JPH02155815A - Semi-active suspension control device of caterpillar vehicle - Google Patents
Semi-active suspension control device of caterpillar vehicleInfo
- Publication number
- JPH02155815A JPH02155815A JP30888388A JP30888388A JPH02155815A JP H02155815 A JPH02155815 A JP H02155815A JP 30888388 A JP30888388 A JP 30888388A JP 30888388 A JP30888388 A JP 30888388A JP H02155815 A JPH02155815 A JP H02155815A
- Authority
- JP
- Japan
- Prior art keywords
- solenoid valve
- acceleration
- damping force
- wheel
- cpu
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 12
- 238000013016 damping Methods 0.000 claims abstract description 15
- 238000007493 shaping process Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 8
- 230000005484 gravity Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 241000862969 Stella Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 241001634830 Geometridae Species 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
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
- B60G17/015—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
-
- 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
- B60G2400/102—Acceleration; Deceleration vertical
-
- 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
- B60G2400/204—Vehicle speed
-
- 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
- B60G2400/30—Propulsion unit conditions
- B60G2400/34—Accelerator pedal position
-
- 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
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- 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
- B60G2600/22—Magnetic elements
- B60G2600/24—Magnetic elements permanent magnets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/014—Pitch; Nose dive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/22—Braking, stopping
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は装軌車輛に適用されるセミアクティブ懸架制御
装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a semi-active suspension control system applied to a tracked vehicle.
本発明はホイルローダ等建設機械にも利用できる。The present invention can also be used for construction machines such as wheel loaders.
チ角速度、ロール角速度、上下加速度の信号を入力して
ＣＰＵ （１３）に送出し、前記Ａ／Ｄコンバータ（１
８）は、ポテンシオメータ（９，１（７，１１）からの
信号をディジタル量に変換してＣＰＵ （１３）に送出
し、波形整形回路（２１）は回転ピックアップ（８）か
らの信号波形を整えカウンタ（２ｏ）を経由してＣＰＵ
に送出し、電磁弁駆動回＠（７７）け対し、ピッチ、ロ
ール成分に関しては、車体重心からの距離を重みとして
、乗じて各転輪に対する変化分とし、これらピッチ角速
度分ロール角速度分、上下方向速度分を加算して、車体
動揺値とした。この車体動揺値が予め設定しておいた、
しきい値以上になった時、減衰力を高くして、車体動揺
を低減させる様に制御していた。Signals of tilt angular velocity, roll angular velocity, and vertical acceleration are input and sent to the CPU (13), and the signals are sent to the A/D converter (13).
8) converts the signal from the potentiometer (9, 1 (7, 11) into a digital quantity and sends it to the CPU (13), and the waveform shaping circuit (21) converts the signal waveform from the rotary pickup (8). CPU via trimming counter (2o)
Solenoid valve driving times @ (77) Regarding the pitch, roll components, the distance from the center of gravity of the vehicle is used as a weight, multiplied to obtain the change for each wheel, and the pitch angular velocity, roll angular velocity, up and down The directional velocity was added to obtain the vehicle body sway value. This vehicle body sway value has been set in advance,
When the threshold value was exceeded, the damping force was increased to reduce vehicle body vibration.
