JPH082453A - Active type suspension for crawler vehicle - Google Patents

Abstract

PURPOSE:To independently control oil quantity and an oil pressure of pressure oil fed to each suspension unit so as to excellently secure stability of a vehicle body in high speed travel on a rough ground by arranging a suspension unit having specific constitution in each leg (lower part rotary wheel) in a hydraulic type suspension. CONSTITUTION:A crawler vehicle is provided with a hydraulic type suspension consisting of plural legs 16 (lower part rotary wheels) in a vehicle body 1. In this case, in each of the legs 16, a suspension unit 15, in which a valve block 64 provided with a suspension cylinder 70, a suspension accumulator 48, and varied kinds of control valves is arranged in a U-shape, is arranged. Oil quantity and an oil pressure of pressure oil fed to each suspension unit 15 from an oil pump can be independently controlled in each suspension unit 15. In the valve block 64, a servo-valve 41, a shutoff valve 42, an overload relief valve 43, a high damping valve 46, and a low damping valve 47 are arranged, and these valves are opened/closed by means of a suspension controller so as to control a vehicle height and an attitude of a vehicle body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active suspension system applied to a tracked vehicle.

[0002]

2. Description of the Related Art Even if a conventional suspension system for a tracked vehicle is equipped with an oil pressure type suspension system, an accumulator is used as a suspension spring and a fixed damping valve is provided as a shock absorber. However, there is a vehicle height variable suspension system equipped with a servo valve as an extremely high-class conventional example. Didn't arrive.

[0003]

Unlike a wheeled (tire-mounted) vehicle, a tracked vehicle is strongly required to have high performance capable of running on an uneven terrain, and in fact, some of them are remarkably excellent in performance. is there. However, in order to further improve the rough terrain running performance of the tracked vehicle, for example, the engine output is increased so that the vehicle having the rough terrain running speed of 30 km / h can be driven at 50 km / h, and the power output is increased. Even if you improve the strength of the transmission and suspension, it will soon
It cannot be said that it will be possible to drive at 0 km / h. This is because the driver of the vehicle cannot cope with the impact (acceleration) from the road surface and the sway (angular velocity) of the vehicle body accompanying the increase in vehicle speed of 20 km / h, and the accelerator pedal is loosened. Therefore, in order to improve the running performance on rough terrain of a tracked vehicle, it is necessary to provide a vehicle in which the vehicle body acceleration and the vehicle body sway (angular velocity) are small even in a high-speed traveling range.

Incidentally, in order to improve not only the riding comfort of the occupants but also the accuracy of hits on rough terrain or in a higher speed range, there is a limit to the improvement in performance of conventional devices. For example, when the car body side shakes violently due to running on a wavy surface, the conventional device often needs to be out of the stability limit because the device mounted on the tracked vehicle that requires high stability often deviates from the stability limit. It is also predicted that the time will become long and that aiming will not be possible and hit will be impossible. From the viewpoint of obtaining a more accurate hit during running, it is desired to realize a vehicle with less shaking during running.

Further, in order to improve the inspection performance and reduce the discovery rate, it has been conventionally expected to realize a suspension system capable of raising and lowering the vehicle height during traveling. In addition, many electronic devices are still installed today, but it is expected that the number will increase in future vehicles, and the environmental resistance specifications of these electronic devices are combined with their required values (vibration / shock resistance) to increase the item cost. It is supposed to be.

The object of the present invention is to solve the above-mentioned problems, and the vehicle body acceleration due to the impact from the road surface is small even at the time of high speed traveling on an uneven terrain, the angular velocity due to the vehicle body sway is small, the stability of the vehicle body is good, and the vehicle is running. It is an object of the present invention to provide an active suspension system for a tracked vehicle, which comprises a plurality of suspension units unitized so that each suspension leg can be independently controlled, and the height and the attitude of the vehicle body can be changed.

[0007]

In order to achieve the above object, the active suspension system of the present invention employs the following technical means. The vehicle body 1 is used as a means for detecting a shock or shaking on the vehicle body.
A gyroscope 20 (for detecting angular velocity of pitching and rolling) and an accelerometer 23 (for detecting acceleration of bouncing) are mounted on the side, and a synchro resolver 29 is mounted on the lower rolling wheel 16 side at the swing center of each suspension arm 59. The pressure sensor 70a of the suspension cylinder 70 is also used as a means for detecting the relative displacement between the vehicle body 1 and the road surface, and the output signal from the various detectors is supplied to the signal amplifier 19 as a means. Via the suspension controller 18.

