeugs zugeordnet sind. Von den Federbeinen 1 gehen jeweils Uldruckleitungen 2 und 3 aus, die an linearen elektrohydraulischen Ventilen 4 angeschlossen sind. Imine weitere bldruckleitung 5 verbindet die Ventile 4 mit einer Pumpe 6. Ausserdem sind an die Ventile 4 Ölabflußleitungen 7 angeschlossen, die Öl von den Ventilen 4 in Auffangbehälter 8 zurückleiten.In the drawing, four struts are shown in a schematic representation 1 represents each of the four wheels of a four-wheeled motor vehicle assigned. Oil pressure lines 2 and 3 each go out from the struts 1, which are connected to linear electro-hydraulic valves 4. Imine more Oil pressure line 5 connects the valves 4 to a pump 6. In addition, the Valves 4 oil drainage lines 7 connected, the oil from the valves 4 in collecting tanks 8 return.

Die Federbeinausgleichsvorrichtung ist im übrigen mit einer Niveauregulierung versehen, zu der eine Handschaltung 9 gehört. Mit der Handschaltung 9 läßt sich ein 3/3-Wegeventil 11 betätigen, an das eine von einer zweiten Pumpe 12 kommende Druckleitung 13 angeschlossen ist.The strut compensation device is also with a level control provided, to which a manual transmission 9 heard. With the manual transmission 9, a 3/3-way valve 11 can be operated, one of which is connected to a second pump 12 incoming pressure line 13 is connected.

Außerdem ist an das 3/3-Wegeventil 11 eine Abflußleitung 14 angeschlossen, die zu einem Auffangbehälter 15 führt. An das 3/3-Wegeventil 11 ist andererseits noch eine Leitung 16 angeschlossen, die über einen Hydropneumatikspeicher 17 auch zu den Federbeinen 1 führt.In addition, a drain line 14 is connected to the 3/3-way valve 11, which leads to a collecting container 15. The 3/3-way valve 11 is on the other hand another line 16 is connected, which also has a hydropneumatic accumulator 17 leads to the struts 1.

Elektrisch sind die Federbeine über entsprechend stromleitende Kabel 18 mit einem in einem Mikroprozessor 19 enthaltenen Störbeobachter 21 verbunden. An den Störbeobachter ist ein Regler 22 angeschlossen, der von einem Querbeschleunigungsgeber 23 über das Kabel 24 Signale erhält. Steuerungssignale erhalten die Ventile 4 vom Regler 22 über die Kabel 25.The suspension struts are electrically operated via cables that conduct electricity accordingly 18 is connected to a disturbance observer 21 contained in a microprocessor 19. A controller 22 is connected to the disturbance observer, which is controlled by a transverse acceleration sensor 23 receives signals via the cable 24. The valves 4 receive control signals from Controller 22 via cables 25.

Zur Erläuterung der Funktionsweise des Kurvenneigers sei noch darauf hingewiesen, daß an den Federbeinen entsprechende, in der Zeichnung nicht dargestellte Aufnahmegeräte zur Aufnahme des Druckes in den Federbeinen und zur Messung der Stellung eines Kolbens 26 zu den Zylindern 27 der Federbeine angebracht sind. Diese Aufnahmegeräte geben entsprechende Meßwerte als Signale über das Kabel 18 an den Störbeobachter 21, von dem aus nach entsprechender Aufbereitung der übermittelten Signale im Hinblick auf das Wagengewicht und die Stellung von Kolben zu Zylinder der Regler 22 gefüttert wird. Auf den Regler 22 wirken außerdem beim Kurvenfahren vom Querbeschleuniger 23 aufgenommene Signale ein. Hierdurch werden dann vom Regler die Ventile 4 betätigt, die dann entsprechend die beiden an der Kurvenaußenseite liegenden Ventile und damit Federbeine mit zusätzlichen Druck beaufschlagen, so daß dann der Wagenaufbau zur Innenseite der Kurve geneigt angehoben wird. Die Niveauregulierung dient gleichzeitig dazu, den Wagenaufbau in seiner Höhe in gewünschter Weise einzustellen.For an explanation of the function of the curve inclinator, please refer to it pointed out that corresponding to the struts, not shown in the drawing Recording devices for recording the pressure in the spring struts and for measuring the position a piston 26 are attached to the cylinders 27 of the struts. These recording devices give corresponding measured values as signals via the cable 18 to the disturbance observer 21, from which after appropriate processing of the transmitted signals with regard to on the car weight and the position of piston to cylinder of the regulator 22 fed will. The transverse accelerator also acts on the controller 22 when cornering 23 recorded signals. This then actuates valves 4 by the controller, which then accordingly the two lying on the outside of the curve Apply additional pressure to valves and thus struts, so that the Car body is raised inclined to the inside of the curve. The level control at the same time serves to adjust the height of the car body in the desired manner.