従来のセミアクティブ懸架制御に於ては、車体動揺成分
として、ピッチ角速度―、ロール角速度ｋ及び車体上下
方向速度りを検出し、これらの値を加算して、車体動揺
値としていた。これらの値は車輌が不整地走行をするも
のと考えると非接触で検出する必要がある。そのために
は、角速度の検出方法としては、ジャイロを用いること
が渚えられ、上下速度売の検出方法としてｄ加速度計を
１２からの信号により電磁弁３で作動し、該制御回路１
２はＣＰＵ １３とＲＡＭ １４とＲＯＭ １５とシリ
アル■１０１６と電磁弁駆動回路１７とＡ／Ｄコンバタ
１８と電源回路１９とカウンタ２０と波形整形回路２ノ
を具備し、前記シリアルＩ１０１６ば、検出器からの車
体重心位置のピッチ角速度、ロール角速度、上下加速度
の信号を入力してＣＰＵ １３に送出し、前記Ａ／Ｄコ
ンバータ１８は、ポテンシオメータ９，１０．１１から
の信列をディゾタル量に車体動揺低減に対し、有効な制
御を行うことができなくなってしまうという問題が生じ
る。In conventional semi-active suspension control, pitch angular velocity, roll angular velocity k, and vehicle vertical velocity are detected as vehicle body vibration components, and these values are added to obtain a vehicle body vibration value. These values need to be detected in a non-contact manner, considering that the vehicle is traveling on rough terrain. To this end, it is recommended to use a gyro as a method for detecting angular velocity, and as a method for detecting vertical velocity, a d accelerometer is operated by a solenoid valve 3 in response to a signal from 12, and the control circuit 1
2 is equipped with a CPU 13, a RAM 14, a ROM 15, a serial number 1016, a solenoid valve drive circuit 17, an A/D converter 18, a power supply circuit 19, a counter 20, and a waveform shaping circuit 2; The signals of the pitch angular velocity, roll angular velocity, and vertical acceleration of the position of the center of gravity of the vehicle are inputted and sent to the CPU 13, and the A/D converter 18 converts the signal train from the potentiometers 9, 10.11 into dizotal quantities. A problem arises in that it is no longer possible to effectively control the vibration reduction.
本発明に得る装軌車輛におけるセミアクティブ懸架制御
装置は、アキュムレータと減衰力切換弁とシリンダとア
ームと転輪からなる車輛の懸架制御装置において、前記
減衰力切換弁２は制御回路供給する電流を制御すること
を特徴とする。A semi-active suspension control device for a tracked vehicle according to the present invention is a suspension control device for a vehicle comprising an accumulator, a damping force switching valve, a cylinder, an arm, and a wheel, in which the damping force switching valve 2 controls the current supplied to the control circuit. It is characterized by control.
車体動揺の上下方向成分として、加速度値を利用するこ
とにより正確な車体上下の動揺を検知する。Accurate vertical vibration of the vehicle body is detected by using the acceleration value as the vertical component of the vehicle vibration.
そして、ピッ−デー角速度ドとロール角速度前を用いた
速度値による判断と、車体上下加速度を用いた加速度値
による判断の２つの判断を併用して、セミアクティブ懸
架制御を行う。Then, semi-active suspension control is performed using two types of judgments: one based on the speed value using the speed angular velocity and the roll angular velocity, and the other based on the acceleration value using the vertical acceleration of the vehicle body.
本発明の実施例を第１図〜第４図に示す。 Examples of the present invention are shown in FIGS. 1 to 4.
第１図は、本発明の１実施例で全転輪のうち１つの転輪
に対する構成を示す。第１図に於て、１はアキニームレ
ータ、２は減衰力切換弁、３は２を動作させるための電
磁弁である。４はシリンダ、５はアーム、６は転輪であ
る。FIG. 1 shows the configuration of one of all the wheels in one embodiment of the present invention. In FIG. 1, 1 is an akinimulator, 2 is a damping force switching valve, and 3 is a solenoid valve for operating 2. 4 is a cylinder, 5 is an arm, and 6 is a wheel.
転ピックアップ８、ポテンシオメータ９，１０．１１か
らのアクセルペダル踏込量、ブレーキペダル踏込量、ス
テアリングツ・ンドル回転角信号に基づいて、車体の各
転輪に取り付けられている電磁弁３に対して、減衰力切
換を行うための電気信号を与えるだめの制御回路である
。Based on the accelerator pedal depression amount, brake pedal depression amount, and steering wheel rotation angle signals from the rotation pickup 8, potentiometers 9, 10.11, the electromagnetic valve 3 attached to each wheel of the vehicle body is , a control circuit that provides electrical signals for switching the damping force.
第２図は、制御回路のブロック図で、制御回路１２は、
ＣＰＵ １３、ＲＡＭ １４、ＲＯＭ Ｊ ｓ、シリア
ルＩ１０ （直列転送）１６、電磁弁駆動回路１７、力
軸取り付けられている歯車列より車速信号を検出するた
めに使用される回転ピンクアップである。FIG. 2 is a block diagram of the control circuit, and the control circuit 12 includes:
These are a CPU 13, a RAM 14, a ROM Js, a serial I10 (serial transfer) 16, a solenoid valve drive circuit 17, and a rotational pink-up used to detect a vehicle speed signal from a gear train attached to the power shaft.