The suspension controller 18 calculates signals fetched from various detectors and controls the servo valve 41, the low damping valve 47, the high damping valve 46, etc. arranged in the valve block portion 64 of the suspension unit 15. Output a signal. At this time, when the vibration of the vehicle body during traveling is equal to or less than the set value (threshold value), only the low damping valve 47 is operated. When the set value is exceeded, the shut-off valve 42 is opened, the servo valve 41 is operated, and the amount of oil in the suspension cylinder 70 is increased / decreased so as to suppress the vibration of the vehicle body for each leg. The hydraulic oil 58 is allowed to flow to the suspension accumulator 48 via the high damping valve 46, and the viscous resistance of the oil when passing through the valve is increased to suppress the shaking of the vehicle body 1.

A detector such as a potentiometer (for angle detection) is also attached to the steering wheel 6, the accelerator pedal 8, and the brake pedal 10 to prevent roll during turning, squat during acceleration, nose dive during braking, and the like. Also, the amount of oil in the suspension cylinder 70 is increased / decreased in the same manner as when the vibration of the vehicle body exceeds the set value, and the hydraulic oil 58 is controlled to flow to the suspension accumulator 48 via the high damping valve 46. .

The joystick 7 provided in the operator's seat is operated to control the servo valve 41 via the suspension controller 18 to increase or decrease the amount of oil in the suspension cylinder 70 to increase or decrease the vehicle height, front or rear of the vehicle body. Allows tilting to the left and right. When the vehicle height and the body posture are changed, the tension of the crawler belt 17 changes,
Guide wheel cylinder 1 so that the track does not come off while driving
2, a stroke sensor 28 is attached, and the guide wheel cylinder control valve 50 is interlocked with the output signal of the synchro resolver 29 corresponding to the displacement amount of each lower roller 16 to adjust the tension of the crawler belt 17.

[0011]

The operation of the active suspension system constructed as described above will be described. When the tracked vehicle equipped with the active suspension system according to the present invention travels on rough terrain, each lower roller 16 moves up and down along the unevenness of the road surface. As shown in FIG. 3, the vertical movement of the lower wheel 16 is a reciprocating motion of a piston 71 that slides in a suspension cylinder 70 via a suspension arm 59, a link 66, and a piston rod 72. The hydraulic oil 58 in the suspension cylinder 70 is transferred to the valve block 64.
Suspended accumulator 48 via each control valve arranged in
To the gas chamber 48 by the free piston 48b.
It compresses the nitrogen gas in c and acts as a gas (suspension) spring to mitigate the impact from the road surface.

The valve block 64 has a hydraulic circuit as shown in FIG. When the vehicle is running on a flat road with little shaking, the oil 58 in the suspension cylinder 70 contains the logic valve 60, the solenoid valve 61, and the check valve 6.
2 to the suspension accumulator 48 via the low damping valve 47. In a traveling state in which the vehicle body is greatly shaken, such as on rough terrain, when the degree of shaking exceeds a set value (threshold value) incorporated in the suspension controller 18, a solenoid valve is output by a command signal from the suspension controller. 61 is closed and the hydraulic oil 58 in the suspension cylinder 70 is pumped to the suspension accumulator 48 via the high damping valve 46. The high damping valve 46 suppresses the vibration of the vehicle body due to the strong viscous resistance of the oil.

In addition, in the suspension controller 18, when the magnitude of the vibration of the vehicle body exceeds a set value (threshold value), each lower roller 16
Displacement between the road and the road surface is (+) or (-) with respect to the standard position
Whether or not it is judged by the comparison circuit and a command signal is output to each servo valve 41. Lower roller 16 whose relative displacement is determined to be (-)
The servo valve 41 communicating with the suspension cylinder 70 of No. 1 is controlled so as to supply oil into the suspension cylinder of the (-) determination, and the servo valve 41 communicating with the suspension cylinder 70 of the lower roller 16 determined to be (+). The valve 41 is controlled so as to drain oil from the suspension cylinder of the (+) determination.