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Claims (6)

Ansprüche Verfahren und Vorrichtung zum Entgegenwirken gegeniiber den Kräften, die beim Kurvenfahren eine Neigung eines Fahrzeugs, insbesondere eines Kraftfahrzeugs zur kurenäußeren Seite hin hervorrufen, bei Verwendung von hydraulischen Federbeinen, die eine aufrichtende Gegenkraft zum Aufrichten vom Fahrzeug entgegen einer Kurvenneigung auf die kurvenäußere Seite des Fahrzeugoberbaues ausüben, g e k e n n z e i c h n e t d u r c h den Einsatz von aktiven Federbeinen (1) gemäß Patentanmeldung P 27 38 455.o, in deren Zylindern (27) der Druck und auch die Relativgeschwindigkeit sowie der Relativweg der Kolben (26) gegeniiber den Zylindern (27) gemessen wird, und durch die Messung der Querbeschleunigung des Fahrzeugs und durch die Aufbereitung der Meßgrößen in einem Störbeobachter (21) und durch Erzeugen von Steuersignalen, die auf geeignete elektrohydraulischeii Ventile (4) wirken, die die Auslösung von Gegenkräften auf die kurvenäußere Seite des Fahrzeugoberbaues in Abhängigkeit vom Gewicht des Fahrzeugaufbaues veranlassen. Claims method and device for counteracting the forces that cause a vehicle, in particular a Cause motor vehicle to the outside of the cure, when using hydraulic Suspension struts that counteract a righting counterforce for the righting of the vehicle exert a curve inclination on the outside of the curve of the vehicle superstructure, g e k e n n z e i c h n e t d u r c h the use of active suspension struts (1) according to Patent application P 27 38 455.o, in whose cylinders (27) the pressure and also the relative speed and the relative travel of the pistons (26) with respect to the cylinders (27) is measured, and by measuring the lateral acceleration of the vehicle and by processing the measured variables in a disturbance observer (21) and by generating control signals, which act on suitable electrohydraulic valves (4) that trigger the Counter forces on the outside of the curve of the vehicle superstructure depending on the Arrange for the weight of the vehicle body. 2. Verfahren nach Anspruch 1, d a d u r c h g e -k e n n z e i c h n e t , daß die Federbeine (1) mit einer Niveauregulierung (D - 16) einstellbar sind.2. The method according to claim 1, d a d u r c h g e -k e n n z e i c h n e t that the struts (1) can be adjusted with a level control (D - 16) are. 3. Vorrichtung zur Durchführung des Verfahrens nach Anspruch 1 oder 2, d a d u r c h g e k e n n -z e i c h n e t , daß am Fahrzeug ein Querbeschleunigungsgeber (23) angebracht ist, der die von ihm laufend gemessenen Querbeschleunigungswerte als Signale auf einen mit einem Störbeobachter (21) zusammenarbeitenden Regler (22) überträgt, der eine entsprechende Verstellung von linearen elektrohydraulischen Ventilen (4) veranlaßt, die einen Ölfluß herbeiführen, der im gegebenen Querbeschleunigungsfalle die Kolben (26) der kurvenäußeren Federbeine (1) der Größe der Querbeschleunigung entsprechend ausfährt und somit den Fahrzeugaufbau zur Innenseite der gerade gefahrenen Kurve neigt.3. Apparatus for performing the method according to claim 1 or 2, d a d u r c h e k e n n -z e i c h n e t that a transverse acceleration sensor on the vehicle (23) is attached, the transverse acceleration values continuously measured by him as signals to a controller (22) cooperating with a disturbance observer (21) transmits a corresponding adjustment of linear electro-hydraulic Valves (4) caused, which bring about an oil flow, which in the given transverse acceleration case the pistons (26) of the spring struts (1) on the outside of the curve of the size of the lateral acceleration extends accordingly and thus the vehicle body to the inside of the one just driven Curve slopes. 4. Vorrichtung nach Anspruch 3, d a d u r c h g e -k e n n z e i c h n e t , daß der Störbeobachter (21) in einem Mikroprozessor verifiziert wird, der die an den einzelnen Federbeinen (1) gemessenen Werte, die die dynamischen C,ewichts- und Verschiebewerte der Federbeine (1) enthalten, aufnimmt und aufbereitet weitergibt.4. Apparatus according to claim 3, d a d u r c h g e -k e n n z e i c n e t that the disturbance observer (21) is verified in a microprocessor, which the values measured on the individual struts (1), which the dynamic C, weight- and contain displacement values of the struts (1), record them and pass them on in a processed manner. 5. Vorrichtung nach Anspruch 3 oder 4, d a d u r c h g e k e n n z e i c h n e t , daß die Ventile (4) von einer Pumpe (6) gefördertes Öl vom Regler (22) gesteuert über Öldruckleitungen (23) an die Federbeine (1) leiten oder über Ölabflußleitungen (7) in Auffanghehälter (8) zurückleiten.5. Apparatus according to claim 3 or 4, d a d u r c h g e k e n n z e i c h n e t that the valves (4) by a pump (6) delivered oil from the regulator (22) controlled via oil pressure lines (23) to the suspension struts (1) or via Return the oil drain lines (7) to the collecting container (8). 6. Vorrichtung nach Anspruch 2, d a d u r c h g e -k e n n z e i c h n e t , daß die Niveauregulierung einen Hydropneumatikspeicher (17) aufweist, der über ein 3/3-Wegeventil (11) an eine Pumpte (12) angcschlossen ist, das willkürlich mit einer Handschaltung (9) betätigbar ist, von dessen Stellung der Druck im Hydropneumatikspeicher (17) abhängig ist.6. The device according to claim 2, d a d u r c h g e -k e n n z e i c n e t that the level control has a hydropneumatic accumulator (17), which is connected to a pump (12) via a 3/3-way valve (11), arbitrarily can be operated with a manual switch (9), the position of which determines the pressure in the hydropneumatic accumulator (17) is dependent.
DE19782844413 1978-10-12 1978-10-12 Attitude control for car suspension - incorporates displacement monitors on dampers and inertial sensors linked to central control Granted DE2844413A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19782844413 DE2844413A1 (en) 1978-10-12 1978-10-12 Attitude control for car suspension - incorporates displacement monitors on dampers and inertial sensors linked to central control