９はアクセルペダルの踏込量を検出するためのポテンシ
オメータ、１０はグレーキペタルの踏込量を検出するた
めのポテンシオメータ、１１はステアリングハンドルの
回転角を検出するだめのポテンシオメータである。１２
は、ソヤイロ箱７、回度をシリアルデータとして入力し
、ＣＰＵ Ｉ Ｊに送出する。Ａ／Ｄコンバータ１８は
、ポテンシオメータ９，１０．１１に接続され、ポテン
シオメータからのアクセルペダル位置信号、ブレーキペ
ダル位置信号、および、ステアリングツ・ンドル回転角
信号をディジタル量に変換してＣＰＵ １３に送出する
１゜波形整形回路２１は回転ピックアップ８からの回＝
６−
転速度信号の波形を整えてカウンタ２０に出力する。カ
ウンタ２０は、波形整形された回転速度信号をカウント
し、ＣＰＵ ｌ ３に送出する。電磁弁駆動回路１７は
、ＣＰＵ １３からの指令信号により各転輪に取シ付け
られている電磁弁３へ供給する電流を制御する。電源回
路１９はバッテリ２２から供給される電源から制御回路
１２の各部が必要とする電圧の電源を供給する。9 is a potentiometer for detecting the amount of depression of the accelerator pedal, 10 is a potentiometer for detecting the amount of depression of the brake pedal, and 11 is a potentiometer for detecting the rotation angle of the steering wheel. 12
inputs the frequency as serial data to the Soyiro box 7 and sends it to the CPU IJ. The A/D converter 18 is connected to the potentiometers 9, 10, and 11, and converts the accelerator pedal position signal, brake pedal position signal, and steering wheel rotation angle signal from the potentiometers into digital quantities and sends them to the CPU 13. The 1° waveform shaping circuit 21 that sends out a wave from the rotary pickup 8 =
6- Adjust the waveform of the rotation speed signal and output it to the counter 20. The counter 20 counts the waveform-shaped rotational speed signal and sends it to the CPU 13. The solenoid valve drive circuit 17 controls the current supplied to the solenoid valves 3 attached to each wheel based on a command signal from the CPU 13. The power supply circuit 19 supplies power at the voltage required by each part of the control circuit 12 from the power supplied from the battery 22 .
次に前記制御回路１２の制御動作を第３図のフ対する重
みとして、車体重心からの距離、ｔ、 （Ｉ） 。Next, the distance from the center of gravity of the vehicle is t, (I), with the control operation of the control circuit 12 as a weight relative to the weight shown in FIG.
ｔＲ（Ｉ）を乗じて、これらを加算し、ｘ（Ｉ）として
、 ＲＡＭ１４に記憶しておく。ここでＩは各転輪に対
応する番号とする。Multiply by tR(I), add these, and store in the RAM 14 as x(I). Here, I is a number corresponding to each wheel.
次にステップＳ６で上記ステップＳ、に於て記憶した
ｘ（Ｉ）の絶対値がＲＯＭ １５に予め設定されている
しきい値ＳＬ以上となった時、１番目の転輪に取付けら
れている電磁弁に出力されるデータを高減衰とし、しき
い値ＳＬ以下の時は逆に低減衰とじてＡＣとブレーキペ
ダル位置信号Ｂｃステアリングハンドル回転角信号θ８
が読み込まれる。さらにステップＳ３で車速Ｖを読み込
む。ステラｆＳ４では、各転輪に対応する電磁弁出力デ
ータを演算しておシ、ステップＳｌｌからＳ１６までを
転輪全てに対して、実施したかどうかを判断している。Next, in step S6, the information stored in step S above is stored.
When the absolute value of x(I) exceeds the threshold SL preset in ROM 15, the data output to the solenoid valve attached to the first wheel is set to high attenuation, and the threshold is set. When it is less than the value SL, it is considered as low attenuation and AC and brake pedal position signal Bc steering wheel rotation angle signal θ8
is loaded. Further, in step S3, the vehicle speed V is read. In Stella fS4, the solenoid valve output data corresponding to each wheel is calculated, and it is determined whether steps Sll to S16 have been performed for all the wheels.
