JPS61236938A - Device for buffering kinetic course - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a device for damping the course of motion of two objects or masses moving with variable speed relative to each other and in absolute position, in particular for vehicles, road surfaces. A device for damping elastic wheel suspension mechanisms in vehicles, buses, railcars, etc., which is provided with a piston that is movable within a cylinder and divides the cylinder into two working chambers; and the cylinders are connected to each one of the bodies and act on the flow of pressure medium from one working chamber to the other? If necessary, the relative speed of the two body phases 1, the absolute speed of objects unrelated to each other, the load condition, the load distribution on the shaft, the traveling speed, the acceleration in the longitudinal and lateral directions, the unevenness of the traveling road surface, the steering system. It relates to a type in which at least one valve is provided which is controlled by a sensor signal relating to operating vibrations or the like.

PRIOR ART In the case of a known device of the above type (U.S. Pat. No. 3,807,678), one mass is the wheel or wheels of the vehicle and the other mass is the vehicle width superstructure. In a suspension system of two masses, a conventional passive compression spring is arranged between the two masses, this compression spring being called a passive separating element and having a so-called active damping spring. devices are connected in parallel.

Said damper, which is active so that a piston slides in the cylinder which divides this cylinder into two working chambers, can control the damping characteristics by adjusting the damping characteristics of the V-shocker and the respective working hand of the V-shocker. It is held in such a manner that it can be so-called actively effected on the displacement of the pressure medium into the part.

For this purpose, the two working chambers are respectively connected crosswise and parallel to each other via counteracting valves which allow the pressure medium to flow in only one direction; Since the sensor body is completely passive and the damper is active, the entire mechanism of this known example is called bioactive or semi-active. . This form of presentation will be explained in more detail below in relation to the shock absorbers to which the present invention is directed, i.e. to shock absorbers which are considered to be so-called semi-active shock absorbers, without regard to the unrelated spring mechanism itself. It's inconvenient for a reason.

Furthermore, it is known to provide so-called active damping means in the suspension systems of vehicles (see periodical ``Vehicle System Dynamics'').
stem Dynamic) 1953 Pole butt version, 1st
2, pp. 291-316).
Active Damping in Road Suspension Systems
Vehicle 5uspension System
)) Furthermore, this publication is of great help as it details the basic ideas in theoretical detail, especially with regard to active damping properties.

Problems to be Solved by the Invention The problem to be solved by the present invention is, on the one hand, to make the structure of the shock absorber significantly simpler, and on the other hand, to construct the shock absorber in such a way that it is difficult to solve the problem. The aim is to design the damping device in such a way that it has properties that ensure near-integration of the active and thus best functionality under all conditions.

Means for Solving the Problems In order to solve the problems, according to the present invention, the valve comprises:
such that in at least one direction of movement (tension stage, compression stage) one check valve is connected in series with the flow passage of the buffer valve controlled in a predetermined position by the Senna signal;
The valve actuator is configured and acts in different directions in order to produce different pressure medium flow resistances with respect to the produced damping forces and thus an asymmetrical damping characteristic with respect to each one predetermined position of the valve actuator element. The component can be moved from the maximum open position for the respective compression or tension to any intermediate position, entirely without external energy supply (in principle a passive damping system). , a semi-active method which reduces the damping force to approximately zero (FahO) in the event that a damping force with a plus or minus opposite to the respective damping force desired or required by the movement process occurs. The advantage obtained by the present invention is that the shock absorbing force of the present invention can be variably adjusted, and the shock absorbing device according to the present invention has an active The advantage lies in the fact that it can be measured asymmetrically in the desired manner so that it behaves like a damper or in close approximation to an active damper.

Furthermore, active damping forces with opposing pluses or minuses are necessary depending on the respective operating conditions and the detected senna signal; however, there is no damping force with just one glass or minus. In this case, the damping device according to the invention is designed in such a way that the damping force is small or almost small.

The required external energy supply is reduced by the small amount of control energy that is required, for example, to predetermine the valve position.

EXAMPLES The following examples describe in detail the theoretical relationships derived from the usual consideration of damping forces occurring in suspension mechanisms. In this connection we are based on a two-mass model as illustrated in FIG. 1a.