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Application Number Priority Date Filing Date Title
DE19782844413 DE2844413A1 (en) 1978-10-12 1978-10-12 Attitude control for car suspension - incorporates displacement monitors on dampers and inertial sensors linked to central control

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DE2844413A1 true DE2844413A1 (en) 1980-04-30
DE2844413C2 DE2844413C2 (en) 1989-09-21

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Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3502334A1 (en) * 1984-01-24 1985-07-25 Mitsubishi Jidosha Kogyo K.K., Tokio/Tokyo VEHICLE SUSPENSION
FR2558777A1 (en) * 1984-01-24 1985-08-02 Mitsubishi Motors Corp Vehicle suspension apparatus
DE3509313A1 (en) * 1984-03-16 1985-09-19 Konrad Rosenbauer KG, Leonding Emergency services vehicle, in particular an airport fire-fighting tanker vehicle
FR2563474A1 (en) * 1984-04-28 1985-10-31 Mitsubishi Motors Corp SUSPENSION OF VEHICLE REMOVING ROLL
DE3420666A1 (en) 1984-06-02 1985-12-05 Mannesmann Rexroth GmbH, 8770 Lohr Level control device for vehicles with at least one hydraulic vibration damper
DE3523266A1 (en) * 1984-06-30 1986-01-09 Mitsubishi Jidosha Kogyo K.K., Tokio/Tokyo VEHICLE SUSPENSION
EP0190944A2 (en) * 1985-02-08 1986-08-13 Group Lotus Plc Vehicle suspension arrangements
EP0193744A1 (en) * 1985-02-06 1986-09-10 Toyota Jidosha Kabushiki Kaisha Vehicle active suspension system incorporating acceleration detecting means
EP0223098A2 (en) * 1985-10-22 1987-05-27 Toyota Jidosha Kabushiki Kaisha System for vehicle height adjustment with loading deviation correction
DE3619777A1 (en) * 1986-06-12 1987-12-17 Hydraulik Zubehoer Ges Fuer LEVEL CONTROL DEVICE FOR MOTOR VEHICLES
US4730843A (en) * 1984-01-24 1988-03-15 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Vehicle suspension apparatus
US4809176A (en) * 1985-10-22 1989-02-28 Toyota Jidosha Kabushiki Kaisha System for vehicle body roll control with overshoot prevention
WO1989004262A1 (en) * 1987-11-03 1989-05-18 Gkn Technology Limited Vehicle suspension systems
EP0321310A2 (en) * 1987-12-17 1989-06-21 Automotive Products Plc Vehicle suspension
DE3645148A1 (en) * 1986-06-12 1989-11-30 Level control for vehicle hydropneumatic suspension
EP0348634A2 (en) * 1988-06-27 1990-01-03 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Device to check rolling of a vehicle
EP0348817A2 (en) * 1988-06-27 1990-01-03 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Device to check rolling of a vehicle
FR2633564A1 (en) * 1988-06-29 1990-01-05 Commerce Sarl Cie Servo control for the hydraulic suspension of the wheels in vehicles
DE3825279A1 (en) * 1988-07-26 1990-02-01 Bayerische Motoren Werke Ag Hydraulic arrangement, in particular for stabilising and regulating the level of a vehicle
DE3932476A1 (en) * 1988-09-30 1990-04-05 Fuji Heavy Ind Ltd DEVICE FOR CONTROLLING AN ACTIVE WHEEL SUSPENSION SYSTEM FOR A MOTOR VEHICLE
DE19844493A1 (en) * 1998-09-29 2000-03-30 Zahnradfabrik Friedrichshafen Hydropneumatic suspension system
DE4114783C2 (en) * 1991-05-06 2000-11-23 Bayerische Motoren Werke Ag Method for controlling an active wheel support system
WO2005063514A1 (en) 2003-12-20 2005-07-14 Daimlerchrysler Ag System and method for the anti-roll stabilisation of a motor vehicle, in particular of buses, transporters, off-road vehicles or similar
US7828309B2 (en) 2005-03-10 2010-11-09 Wirtgen Gmbh Road-building machine
EP1924746B1 (en) 2005-09-12 2016-04-27 Wirtgen GmbH Self-propelled construction machine with lifting columns
US9879391B2 (en) 2006-12-22 2018-01-30 Wirtgen Gmbh Road milling machine and method for measuring the milling depth
IT202100019439A1 (en) * 2021-07-22 2023-01-22 Roberto Tomassini Hydraulic controlled actuator for use on vehicles, trailers, semi-trailers, suspended loads and industrial machinery.
US11795664B2 (en) 2021-02-16 2023-10-24 Caterpillar Paving Products, Inc. Four-legged construction machine having slope stability system with locking valves
US11932327B2 (en) 2021-02-16 2024-03-19 Caterpillar Paving Products Inc. Four-legged construction machine having slope stability system with relief valves