ステップＳ、ではピッチ角速度Ｐ、ロール角速度Ｒに対
し、各転輪に加速度２の絶対値が、予めＲＯＭ ７５内
にセットされているしきい値８８以上の時、ステップＳ
、。に進んで全ての転輪に対する電磁弁出力データを高
減衰として、ＲＡＭ １４にセットする。逆にしきい値
以下の時は何もせずにステップ８１１へ進む。In step S, when the absolute value of acceleration 2 for each wheel with respect to the pitch angular velocity P and roll angular velocity R is equal to or greater than the threshold value 88 set in advance in the ROM 75, step S
,. Then, set the solenoid valve output data for all wheels as high damping in the RAM 14. On the other hand, if it is less than the threshold value, the process proceeds to step 811 without doing anything.
ステップＳｌｌではステップＳ２で読み込んだ、アクセ
ルペダル踏込量ＡＣの変化率をＡＣとするとＡｃが予め
ＲＯＭ１５に設定されているしきい値ＳＡ以上の時車体
のスフワット（発進時に車体の後部が沈みこむこと）防
止のために、車体後方のサスペンションを高減衰とする
様に電磁弁出力データを、ＲＡＭ１４にセットする。逆
にしきい値以下の時は何もせずステップ８１３へ進む。In step Sll, when AC is the rate of change in the accelerator pedal depression amount AC read in step S2, when AC is equal to or higher than the threshold value SA preset in the ROM 15, the vehicle body swots (the rear of the vehicle sinks when starting). ) To prevent this, solenoid valve output data is set in the RAM 14 so that the suspension at the rear of the vehicle is highly damped. On the other hand, if it is less than the threshold value, the process proceeds to step 813 without doing anything.
ステラ７６Ｓ１．では、ステップＳ、で読み込んだ、ブ
レーキペダル踏込量Ｂｃの変化率をＢｃとした時、Ｂｃ
が予めＲＯＭ １５に設定されているしきい値ＳＢ以上
の時、ステラｆＳ１４に進み車体のノーズダイブ値以下
の時は何もせずステラｆ Ｓ、、へ進む。Stella 76S1. Now, when the rate of change in the amount of brake pedal depression Bc read in step S is Bc, Bc
When is above the threshold value SB set in advance in the ROM 15, the process proceeds to Stella fS14, and when it is below the nose dive value of the vehicle body, nothing is done and the process proceeds to Stella fS.
ステップＳ１＋１ ＋ ｓｌｇでは、ステラ７’ Ｓ、
、 、 Ｓｌ、とは逆の車体左側のローリングに対する
減衰力制御のための判断をステップｓ、、 ＋ ８１６
と同様に行う。In step S1+1 + slg, Stella 7' S,
, , Judgment for damping force control for rolling on the left side of the vehicle body, which is opposite to Sl, is made in step s, +816
Do the same as.
次にステップ８１Ｇ＋で、ステップＳ４からＳｔＳで実
施した、電磁弁出力データを、駆動回路から電磁弁へ出
力し、ステップＳ１へ戻る。Next, in step 81G+, the solenoid valve output data carried out in steps S4 to StS is output from the drive circuit to the solenoid valve, and the process returns to step S1.
第４図は、車体動揺方向を定義したもので、２２ａが車
体前方、２２ｂが車体後方である。FIG. 4 defines the direction of vehicle body sway, where 22a is the front of the vehicle and 22b is the rear of the vehicle.
ステップＳ１．ではステップＳ、で読み込んだステアリ
ングハンドル角度θ８の変化率をθ８とした時θ６が予
めＲＯＭ １５に設定されているしきい値＋８８以上の
時、車体右側へのローリングとして、車体右側のサスペ
ンションを高減衰とする様に電磁弁出力データをＲＡＭ
１４にセットする。逆にしきいくした形で、セミアク
ティブ懸架制御を行うことができる。Step S1. Now, let us assume that the rate of change of the steering wheel angle θ8 read in step S is θ8. When θ6 is equal to or greater than the threshold value set in advance in ROM 15 +88, the suspension on the right side of the vehicle is raised to roll to the right side of the vehicle. RAM the solenoid valve output data for damping.
Set it to 14. On the other hand, semi-active suspension control can be performed in a more extreme manner.