The theoretical considerations associated with the embodiments of the invention illustrated in FIGS. 9-15 are detailed below with reference to the diagrams of FIGS. 1-8. These diagrams thus serve to better understand the invention and show in full detail the special states according to the invention assumed by a bioactive or semi-active buffer according to the invention.

In the case of the two-material model illustrated in FIG. 1a, {circle around (2)} is the so-called object speed in the special case of use, that is to say, for example, of a motor vehicle superstructure, V is the wheel speed and vo is the road entry speed. As a function of the relative velocity Vrel'' v-V, the passive damper produces a damping force Ffl i.In linearizing the characteristic Iw, the passive damping factor is defined by the following equation: F( 1-Bp (v-V)=BpVrel;
Bp > O, (l) This formula is generalized by the following equation: pa −−BIV + B2−v,
(2) This case: B1-In2-BP indicates a passive case. However, if B1 and B2 are different (Bl≠82), the buffer is at least partially active so that energy is temporarily supplied to the system.

2 regarding active buffering force components and passive buffering force components
If we divide the buffering force into two terms, we get the following formula.

That is, F(1-BA V + BP (v-V)?--BA
V + BPVrel (3) This formula (3
) indicates the active buffer coefficient and BP indicates the passive buffer coefficient a.

Therefore, B1- BA+ BP, (4) B2
- BP(5).

In this regard, the ninth publication already mentioned, which discusses in more detail and theoretically explains the buffering problems occurring in motor vehicles, is the periodical Vehicle System Dynamic.
) 1983 edition, Volume 12, pages 291-316, Karnopp's paper 1
The following damping conditions are shown and defined (see page 284) for "active damping in zero-drive bike suspension systems": In this equation, m and M are the respective wheel masses and The material substance 1tk and k and K are the spring constants of the tire or the main suspension mechanism.In this connection, the characteristic curve Im curve shown in FIG. The imaging width state (field imaging ratio f)'t: shows the number.As is clear from Figure 1, the wheel/resonant frequency and the object/resonant frequency are well separated.
In this case, ξ1 and ξ2 approximately define the two resonant peaks in the characteristic curve course.

In the above-mentioned paper, it is shown that, based on the need to control the wheel resonance by B2 or Q, a solution was obtained to isolate the object in the frequency range between the object resonance and the wheel resonance. It has been stated. Ideally, the reaction of the object to the component of the road approach action decreases rapidly with frequency at frequencies above the object co-navigation frequency. This means that the filament mechanism can avoid disturbances above 1 or 2 Hz. Co-pregnancy can be reduced by expanding B2.

This helps keep the wheels in close contact with the road surface.

In any case, if 2 is enlarged, the object vibration absorption or object suspension effect will be reduced.

In the passive case B1-B2-BP, the object resonance as well as the wheel resonance is reduced by increasing Ftp. This also reduces the vibration absorption effect of the object and produces a stiff suspension or elastic effect. In this case ξ2 for ξIK
The ratio of is.

In this case, e is the mass ratio m 7M and n is the ratio of the undamped intrinsic imaging ridge to the uncoupled solid M navigator. That is, n-ω2/ω1-6λ/β4.

To control wheel resonance, when B2-BP becomes large enough, object velocity feedback is actively used to expand 5B1. Toe 9 B, >
00 This expands ξ1 (or reduces object resonance) at frequencies above the object frequency without causing loss to the object vibration absorption effect. This means ξ1×ξ2. Particularly advantageous for 5 ne < 1?
(9) is particularly advantageous in passive cases.

Based on the possibilities presented by the present invention, equation (3)
The active damping law can be realized to a greater extent by the use of so-called bioactive or semi-active dampers, ie by using dampers whose force to velocity ratio can be varied. The active damper in this case can of course take into account many other relevant speeds, such as those resulting from rolling movements and gradient movements of the vehicle. Although the simple two-mass model illustrated in FIG. 1a does not describe the other degrees of freedom of the real vehicle, a detailed explanation is otherwise unnecessary for a full understanding of the invention.

In any case, in the case of semi-active dampers, such dampers dissipate or absorb forces or energy, but do not generate or supply them, thus limiting the production of damping forces; A number of advantages are obtained, namely that in various embodiments the semi-active damping unit with variable damping force as described below does not require any energy supply outside the existing valve plate and thus the sensor or control unit. This has the advantage that it does not become unstable even if it is shut off. Such an unstable state is inevitable in a fully active system.