As for the hydraulic circuit pressure (main pressure), as shown in FIGS. 4 and 5, an unload relief valve 35 is arranged on the discharge side of the variable displacement oil pump 32 so that the pressure detected by the pressure sensor 32a is constant. Controlled to be. In addition, the servo valve 4
If there is an oil leak in 1, the vehicle height may decrease, so
A shutoff valve 42 is provided in contact with the servo valve to prevent oil leakage. The shut-off valve is controlled so that it opens when the vehicle enters the uneven road surface and is closed after the vehicle has passed the road surface.

When a tracked vehicle equipped with the hydraulic suspension system as described above travels on rough terrain, the relative displacement between the vehicle body and the road surface is set as the swing center of the suspension arm 59 connected to each lower roller 16. The hydraulic oil 58 in the suspension cylinder 70 is detected by the synchro resolver 29 mounted on the arm shaft 59a.
The pressure of the vehicle is detected by the pressure sensor 70a, and the angular velocity due to the pitching and rolling of the vehicle body is detected by the gyroscope 20.
The acceleration due to bouncing is detected by the accelerometer 23, and each detected signal is passed through the signal amplifier 19 to the suspension controller 1
Take in 8. The suspension controller calculates each input signal and outputs a command signal to each control valve arranged in the valve block 64, so that the vehicle body shaking is input to the road surface or the suspension controller 18 at a standard position on a program. Settle against.

As described above, when traveling on rough terrain, the output signals from various vehicle body movement detection sensors are taken into the suspension controller 18, and the suspension controller outputs command signals to various control valves to automatically control vehicle body oscillation. It is small. A similar operation can be realized by the operator operating the joystick 7. That is, by transmitting signals similar to the output signals of various body motion detection sensors from the joystick 7 to various control valves, the vehicle height can be increased or decreased and the vehicle body can be moved forward or backward.
Inclination to the left and right is possible. In this case, a stroke sensor 28 is attached to the guide wheel cylinder 12 so that the tension of the crawler belt 17 changes due to the change of the vehicle body posture and the crawler belt 17 does not come off during traveling, and the displacement amount of each lower roller 16 (synchro resolver). The amount is preliminarily correlated with the output signal), and when the vehicle body is in a low position, the guide wheel cylinder 12 is extended so as to stretch the crawler belt 17, and when the vehicle body is in a high position, the amount thereof is input into the program in advance. Therefore, the crawler belt tension is automatically adjusted in accordance with the posture of the vehicle body, so that the posture of the vehicle body can be controlled during traveling.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1 to 6 show views of embodiments common to the first invention to the fourth invention. FIG. 1 is a side view of a tracked vehicle equipped with an active suspension system, showing a layout of the entire vehicle configuration, main configuration devices, various detectors, and the like. FIG. 2 is a cross-sectional view taken along the line II-II in FIG. 1, showing the structure of a trailing arm type suspension arm and a lower roller.
FIG. 3 is a sectional view taken along the line III-III in FIG. 2, and shows the configuration of a suspension unit in which a suspension cylinder, a valve block, and a suspension accumulator are arranged in a U-shape. FIG. 4 is a complete circuit diagram of a hydraulic circuit of a hydraulic / pneumatic active suspension system. Figure 5
FIG. 5 is a detailed view of the hydraulic circuit for a single leg in the overall hydraulic circuit diagram of FIG. 4. FIG. 6 is a configuration diagram of a guide wheel cylinder according to the third invention.

1 to 6, first to fourth inventions
The figure of the example to which the invention is applied is shown. Next, reference numerals and their names used in these drawings will be described in the order of numbers, and the configuration of the embodiment will be described. In FIG. 1, 1 is a vehicle body (usually of a monocoque type), 2 is an engine, 3 is a speed change steering device, 4 is a power take-off device (abbreviated as PT)
O), 5 is a variable displacement hydraulic pump, 6 is a steering handle, 7 is a joystick (the operator can change the posture of the vehicle by operating the stick), 8 is an accelerator pedal, and 9 is a road. A sensor (detects the depression amount of the accelerator pedal 8 by a potentiometer and outputs a squat signal when the vehicle is started) 10 is a brake pedal.