第１図は本発明の１実施例で、１つの転輪に対する構成
を示す図、
第２図は、制御回路のブロック図、
第３図は、その制御フローチャートを示す図、−１叶
第４図は、車体動揺の方向を定義した図７．あ５゜１・
・・アキュムレータ、２・・・減衰力切換弁、３・・・
電磁弁、４・・・シリンダ、５・・・アーム、６・・・
転輪、７・・・検出器（ジャイロ箱）、８・・・回転ピ
ックアップ、９・・・アクセルペダル踏込量検出用ポテ
ン７オメータ、１０・・・ブレーキ啄ダル踏込量検出用
ポテンシオメータ、１１・・・ステアリングハンドルの
回転角検出用ボテ／ジオメータ、Ｉ２・・・減衰力切換
用電磁弁の制御回路、１３・・・ＣＰＵ、１４・・・Ｒ
ＡＭ 。Fig. 1 is a diagram showing an embodiment of the present invention, showing the configuration for one wheel, Fig. 2 is a block diagram of a control circuit, and Fig. 3 is a diagram showing its control flowchart. The figure is Figure 7, which defines the direction of vehicle body vibration. A5゜1・
...Accumulator, 2...Damping force switching valve, 3...
Solenoid valve, 4... cylinder, 5... arm, 6...
Wheel, 7... Detector (gyro box), 8... Rotation pickup, 9... Poten 7 meter for detecting accelerator pedal depression amount, 10... Potentiometer for detecting brake pedal depression amount, 11 ...Bottle/geometer for detecting the rotation angle of the steering wheel, I2...Control circuit of the solenoid valve for switching the damping force, 13...CPU, 14...R
A.M.
Claims (1)
輪からなる車輛の懸架制御装置において、前記減衰切換
弁（２）は制御回路（１２）からの信号により電磁弁（
３）で作動し、該制御回路（１２）はＣＰＵ（１３）と
ＲＡＭ（１４）とＲＯＭ（１５）とシリアルＩ／Ｏ（１
６）と電磁弁駆動回路（１７）とＡ／Ｄコンバータ（１
８）と電源回路（１９）とカウンタ（２０）と波形整形
回路（２１）を具備し、前記シリアルＩ／Ｏ（１６）は
、検出器からの車体重心位置のピッチ角速度、ロール角
速度、上下加速度の信号を入力してＣＰＵ（１３）に送
出し、前記Ａ／Ｄコンバータ（１８）は、ポテンシオメ
ータ（９、１０、１１）からの信号をディジタル量に変
換してＣＰＵ（１３）に送出し、波形整形回路（２１）
は回転ピックアップ（８）からの信号波形を整えカウン
タ（２０）を経由してＣＰＵに送出し、電磁弁駆動回路
（１７）はＣＰＵ（１３）からの指令信号により電磁弁
（３）へ供給する電流を制御することを特徴とする装軌
車輛におけるセミアクティブ懸架制御装置In a vehicle suspension control system consisting of an accumulator, a damping force switching valve, a cylinder, an arm, and a wheel, the damping switching valve (2) is operated by a solenoid valve (
3), and the control circuit (12) operates with a CPU (13), a RAM (14), a ROM (15), and a serial I/O (1
6), solenoid valve drive circuit (17), and A/D converter (1
8), a power supply circuit (19), a counter (20), and a waveform shaping circuit (21). The A/D converter (18) converts the signal from the potentiometers (9, 10, 11) into a digital quantity and sends it to the CPU (13). , waveform shaping circuit (21)
prepares the signal waveform from the rotary pickup (8) and sends it to the CPU via the counter (20), and the solenoid valve drive circuit (17) supplies it to the solenoid valve (3) according to the command signal from the CPU (13). Semi-active suspension control device for tracked vehicles characterized by controlling current
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30888388A JPH02155815A (en) | 1988-12-08 | 1988-12-08 | Semi-active suspension control device of caterpillar vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30888388A JPH02155815A (en) | 1988-12-08 | 1988-12-08 | Semi-active suspension control device of caterpillar vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02155815A true JPH02155815A (en) | 1990-06-14 |
Family
ID=17986410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP30888388A Pending JPH02155815A (en) | 1988-12-08 | 1988-12-08 | Semi-active suspension control device of caterpillar vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02155815A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9662954B2 (en) | 2012-11-07 | 2017-05-30 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US10005335B2 (en) | 2012-11-07 | 2018-06-26 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US10124709B2 (en) | 2015-05-15 | 2018-11-13 | Polaris Industries Inc. | Utility vehicle |
| US10406884B2 (en) | 2017-06-09 | 2019-09-10 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US10946736B2 (en) | 2018-06-05 | 2021-03-16 | Polaris Industries Inc. | All-terrain vehicle |