The following example concerns the damping force law in one plane V - Vrel, in which case Figure 2 shows the damping force produced by a linear passive damper with BP>0, BA-O. . In this case, the variables aV and Vrel are used as equivalent values for the values V and V, primarily for reasons of simplicity. This is because tv and Vrel are anyway easier to measure than V and ma in practice.

In contrast, Figure 6 shows the buffering force F(1'i, 1'i,
It is shown as BA>Ol BP-o. The aforementioned paper explains in detail that this is not very realistic. This is because in this case both wheels m = fr for typical road and vehicle parameters can only be controlled to a small extent. The case is that B 〉0, B
It is shown as P>O. This diagram shows the damping force law realized by an active force generator, said force generator being capable of producing a fully generalized form of active damping. programmed or controlled. This type is considered an active damping type since it only contributes to velocity in the force equation. On the other hand, a general active suspension force that involves state quantities and feedback has a term that includes runout.
Next, when considering the amount of work related to the buffering force F(l), the buffering force disappears (clear view °),
If the amount of work is taken away by the buffer, the amount of work must be positive. This results in the following equation.

Pd1ss −Fd−VreLm−BAVVrel +
BpV2re, , (8) This means that V −Vre
The amount of work must be annihilated in a predetermined range of the l plane and the amount of work must be supplied in a predetermined range f (
paisa<O) means. FIG. 5 shows this range in the case where the air is slightly smaller than the BP. In this case, in the case of the passive buffer or the semi-active buffer considered in this example, where the damping action must be variable, P(l i s s ≧ 0. The fact is that a semi-active damper can produce the same damping force as an active system in the generally shaded area in the plan view of Figure 5; This means that a buffering force cannot be generated in the area not marked with a shaded line.

In other words, this means that in the free, unshaded areas of Figure '5, the passive or bioactive dampers, respectively, have the active damping force of equation (6). It means to bring about the power of plus or minus 1- that is opposed to .

Furthermore, from FIG. 5, it is clear that in the case of BA-0, all planes are shaded and the amount of work is eliminated everywhere. On the other hand, BP-0 and B, >
Even in the case of O, half of V - Vrel is further shaded.

This means that even for purely active cases the active damping force generator acts as a passive damping force for a significant period of time. In the case illustrated in FIG. 5, for fun, V - Vre
It is sufficient that energy is supplied only to a narrow range.

The uninvented idea of semi-active damping force generators or dampers therefore lies in the fact that, in the shaded area, the active generator produces or has to produce 1
101 A semi-active buffer, which consists in producing a force and in this case has an opposite plus or minus to the desired force, in any case in the range not shaded s'. Therefore, the present invention proposes to reduce the buffering force to approximately zero in this range (Fcl & O). Therefore, in the constructional measures detailed below of semi-active dampers, the term F(1: o is obtained whenever energy has to be supplied in order to produce the desired controlled damping force). Measures have been taken to ensure that this equipment is operated with the proposed means of semi-active damping, but not otherwise supplied with energy. It has been found that the significant benefits of active speed feedback are maintained even when it is not.

Although the drawing shows only linear regulators, suitable extensions to non-linear adjustments are also possible.

For example, if it is desired to pre-provide different passive coefficients for tensile and compressive forces, the fifth
The unshaded range for Pd1ss < O in the figure is different in the upper and lower half-planes shown. This is because, as shown in FIG. 4, the damping force function (Fd-function) is represented by two planes connected in the case of Vrel m O. A more complex non-linear force function produces a curved shape sound at the limit transition in FIG.

In the following, the possible types of adjustment of semi-active buffers are detailed in conjunction with a description of concrete solutions for such semi-active systems. This allows the fourth
In the range illustrated in the figures and in FIG. 5, a semi-active damper produces exactly the same damping effect as an active force generator. In this case, the semi-active damper can approach or approximate the behavior of an active damper by means of suitable controls or controls. In this case, of course, the active damper can be designed to generate a force in relation to the position signal or the acceleration signal (for example, an active spring or mass element), whereas the damping force can otherwise depend on the position. Although a predetermined phase relationship for the variables V and m speed variables may be provided, this does not allow the buffer to be used effectively in this manner.

A possibility for adjusting semi-active dampers lies in the use of valves, whose openings for the fluid flow (pressure medium flow) can be adjusted by adjusting the primary angular or linear position of a given element. It is a function. The position of the valve is usually controlled by an electromagnetic transducer. In this case, the position can be switched between the two extremes or can be varied in a continuously controlled manner.