Reference numeral 11 is a guide wheel, 12 is a guide wheel cylinder (which controls the tension of the crawler belt 17), 13 is an activation wheel (which drives the crawler belt 17), and 14 is an upper rolling wheel (which supports the weight of the crawler belt 17). The movement is restricted), 15 is a suspension unit, 16
Is a lower wheel, 17 is a crawler belt, 18 is a suspension controller (the output signals from various detectors processed by a signal amplifier are taken in and the required signal processing is performed, and the servo valve 41, the high damping valve 46 of the suspension unit 15, A control signal is output to the low damping valve 47, the guide wheel cylinder 12, etc., 19 is a signal amplifier (amplifies output signals from various detectors), 20 is a gyroscope (angular velocity due to pitching of the vehicle body, angular velocity due to rolling) Is detected).

Reference numeral 21 designates an electronic governor controller (when the vehicle body is violently large, the power required to control the suspension system increases. Therefore, a signal from the suspension controller 18 is inputted according to the magnitude of the vehicle body movement, and the governor actuator is inputted. A command signal is output to the solenoid 25 to control the governor of the fuel injection device of the engine to increase the engine output).
a and b (FIG. 4) are wiring, 23 is an accelerometer (detects the acceleration of bouncing of the vehicle body), 24 is a hydraulic pump solenoid (the swash plate tilt angle of the hydraulic pump 5 is controlled to change the oil discharge amount). , 25 is a governor actuator solenoid (input a command signal from the electronic governor controller 21,
Controlling a fuel control rack connected to the governor of the fuel injector), 26 is a turning handle angle detector.

Reference numeral 27 is a brake pedal depression amount detector (which detects the nose dive amount of the vehicle when the brake is applied by a potentiometer), and 28 is a stroke sensor (magnetic sensor 28a (FIG. 6) and magnetic reaction element 87a (FIG. 6). )
Generates a pulse signal by controlling the amount of protrusion of the rod 87 (FIG. 6) by the number of pulses), 29 is a synchro resolver (detects the position of the lower roller 16), and 29a (FIG. 2) is a harness of the synchro resolver. , 29b (FIG. 2) is a receptacle of the harness 29a, and 30 is a vehicle speed sensor (if the vehicle speed is different, the braking effect is different even if the brake pedal depression amount is the same, so the rotation speed of the starting wheel is detected and the signal amplifier 19 is used. Input to the suspension controller 18).

Next, in FIG. 3, which is an overall view of the hydraulic circuit, and in FIG. 4, which shows the details of a single leg, 31 is an oil strainer and 32
Is a variable displacement oil pump (the amount of oil discharged is controlled by the hydraulic pump solenoid 24 (FIG. 1) by controlling the inclination angle of the swash plate of the oil pump (reference numeral 5 in FIG. 1), or by setting the unload relief valve 35. It can be changed by controlling), 32
a is a pressure sensor (setting the pressure of the hydraulic circuit), 33 is a main accumulator (suppresses the pulsation of hydraulic pressure), 34a
~ F is an oil filter, 35 is an unload relief valve,
36a, b are check valves, 37a, b are auxiliary accumulators, 38a-d are gate valves (for maintenance / maintenance), 39a-c.
Is hydraulic piping (main pressure side), 40a to c are hydraulic piping (return side), 41 is a servo valve, 42 is a shutoff valve (prevents oil leak from the servo valve 41), and 43 is an overload relief valve (overload). Sometimes operated to allow oil to escape from the main pressure side conduit to the return side conduit), 44 is an orifice, 45
Is a check valve.

In addition to FIGS. 4 and 5, the following structure is shown in the sectional view of the suspension unit portion of FIG. 46 is a high damping valve, 47 is a low damping valve, 48 is a suspension accumulator (a device for storing hydraulic oil under pressure), 48a is a cylinder of the accumulator 48, 48b is a free piston, 4
8c is a gas chamber, 48d is an oil chamber, 49 is a solenoid valve (controls the pilot check valve 54), 50 is a guide wheel cylinder control valve (controls the amount of extension of the guide wheel 11), and 51 is a pressure reducing valve (crawler track). Since excessive tension of 17 affects the life of the track and fuel consumption during traveling, the tension of the track 17 is regulated), 52 is a check valve, and 53a and 53b are orifices (suppress the rapid flow of hydraulic oil). 54) is a pilot check valve,
Reference numeral 55 is an overload relief valve, 56 is a pressure reducing valve (two-stage pressure reduction is performed because the main pressure of hydraulic oil is high), and 57 is an oil tank.