| US11110913B2 (en) | 2016-11-18 | 2021-09-07 | Polaris Industries Inc. | Vehicle having adjustable suspension |
| US11285964B2 (en) | 2014-10-31 | 2022-03-29 | Polaris Industries Inc. | System and method for controlling a vehicle |
| US11884117B2 (en) | 2018-11-21 | 2024-01-30 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
| US11904648B2 (en) | 2020-07-17 | 2024-02-20 | Polaris Industries Inc. | Adjustable suspensions and vehicle operation for off-road recreational vehicles |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59190015A (en) * | 1983-04-13 | 1984-10-27 | Tech Res & Dev Inst Of Japan Def Agency | Vehicle suspension control device |
| JPS60248416A (en) * | 1984-05-21 | 1985-12-09 | Toyota Central Res & Dev Lab Inc | Active suspension apparatus |
| JPS60248417A (en) * | 1984-05-21 | 1985-12-09 | Toyota Central Res & Dev Lab Inc | Active suspension apparatus |
-
1988
- 1988-12-08 JP JP30888388A patent/JPH02155815A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59190015A (en) * | 1983-04-13 | 1984-10-27 | Tech Res & Dev Inst Of Japan Def Agency | Vehicle suspension control device |
| JPS60248416A (en) * | 1984-05-21 | 1985-12-09 | Toyota Central Res & Dev Lab Inc | Active suspension apparatus |
| JPS60248417A (en) * | 1984-05-21 | 1985-12-09 | Toyota Central Res & Dev Lab Inc | Active suspension apparatus |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10005335B2 (en) | 2012-11-07 | 2018-06-26 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11970036B2 (en) | 2012-11-07 | 2024-04-30 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US9662954B2 (en) | 2012-11-07 | 2017-05-30 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11124036B2 (en) | 2012-11-07 | 2021-09-21 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11400787B2 (en) | 2012-11-07 | 2022-08-02 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11400786B2 (en) | 2012-11-07 | 2022-08-02 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11400784B2 (en) | 2012-11-07 | 2022-08-02 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11400785B2 (en) | 2012-11-07 | 2022-08-02 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| US11919524B2 (en) | 2014-10-31 | 2024-03-05 | Polaris Industries Inc. | System and method for controlling a vehicle |
| US11285964B2 (en) | 2014-10-31 | 2022-03-29 | Polaris Industries Inc. | System and method for controlling a vehicle |
| US11752860B2 (en) | 2015-05-15 | 2023-09-12 | Polaris Industries Inc. | Utility vehicle |
| US10124709B2 (en) | 2015-05-15 | 2018-11-13 | Polaris Industries Inc. | Utility vehicle |
| US11110913B2 (en) | 2016-11-18 | 2021-09-07 | Polaris Industries Inc. | Vehicle having adjustable suspension |
| US11878678B2 (en) | 2016-11-18 | 2024-01-23 | Polaris Industries Inc. | Vehicle having adjustable suspension |
| US11479075B2 (en) | 2017-06-09 | 2022-10-25 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US11912096B2 (en) | 2017-06-09 | 2024-02-27 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US10406884B2 (en) | 2017-06-09 | 2019-09-10 | Polaris Industries Inc. | Adjustable vehicle suspension system |
| US10946736B2 (en) | 2018-06-05 | 2021-03-16 | Polaris Industries Inc. | All-terrain vehicle |
| US11884117B2 (en) | 2018-11-21 | 2024-01-30 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
| US11975584B2 (en) | 2018-11-21 | 2024-05-07 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
| US11904648B2 (en) | 2020-07-17 | 2024-02-20 | Polaris Industries Inc. | Adjustable suspensions and vehicle operation for off-road recreational vehicles |
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