JP4013939B2 - 移動体およびその制御方法 - Google Patents
移動体およびその制御方法 Download PDFInfo
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
- B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B60—VEHICLES IN GENERAL
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- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
- B60K2006/268—Electric drive motor starts the engine, i.e. used as starter motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/441—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
- B60L2240/486—Operating parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0616—Position of fuel or air injector
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Description
移動体の移動用の動力を出力可能な内燃機関と、
該内燃機関をモータリング可能なモータリング手段と、
前記移動体の移動用の動力を出力可能な電動機と、
前記モータリング手段および前記電動機と電力のやりとりが可能な蓄電手段と、
シフトレバーのシフトポジションを検出するシフトポジション検出手段と、
前記内燃機関の回転数を検出する回転数検出手段と、
前記検出されたシフトポジションが前記移動体を移動させる移動用ポジションにあるときに前記内燃機関の始動要求がなされたときには前記内燃機関がモータリングされるよう前記モータリング手段を制御すると共に前記検出された内燃機関の回転数が第1の回転数に至ったときに該内燃機関の燃料噴射と点火とが開始されるよう該内燃機関を制御し、前記検出されたシフトポジションが前記移動用ポジションにないときに前記内燃機関の始動要求がなされたときには前記内燃機関がモータリングされるよう前記モータリング手段を制御すると共に前記検出された内燃機関の回転数が前記第1の回転数より高い第2の回転数に至ったときに該内燃機関の燃料噴射と点火とが開始されるよう該内燃機関を制御する始動時制御手段と、
を備えることを要旨とする。
移動体の移動用の動力を出力可能な内燃機関と、該内燃機関をモータリング可能なモータリング手段と、前記移動体の移動用の動力を出力可能な電動機と、前記モータリング手段および前記電動機と電力のやりとりが可能な蓄電手段と、を備える移動体の制御方法であって、
(a)シフトレバーのシフトポジションを検出し、
(b)前記内燃機関の回転数を検出し、
(c)前記検出されたシフトポジションが前記移動体を移動させる移動用ポジションにあるときに前記内燃機関の始動要求がなされたときには前記内燃機関がモータリングされるよう前記モータリング手段を制御すると共に前記検出された内燃機関の回転数が第1の回転数に至ったときに該内燃機関の燃料噴射と点火とが開始されるよう該内燃機関を制御し、前記検出されたシフトポジションが前記移動用ポジションにないときに前記内燃機関の始動要求がなされたときには前記内燃機関がモータリングされるよう前記モータリング手段を制御すると共に前記検出された内燃機関の回転数が前記第1の回転数より高い第2の回転数に至ったときに該内燃機関の燃料噴射と点火とが開始されるよう該内燃機関を制御する
ことを要旨とする。
Tm2tmp=(Tr*+Tm1*/ρ)/Gr …(4)
Claims (10)
- 移動体の移動用の動力を出力可能な内燃機関と、
該内燃機関をモータリング可能なモータリング手段と、
前記移動体の移動用の動力を出力可能な電動機と、
前記モータリング手段および前記電動機と電力のやりとりが可能な蓄電手段と、
シフトレバーのシフトポジションを検出するシフトポジション検出手段と、
前記内燃機関の回転数を検出する回転数検出手段と、
前記検出されたシフトポジションが前記移動体を移動させる移動用ポジションにあるときに前記内燃機関の始動要求がなされたときには前記内燃機関がモータリングされるよう前記モータリング手段を制御すると共に前記検出された内燃機関の回転数が第1の回転数に至ったときに該内燃機関の燃料噴射と点火とが開始されるよう該内燃機関を制御し、前記検出されたシフトポジションが前記移動用ポジションにないときに前記内燃機関の始動要求がなされたときには前記内燃機関がモータリングされるよう前記モータリング手段を制御すると共に前記検出された内燃機関の回転数が前記第1の回転数より高い第2の回転数に至ったときに該内燃機関の燃料噴射と点火とが開始されるよう該内燃機関を制御する始動時制御手段と、