58 is hydraulic oil in the suspension cylinder 70, 59
(Fig. 2) is a suspension arm (attaching the lower roller 16), 5
9a is a suspension arm shaft, 59b is a wheel shaft, 59c is an arm shaft nut, 59d is a wheel shaft nut, 60 (Fig. 5) is a logic valve, 61 (Fig. 5) is a solenoid valve, and 62 (Fig. 5) is a check valve. , 63 (FIG. 5) is a relief valve, 64 in FIG. 3 is a valve block, 65 is a suspension case, and 65a is a suspension case stopper (lower roller 1
6, the lower limit stroke of 6), 65b is a suspension case screw portion (the suspension cylinder 70 is screwed to the case),
Reference numeral 66 is a link, 66a is a spline (a suspension arm shaft 59a and the link 66 are splined together), 67 is a synchro resolver case, 68 is a shaft, 69 is a needle bearing, 70 is a suspension cylinder, 70a is a pressure sensor, 71
Is a piston, 72 is a piston rod, 73 is a valve block fixture, 74 is a stopper (which regulates the upper limit stroke of the lower roller 16), 75 in FIG. 2 is a hub, 76 is a floating seal, 77 is a tapered roller bearing, 78a. , B
Is a bearing, 79 is an oil seal, 80 is an oil seal retainer, 81 is a screw cap, 82 is a bellows, 8
3 is an end cover, and 84 is a suspension unit fixing bolt.

Reference numerals 85 to 89a, b are shown in FIG. 6, and constitute the guide wheel cylinder 12. 85 is a cylinder, 8
5a is a cylinder head (mounted on the vehicle body 1 side), 86 is a piston, 86a is a piston seal, 87 is a piston rod, 87a is a magnetic reaction element, 87b is a rod end (mounted on the guide wheel 11 side), and 88 is a cylinder cap. , 89a, 89b are spherical bearings. In FIG. 4, 90 is an oil cooler for hydraulic oil, and 91 is a bypass valve of the oil cooler 90.

The first aspect of the invention is characterized in that the hydraulic / pneumatic suspension device comprising a plurality of suspension legs is unitized and each unit suspension leg can be independently controlled, but the advantages of unitization will be described. To do. When applied as a vehicle suspension, when the suspension is damaged,
By closing the sluice valve of the pipe communicating with the damaged part and replacing only the damaged part unit, there is an advantage that the recovery can be easily performed in a short time. This is done not only at the time of breakage, but also when foreign matter enters the oil seal, is scratched, or leaks oil when it reaches the end of its wear life, by closing the relevant sluice valve of the oil leak occurrence unit, maintenance work is performed. In addition to being simple to implement, there are also secondary effects such as being able to run in an emergency.

Further, the advantage of arranging the hydraulic pressure-related components in the suspension unit in a U-shape and arranging the control valves in this portion will be described. When the tracked vehicle travels on rough terrain and the lower wheel 16 moves up and down violently due to the impact from the road surface, the hydraulic oil in the suspension cylinder 70 becomes extremely high in pressure until it is sent to the suspension accumulator 48. Therefore, in order to keep the reliability of this system at a high level, it is necessary to design the hydraulic system as short as possible. Although a vehicle to which the suspension device of the present invention is applied is required to be severely lightweight and low in profile, the suspension cylinder 70, the valve block 64, and the suspension accumulator 48 are arranged in a U-shape, and the valve block 64 is provided with the suspension cylinder 70. By disposing various control valves, the height of the suspension unit can be reduced, the weight can be reduced, and the hydraulic circuit can be designed in the shortest length.

The operation of the embodiment configured as described above is as follows.

It is the same as described in the section of [Operation].

[0029]

The following effects can be obtained by the active suspension system of the present invention. Even when the tracked vehicle travels at high speed on rough terrain, the vehicle body acceleration due to bouncing is small, the angular velocity due to pitching and the angular velocity due to rolling are small, and the vehicle body is stable and has good stability. It is possible to change the height of the vehicle body and the inclination to the front and back and to the left and right even while driving. Since the multiple support legs are each unitized, repair work and regular maintenance work can be performed efficiently.
Further, the suspension unit itself can be reduced in size and weight. Therefore, when the active suspension device according to the present invention is applied to a vehicle, it is possible to obtain excellent effects such as improvement in accuracy of hitting when traveling on an uneven terrain, improvement of passenger comfort, and improvement of vibration-resistant environment of mounted electronic equipment. Can be realized.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment of a tracked vehicle equipped with an active suspension system according to the present invention. The layout of the entire vehicle configuration, main components, and various detectors are shown.