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FR2558776A1 (en) * 1984-01-24 1985-08-02 Mitsubishi Motors Corp VEHICLE SUSPENSION APPARATUS
FR2558777A1 (en) * 1984-01-24 1985-08-02 Mitsubishi Motors Corp Vehicle suspension apparatus
US4730843A (en) * 1984-01-24 1988-03-15 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Vehicle suspension apparatus
DE3502334A1 (en) * 1984-01-24 1985-07-25 Mitsubishi Jidosha Kogyo K.K., Tokio/Tokyo VEHICLE SUSPENSION
DE3509313A1 (en) * 1984-03-16 1985-09-19 Konrad Rosenbauer KG, Leonding Emergency services vehicle, in particular an airport fire-fighting tanker vehicle
FR2563474A1 (en) * 1984-04-28 1985-10-31 Mitsubishi Motors Corp SUSPENSION OF VEHICLE REMOVING ROLL
DE3420666A1 (en) 1984-06-02 1985-12-05 Mannesmann Rexroth GmbH, 8770 Lohr Level control device for vehicles with at least one hydraulic vibration damper
DE3523266A1 (en) * 1984-06-30 1986-01-09 Mitsubishi Jidosha Kogyo K.K., Tokio/Tokyo VEHICLE SUSPENSION
EP0193744A1 (en) * 1985-02-06 1986-09-10 Toyota Jidosha Kabushiki Kaisha Vehicle active suspension system incorporating acceleration detecting means
US4712807A (en) * 1985-02-06 1987-12-15 Toyota Jidosha Kabushiki Kaisha Vehicle active suspension system incorporating acceleration detecting means
EP0190944A3 (en) * 1985-02-08 1988-02-10 Group Lotus Plc Vehicle suspension arrangements
EP0190944A2 (en) * 1985-02-08 1986-08-13 Group Lotus Plc Vehicle suspension arrangements
EP0223098A3 (en) * 1985-10-22 1987-11-11 Toyota Jidosha Kabushiki Kaisha System for vehicle height adjustment with loading deviation correction
EP0223098A2 (en) * 1985-10-22 1987-05-27 Toyota Jidosha Kabushiki Kaisha System for vehicle height adjustment with loading deviation correction
US4809176A (en) * 1985-10-22 1989-02-28 Toyota Jidosha Kabushiki Kaisha System for vehicle body roll control with overshoot prevention
DE3619777A1 (en) * 1986-06-12 1987-12-17 Hydraulik Zubehoer Ges Fuer LEVEL CONTROL DEVICE FOR MOTOR VEHICLES
DE3645148A1 (en) * 1986-06-12 1989-11-30 Level control for vehicle hydropneumatic suspension
US5066041A (en) * 1987-06-27 1991-11-19 Baverische Motoren Werke Ag Control system for stabilizing the rolling of a vehicle
WO1989004262A1 (en) * 1987-11-03 1989-05-18 Gkn Technology Limited Vehicle suspension systems
GB2229149B (en) * 1987-11-03 1992-01-29 Gkn Technology Ltd Vehicle suspension systems
GB2229149A (en) * 1987-11-03 1990-09-19 Gkn Technology Ltd Vehicle suspension systems
EP0321310A3 (en) * 1987-12-17 1990-01-10 Automotive Products Plc Vehicle suspension
EP0321310A2 (en) * 1987-12-17 1989-06-21 Automotive Products Plc Vehicle suspension
EP0348817A3 (en) * 1988-06-27 1990-07-11 Bayerische Motoren Werke Aktiengesellschaft Device to check rolling of a vehicle
EP0348634A3 (en) * 1988-06-27 1990-07-11 Bayerische Motoren Werke Aktiengesellschaft Device to check rolling of a vehicle