を備える移動体。 - 前記始動時制御手段は、前記シフトポジションが前記移動用ポジションにあるときには所定の条件が成立するまでの第1の所定トルクと所定の条件が成立した以降の該第1の所定トルクより小さな第2の所定トルクとが前記モータリング手段から順に出力されるよう該モータリング手段を制御し、前記シフトポジションが前記移動用ポジションにないときには前記第2の所定トルクより大きな第3の所定トルクが前記モータリング手段から出力されるよう該モータリング手段を制御する手段である請求項1記載の移動体。
- 前記始動時制御手段は、前記内燃機関のモータリングの開始時から所定時間が経過する条件を前記所定の条件として制御する手段である請求項2記載の移動体。
- 請求項1ないし3いずれか記載の移動体であって、
前記内燃機関のモータリングにより消費されるモータリング消費電力を推定するモータリング消費電力推定手段を備え、
前記始動時制御手段は、前記シフトポジションが前記移動用ポジションにあるときに前記内燃機関の始動要求がなされたときには、前記推定されたモータリング消費電力が所定電力以下の範囲内で前記内燃機関がモータリングされるよう前記モータリング手段を制御する手段である
移動体。 - 前記モータリング消費電力推定手段は、前記内燃機関の回転数と前記モータリング手段のトルクとに基づいて前記モータリング消費電力を推定する手段である請求項1ないし4いずれか記載の移動体。
- 前記モータリング手段は、前記内燃機関の出力軸と前記移動体の移動に用いられる駆動軸とに接続され、電力と動力との入出力を伴って該内燃機関の出力軸に入出力される動力の一部を前記駆動軸に出力可能な電力動力入出力手段を備え、該電力動力入出力手段による前記駆動軸へ出力される動力をキャンセルする動力の出力を伴って前記内燃機関をモータリングする手段である請求項1ないし5いずれか記載の移動体。
- 請求項6記載の移動体であって、
前記電動機は、前記駆動軸に動力を出力可能に連結されてなり、
前記モータリング手段は、前記電動機から前記キャンセルする動力の出力を伴って前記内燃機関をモータリングする手段である
移動体。 - 前記電力動力入出力手段は、前記内燃機関の出力軸と前記駆動軸と回転軸との3軸に接続され該3軸のうちいずれか2軸に入出力した動力に基づいて残余の軸に動力を入出力する3軸式動力入出力手段と、前記第3の軸に動力を入出力する回転軸用電動機とを備える手段である請求項6または7記載の移動体。
- 前記電力動力入出力手段は、前記内燃機関の出力軸に取り付けられた第1の回転子と前記駆動軸に取り付けられた第2の回転子とを備え、該第1の回転子と該第2の回転子との電磁作用による電力の入出力を伴って該内燃機関からの動力の少なくとも一部を該駆動軸に出力する対回転子電動機である請求項6または7記載の移動体。
- 移動体の移動用の動力を出力可能な内燃機関と、該内燃機関をモータリング可能なモータリング手段と、前記移動体の移動用の動力を出力可能な電動機と、前記モータリング手段および前記電動機と電力のやりとりが可能な蓄電手段と、を備える移動体の制御方法であって、
(a)シフトレバーのシフトポジションを検出し、
(b)前記内燃機関の回転数を検出し、
(c)前記検出されたシフトポジションが前記移動体を移動させる移動用ポジションにあるときに前記内燃機関の始動要求がなされたときには前記内燃機関がモータリングされるよう前記モータリング手段を制御すると共に前記検出された内燃機関の回転数が第1の回転数に至ったときに該内燃機関の燃料噴射と点火とが開始されるよう該内燃機関を制御し、前記検出されたシフトポジションが前記移動用ポジションにないときに前記内燃機関の始動要求がなされたときには前記内燃機関がモータリングされるよう前記モータリング手段を制御すると共に前記検出された内燃機関の回転数が前記第1の回転数より高い第2の回転数に至ったときに該内燃機関の燃料噴射と点火とが開始されるよう該内燃機関を制御する
移動体の制御方法。
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JP3818278B2 (ja) * | 2003-07-22 | 2006-09-06 | トヨタ自動車株式会社 | ハイブリッド車およびその制御方法 |
JP4390785B2 (ja) * | 2006-05-24 | 2009-12-24 | トヨタ自動車株式会社 | 四輪駆動式車両の駆動力制御装置 |