FIG. 2 is a sectional view taken along the line II-II in FIG. 2 shows a partial detail of a trailing arm type suspension arm and a lower wheel.

FIG. 3 is a sectional view taken along the line III-III in FIG. Figure 4 shows a U-shaped array of the main components within the suspension unit.

FIG. 4 is a circuit diagram of an entire hydraulic circuit according to an embodiment of the active suspension system of the present invention.

5 is a detailed hydraulic circuit diagram for a single leg of the hydraulic circuit of FIG.

FIG. 6 is a configuration diagram of a guide wheel cylinder according to an embodiment of the third invention.

[Explanation of symbols]

1 ... vehicle body, 5 (32 in hydraulic circuit diagram) ... hydraulic pump, 7
... joystock, 12 ... induction wheel cylinder, 15 ... suspension unit, 16 ... lower wheel, 17 ... track, 18 ... suspension controller, 19 ... signal amplifier, 20 ... gyroscope, 2
3 ... Accelerometer, 28 ... Stroke sensor, 28a ... Magnetic sensor, 29 ... Synchro resolver, 41 ... Servo valve, 4
2 ... Shut-off valve, 43 ... Overload relief valve,
46 ... High damping valve, 47 ... Low damping valve, 48 ... Suspension accumulator, 58 ... Hydraulic oil, 59 ... Suspension arm, 64 ... Valve block, 70 ... Suspension cylinder, 70a ... Pressure sensor, 8
7 ... Rod, 87a ... Magnetically responsive element.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomoaki Mori 1-15-22-6-513 Yabe, Sagamihara City, Kanagawa Prefecture (72) Inventor Katsumi Hashimoto 3000, Tana, Sagamihara City, Kanagawa Mitsubishi Heavy Industries, Ltd. Sagamihara Manufacturing Co., Ltd. Within

Claims (4)

[Claims] 1. A tracked vehicle equipped with a hydraulic / pneumatic suspension system comprising a plurality of legs (lower wheels), wherein each leg is provided with a suspension cylinder (70), a suspension accumulator (48) and various control valves. An oil amount / hydraulic pressure of hydraulic oil supplied from the oil pump (5) to each suspension unit (15), which has a suspension unit (15) in which blocks (64) are arranged in a U shape. Is an active suspension system for tracked vehicles, wherein each suspension unit (15) can be independently controlled. 2. A servo valve (4) is attached to the valve block (64).
1), a shutoff valve (42), an overload relief valve (43), a high damping valve (46) and a low damping valve (47) are provided, and each control valve is provided by a signal from a suspension controller (18). 2. The active suspension system for a tracked vehicle according to claim 1, wherein the vehicle height and the vehicle body attitude can be controlled by automatically / manually operating the vehicle. 3. In a tracked vehicle equipped with a hydraulic / pneumatic suspension system comprising a plurality of legs (lower wheels), a rod (8) of a guide wheel cylinder (12) which is a tensioner of a crawler belt (17).
7), the magnetic sensor (28a) and the magnetic responsive element (87)
The guide wheel is mounted in correspondence with the vehicle height displacement signal from the synchro resolver (29) / vehicle height control signal by operating the joystick (7) by mounting the stroke sensor (28) provided with a). An active suspension system for a tracked vehicle characterized in that the track tension can be controlled by adjusting the amount of protrusion of a rod (87) of a cylinder. 4. In a tracked vehicle equipped with a hydraulic / pneumatic suspension system composed of a plurality of legs (lower wheels), each leg is formed as a trailing arm type, and the lower rolling is performed at the swing center of the suspension arm (59). An angle detector such as a synchro resolver (29) is provided to detect the position of the wheel (16), and the suspension cylinder (7
A gyroscope (20) for detecting the angular velocity due to the pitching and rolling of the vehicle body is provided at the central portion of the vehicle body (1) by providing a pressure sensor (70a) for detecting the pressure of the hydraulic oil (58) in the cylinder at (0). And an accelerometer (23) for detecting the acceleration due to the bouncing of the vehicle body, and the output signals from the respective detectors are signal amplifiers (1
An active suspension system for a tracked vehicle, characterized by being incorporated into a suspension controller (18) via 9) to detect the amount of vehicle body motion.