EP0348817A2 (en) * 1988-06-27 1990-01-03 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Device to check rolling of a vehicle
US5046008A (en) * 1988-06-27 1991-09-03 Bayerische Motoren Werke Ag Control device for stabilizing the rolling motion of a vehicle
EP0348634A2 (en) * 1988-06-27 1990-01-03 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Device to check rolling of a vehicle
FR2633564A1 (en) * 1988-06-29 1990-01-05 Commerce Sarl Cie Servo control for the hydraulic suspension of the wheels in vehicles
DE3825279A1 (en) * 1988-07-26 1990-02-01 Bayerische Motoren Werke Ag Hydraulic arrangement, in particular for stabilising and regulating the level of a vehicle
DE3932476A1 (en) * 1988-09-30 1990-04-05 Fuji Heavy Ind Ltd DEVICE FOR CONTROLLING AN ACTIVE WHEEL SUSPENSION SYSTEM FOR A MOTOR VEHICLE
DE4114783C2 (en) * 1991-05-06 2000-11-23 Bayerische Motoren Werke Ag Method for controlling an active wheel support system
DE19844493A1 (en) * 1998-09-29 2000-03-30 Zahnradfabrik Friedrichshafen Hydropneumatic suspension system
US6669216B1 (en) 1998-09-29 2003-12-30 Zf Lenksysteme Gmbh Hydropneumatic suspension system
WO2005063514A1 (en) 2003-12-20 2005-07-14 Daimlerchrysler Ag System and method for the anti-roll stabilisation of a motor vehicle, in particular of buses, transporters, off-road vehicles or similar
US7828309B2 (en) 2005-03-10 2010-11-09 Wirtgen Gmbh Road-building machine
US8118316B2 (en) 2005-03-10 2012-02-21 Wirtgen Gmbh Operational methods for a road-building machine
EP1924746B1 (en) 2005-09-12 2016-04-27 Wirtgen GmbH Self-propelled construction machine with lifting columns
US9656530B2 (en) 2005-09-12 2017-05-23 Wirtgen Gmbh Automotive construction machine, as well as lifting column for a construction machine
US9879391B2 (en) 2006-12-22 2018-01-30 Wirtgen Gmbh Road milling machine and method for measuring the milling depth
US9879390B2 (en) 2006-12-22 2018-01-30 Wirtgen Gmbh Road milling machine and method for measuring the milling depth
US11655599B2 (en) 2006-12-22 2023-05-23 Wirtgen America, Inc. Road milling machine and method for measuring the milling depth
US12006642B2 (en) 2006-12-22 2024-06-11 Wirtgen America, Inc. Road milling machine and method for measuring the milling depth
US11795664B2 (en) 2021-02-16 2023-10-24 Caterpillar Paving Products, Inc. Four-legged construction machine having slope stability system with locking valves
US11932327B2 (en) 2021-02-16 2024-03-19 Caterpillar Paving Products Inc. Four-legged construction machine having slope stability system with relief valves
IT202100019439A1 (en) * 2021-07-22 2023-01-22 Roberto Tomassini Hydraulic controlled actuator for use on vehicles, trailers, semi-trailers, suspended loads and industrial machinery.

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