For example, when considering a valve that straightens the characteristic curve in which the damping coefficient can be controlled and varied, the fluid resistance tends to make the pressure-flow relationship a quadratic equation, so the -th coefficient relationship is is only assumed to be an approximate value. The effective buffering coefficient Boff is defined as follows. That is, I
P+l m Beff -Vrel -BPVrel
-BAV s (9) In this case, Boff can be changed continuously by appropriately operating the valve, that is, o
< Boff < ccr
(10) 〇 From Figures 6a and 6b, how can we change the coefficient Bo so that the buffer law shown in equation (4) can be reproduced in all regions of
It is made clear whether ff has to be changed.

Beff to the extent that the amount of work or energy supply is required
will be ignored, and will be set to Beff = O, so
In either case, unreasonable plus or minus 1-! There is no force to act.

Some consideration will be given to the type of adjustment that will be of interest with respect to FIGS. 6a and 6b. There is no problem in a state in which the state changes from Beff to ■ in some areas. In other words, this means that it is better to eliminate the flow range.

Adjacent to said region the system is relatively sensitive, in which case only the valve is controlled, and the relative velocity Vrel
A small change in will require a rapid change in valve opening from nearly zero to fully open. Unless the valve is completely closed, this difficulty is compounded. The required number of activations of the valve in this case is related to how quickly the switch must be activated. Some of the shock absorber/valve embodiments detailed below include a check valve which is capable of being used when the relative velocity Vrel changes either positive or negative and thus this switching is done automatically. , automatically released. This principle of fishing requires a force with a predetermined positive or negative value corresponding to equation (3), and even if the masu remains in the starting position, the check valve is As a result of opening and the damping force becoming zero (FezO), a conversion of Vrel into a plus or minus with an opposing plus or minus force occurs. This helps to prevent undesirable pulse forces if the valve does not respond quickly and satisfactorily, thereby reducing the required reaction speed [ffi]. In this case, Figure 65L and Figure 6b
In the upper part of the figure, the relationship Beff -B2-BA-knee ≧Orel is shown, whereas in the lower part of Figures 6a and 6b (the outline is Beff m Cona
t, f) adjusted buffer coefficient Beff is N
A semi-driven buffer is shown.

Furthermore, FIG. 7 shows a sword produced and produced by an active force, which force is always satisfied if the method shown in FIG. 4 makes this possible. controlled so that It would be advantageous if the variable dk impingement modification shown and illustrated in FIGS. 6a and g6b could be implemented accurately. Moreover, the above method can be realized by designing a valve mechanism that directly controls the force. As a possible embodiment, reference is made to diagram 1Qa, which is detailed below. In this case ta
A force controlled by the formula is applied to the disc pulp, which causes the cylinder pressure to be independent of the flow.
Control the thread.

This system incorporates force enhancement in the piston to valve face ratio. Furthermore, since the check valve prevents the generation of forces with unreasonable or negative values, there is no need to unnecessarily expose the 41A force generator of the 4-magnetic force generator.

Method Al illustrated in Figure 5g7 using valve position adjustment means
An indirect means for obtaining 1 can be realized by using the 1 and 14 feeds in Figures 6& and 6b.

This at the same time avoids some sensitivity problems that occur with coefficient control, but requires a power sensor and valving loop that responds to the measured force.

Furthermore, the WIS diagram shows a simplified system, in which the passive dampers can be simply connected and disconnected on the basis of the active dk shock control law. This results in a passive system, which is shut off whenever an active +ITf impulse has a plus or a minus as opposed to a passively generated Shirasu or Minus. This fit V-vre
Although the velocity V has no effect on the damping force pa in most areas of one plane, semi-active diffusers provide passive energy supply whereas active systems supply energy. It is easily cut off within the range where it disappears. It has become clear, especially on the basis of computer simulation models and during actual operation, that even the simple form of FIG. 8 has significant overall advantages. Furthermore, all of the following embodiments of semi-active buffers can be operated in the manner described. In other words, based on the above theoretical considerations, it has been determined in practice that active buffers can also substantially eliminate the load and energy for most of the time, so semi-#1, Based on the basic concept according to the invention of a dynamic damper, it is often possible to produce the same forces as an active damper by adjusting the level of the control or signal output. In practice, the semi-active beak 6 is at least cut off when the active buffer supplies energy.
Energy never disappears.