DE102006027709B4 (de) * | 2006-06-14 | 2019-01-03 | Magna powertrain gmbh & co kg | Getriebeeinheit für ein Kraftfahrzeug und Steuerungsverfahren hierfür |
DE102006040339B4 (de) * | 2006-08-29 | 2016-02-11 | Robert Bosch Gmbh | Verfahren zum Starten einer Brennkraftmaschine |
JP5075701B2 (ja) * | 2008-03-25 | 2012-11-21 | アズビル株式会社 | 制御機器および電力推定方法 |
JP2011127504A (ja) * | 2009-12-17 | 2011-06-30 | Mitsubishi Electric Corp | エンジンの自動始動装置 |
JP5879743B2 (ja) * | 2011-05-16 | 2016-03-08 | 日産自動車株式会社 | エンジンの自動停止再始動装置 |
JP2013139227A (ja) | 2012-01-05 | 2013-07-18 | Toyota Motor Corp | 車両の制御装置 |
JP5948877B2 (ja) * | 2012-01-05 | 2016-07-06 | トヨタ自動車株式会社 | ハイブリッド車両の制御装置 |
JP5910211B2 (ja) * | 2012-03-19 | 2016-04-27 | マツダ株式会社 | 車両搭載エンジンの始動装置 |
DE102012209452B4 (de) * | 2012-06-05 | 2024-07-18 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren in einem Kraftfahrzeug mit mindestens einem Antriebsmotor |
JP2014193719A (ja) * | 2014-05-19 | 2014-10-09 | Toyota Motor Corp | 車両の制御装置 |
JP6146373B2 (ja) * | 2014-06-06 | 2017-06-14 | トヨタ自動車株式会社 | ハイブリッド車両用駆動装置の制御装置 |
JP6394312B2 (ja) * | 2014-11-19 | 2018-09-26 | いすゞ自動車株式会社 | 内燃機関のアイドリングストップの制御システム |
JP6293827B2 (ja) * | 2016-07-27 | 2018-03-14 | 本田技研工業株式会社 | 車両の制御装置 |
WO2019008083A1 (en) * | 2017-07-06 | 2019-01-10 | Wärtsilä Finland Oy | METHOD FOR STARTING AN INTERNAL COMBUSTION ENGINE OF A HYBRID PROPULSION SYSTEM IN A SHIP AND A HYBRID PROPULSION SYSTEM IN A SHIP |
JP7073938B2 (ja) * | 2018-06-26 | 2022-05-24 | トヨタ自動車株式会社 | ハイブリッド自動車 |
KR102663987B1 (ko) * | 2019-04-03 | 2024-05-08 | 현대자동차 주식회사 | 마일드 하이브리드 차량의 시동 제어 장치 및 그 방법 |
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JP2000263213A (ja) | 1999-03-12 | 2000-09-26 | Furukawa Electric Co Ltd:The | ロール式セミソリッド加工法およびその加工装置 |
IT1319883B1 (it) * | 2000-02-04 | 2003-11-12 | Fiat Ricerche | Procedimento e sistema di controllo della propulsione di unautoveicolo |
US6913318B2 (en) * | 2002-12-03 | 2005-07-05 | Pride Mobility Products Corporation | Adjustable seat support for a wheelchair |
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