The examples below generally have different possibilities for designing and controlling semi-active damping force generators. In accordance with the foregoing description, the damping force is preferably controlled by evaluating the speed V, i.e. in the embodiment for an automatic table suspension structure, the upper part is moved out in a manner appropriate to measurement technology. 4. The absolute velocity of the structure, e.g. by acceleration reception and subsequent integral calculations, and the relative velocity i Tral of the superstructure and the wheels, which is also determined in a suitable manner, for example by the wheels and the superstructure, which is known per se. It can be controlled by detecting the signal of a position detector in the structure or the travel distance of the damper 4 or the like. In the following, such measures for obtaining sensor signals are known per se (
American Congregation Pat.
1k Special for each valve member in the device! ! ! We will not discuss the dynamic format in detail.

This is because such an interlock can be produced in the usual way on the basis of detected signals, for example by magnets, RT-magnetic action, electric control, etc. In all the embodiments below of semi-active buffers, variable asymmetrical locations 9! ? A so-called raw juice with a lid and at least one (non-controlled) check valve are arranged. In this case, in particular, the asymmetrical action of said valve in conjunction with the non-return valve is necessary to realize the damping force profile already detailed! *It is.

The semi-active impregnator illustrated in FIG. and a piston 11 which moves 4ggJ in this cylinder, in this case two working chambers 12aI and 12b are formed. The working chamber is partitioned by a piston 1
In addition, various types of shock absorbers cannot be changed when working on the buffer.

The piston 11 is supported by a piston rod 11a, which is fixed, for example, to a single superstructure, the cylinder 10 being arranged on the axle. Both works have branches 4g 14 a[, 14alI and 14 aI
, 18bI, 14k)" are connected, for example, to a hydropneumatic storage 6 (
i.e. via branches 4f14aI, 14b■). In this case, the branch 4f14a[.

Check valves 16aI and 1 are installed in 14aI and 18bI, respectively.
6b are arranged, the nuclear check valves being configured as ball-seat valves with an initial spring force and blocking the flow of pressure medium or fluid from the respective working chamber (for example towards the reservoir). do.

Double-branch fathom tube 14 a', 14 bl with storage container
are integrated at a connection point 17. Another Oka branch conduit 14
a', 14bH is a variable asymmetrical damping reservoir 15 as well as a further bifurcated conductor f14a.

Connected to 14aI and 18bI.

In the embodiment shown in FIG. 9a, the asymmetrical damping valve is axially movable in a cylindrical bore 20, which is roughly cylindrical but has a central convergence 22. It has a supported valve member 21. The receiving portion extends in a truncated circular shape, for example, with respect to the sliding surface that comes into instant contact with the sliding surface. Both valve connections gz3aI, zab, which are connected on the same side to the branch conduit 14&'', 14bIK, are offset in the height direction in the valve element adjustment movement.The other valve connection +1519 is centrally arranged.

The dk divider illustrated in diagram g9a thus functions as follows. In other words, if the shock absorber is compressed in one direction at any position of the valve member 21, for example when it collides with an obstacle, the pressure medium will flow from the branch line 1r141) to the predetermined valve resistance and thus to the appropriate M14ft. Via the damping valve with resistance, flow can flow into the valve connection 19 and from the valve connection 19 via the non-return valve 15a towards the other working chamber, which corresponds to the assumed positive ll1I impulse. Immediately after this, only a small negative damping force (Δ8<O)jl is required, in this case the check valve 18kl or the piston-cylinder unit allows rapid expansion.Why? In this case, the pressure medium then flows from the upper working chamber 12L in the plane of the drawing via the buffer valve 18, which creates virtually no resistance in the position maintained due to its asymmetry, and through the check valve 16k. ) into the other working chamber.

This movement of the matching valve member 21 allows for variable asymmetric damping. Such a semi-active damper can therefore give rise to the (non-linear) curve curve shown for velocity in the small diagram in Figure 6b at the top right; in this case the same geometry The characteristic curves, ie solid lines, dashed lines or characteristic curves with wide dashed line spacing, are related to each other. If the valve member is located symmetrically, for example in the middle of the connection position (X=O), the same damping force is obtained for both speed directions. 2 in each end position of the valve member (
X=Xmax;

Furthermore, many variations of the variable asymmetric four-way valve are possible. Therefore, for example, the valve member 211 and the protection valve 18'
can be constructed as illustrated in FIG. 9C shown in the lower right corner. In this case, the adjustment linkage is the rotation xI and due to the transition surfaces 24 extending obliquely in the same direction on both sides, an asymmetrically behaving valve is guaranteed, which basically means that the valve on the other side Double valve connection 23a to connection 19.

23m) are subject to different flow resistances at a given valve member position. The buffer valve has an opening cross-section of lIe in each position (with the exception of the central position) for both valve connections 23L, 23b.

In describing the next embodiment, first, only features that differ from the basic concept illustrated in connection with FIGS. 9a, m9b, and 9c will be described in detail.

Essentially for all embodiments (with the exception of FIG. 14), the quadrivalent valve is designed with a built-in asymmetry with respect to relative velocity.

This wide 4m valve is given a command, e.g. a tension force (tension and compression are in this case related to the possibility of applying it to the shock absorber from the outside); Even with the rags that stretch out over time, the buffer valve is overwhelmed by the force and only generates a small amount of compressive force. In a case where such a valve is integrated directly into the valve, the requirements regarding frequency and response behavior in the valve are slight and the regulator or electrical illumination circuit is simplified.

With the exception of the embodiment of FIG. 10a, in which the valve force is more or less directly controlled, in other embodiments the valve resistance is defined by the valve position. In particular, the buffer or the control valve can be switched easily by means of a signal-supplied connector,
This displacement signal is generated by measuring the absolute velocity of the superstructure. The valve resistance or the generated dk# force can be varied continuously by the valve feedback circuit.

A remarkable feature of this embodiment of the fit description is that a check valve is provided in conjunction with the basic valve mechanism, the Rima 9 valve, so that the valve range is the best possible. can do. In this case, a small passive impulse (e.g. a force component as a function of relative velocity or proportional to this function) of Therefore, it is always necessary. Therefore, as far as this goes, the buffer valve is absolutely 1.
There is no need to operate on a par 7 ect, and in fact the damping valve is mechanically limited by the stop, so that the damping law is not altered too significantly.

Otherwise, a dangerous situation may arise if the control device fails or if a disturbance occurs within the valve body.

In the embodiment of FIG. 10a, both working chambers 12a.

12b are connected directly to each other via double check valves isaI, 1sb and to a hydropneumatic reservoir via a beak-directed conduit 25, the compensating reservoir 415■ being in the cylinder itself. It is provided within the annular notch 26.

Each check valve 1 as in the case of the embodiment of FIG. 9a
Parallel to 6aI, 16b are arranged divided regions 18 &, 18b of the buffer valve, each of which constitutes a disc valve. Thus, in the case of a buffer valve, the valve inlet or outlet 21 is, for example, subjected to a direct "electromagnetically controlled force" which causes the disk 28 to move into contact (valve closing) or upward (valve opening). In FIG. 10a, the upper valve 18al is adjusted for the tensile force acting on the damper and its damping, and the lower valve is adjusted in relation to the compressive force acting. The corrective or tensile control force generated by the equation is hydraulically reinforced.

The embodiment of FIG. 11 shows a type of pressure medium control connected only to the working chamber 12'. In this case, the four pressure pipes 29 extending from the working chamber 121 are divided into two partial pipes 29[, 29I
It is divided into I, and each of these partial conduits contains a
Check valves 16&', 16b■ are connected, and the cough check valve is connected in series with the Mk# valve 161. This buffer valve is similar to the tj! of the embodiment of FIG. 9a. It is constructed with the same function as Nibiben's rose. A continuously guided single valve connection 4f30 is connected to a hydropneumatic reservoir 15 or a compensation tank. The branch conduit 31 is connected to a **a compensator (load repegee) (not shown).

The embodiments shown in Figures 12 and 16 are different from the embodiments described above in that the entire valve mechanism (asymmetrical buffer valve with variable check valve construction) is disposed within the piston of the shock absorber. Being there is different. The piston 32 has working chambers 12aI on both sides,
Flow passage 33aI communicating with 12b and dk# valve 18
, 33b, and the basic structure and mode of operation of this buffer valve are as already described in FIG. 9C.
Corresponds to k1# valve 181. For this purpose, a control rod 33 is provided which passes through the piston and the piston rod and is guided in a sliding member 35.

The check valve, which is also necessary in this embodiment, is a simple flag valve 36.
aI, 361), the seven-lap valves in each case connect one damping valve connection 37 to both workpieces 12aI, 12bKd and at the same time extend in the interior of the piston rod!
3B to an externally located hydroneumatic reservoir 15. The basic mode of operation of this embodiment corresponds to the previously described embodiment.

Since for each direction of pressure medium flow there is always one check valve in each case and one passage of the variable asymmetric damping valve 181 to ensure passage, this embodiment is also shown in a series of diagrammatic sequences. dk# force is obtained.

The valve mechanism illustrated in FIG. 16 is also designed for low pressures, with the exception that the buffer valve 18'' has a pivoting valve member 39, but is designed for low pressures at the same time as the multi-seat valve. ,
In terms of basic structure and mode of operation, it corresponds to the valve mechanism of FIG. 12.

The conduits 40aI, 40b connecting the respective working chambers 12aI, 111 to the m* valve each extend into an annular recess of the piston 32, said annular recess being formed with an opening; The opening 4 corresponds to the position of the skin of the rotary valve member 39. For example, the opening 4 is in the shape of a notch extending over the surface of the rotary valve formed in the shape of a tip or a bush.
1 (valve open) or displaced relative to the opening, the valve is in any case blocked in this connection range I. Rotating valve member 3 to achieve asymmetrical valve behavior
9, including different conical notches 42aI, 42b of the piston
The rows of apertures that have been rotated K are offset from each other. This is clear when comparing the upper and lower openings in the drawings. This means that for pressure medium supply at both end positions, only the upper opening is oriented with the same dimensions as the opening in the annular recess, or only the lower opening is oriented towards the opening in the annular recess. This means, or intermediate adjustments between these are also possible. A variable asymmetrical valve behavior is thus guaranteed. The non-return valves are simple round flaps F44aI, 44b provided on both piston sides, the seven laps of which close or open the common lateral passage 45 in the piston 4- depending on the piston 4-. . Konoharai Cocoon-C:
The 1111-way passage is connected to one (common) contact part 43 of the four valves i all. A hydropneumatic reservoir (not shown in this example) is provided via a central flow hole 38 in the piston rod.
Connection to #15 is made.

Figure 14 shows a damper which produces pressure medium flow in only one direction. In this case the cell has no built-in asymmetry with respect to relative velocity. The unidirectional flow device with mechanical valves consists of a cylinder 4T and a piston 4B with a piston rod 48a inside this cylinder. It is designed in the form of a wall and thus has an annular chamber 49, which accommodates a first simple elastic Ifc flap valve (the check valve can also be formed integrally in an annular manner). via which it is connected to the lower working chamber 12j)'. Another check valve 5 formed by a ball which is also subjected to an initial spring force
0 is arranged in the piston, the check valve being opened during piston movement and thus connecting the lower working chamber 12) I to the upper working chamber 12a'. d) The flow valve 51 is constructed as an electrodynamic sliding ring valve (in this case the magnetic element is not shown) and thus closes or opens the annular flow opening 52.

The flow opening connects the upper working chamber 1zat to the annular chamber 49, in which, at the ninth point of the clearance, a medium separation takes place as indicated by the reference numeral 53, in which case the annular chamber In the upper part 49&, a pressure medium, for example air or another gas-like medium, is provided, and in the lower part, pressure oil is provided. In this case, the position d of the embodiment shown in FIG.
The immersion direction adjustment is controlled by a sliding ring valve 51.

Said sliding ring valve 51 is always opened very quickly such that the relative speed is such that the plus or minus of the generated dk (tR force) is opposed to the relaxation force as required by the control device. must be designed.

Otherwise a glass or minus of the relative velocity allows the buffer to develop the desired force by control fc111. This flap valve can be controlled with or without feedback.

Said sliding ring valves have the advantage of allowing the medium to flow in only one direction. The oil can thus be filtered to remove dirt, thereby avoiding valve tightening. Heat conduction is also improved in this case.

Such a semi-active damper with a variable asymmetrical damping characteristic is for example of the type shown schematically in FIG. 15! 11! used in the fruit organization. 1st
The suspension or elastic mechanism of FIG. 5 uses air or another gas-like medium as the pressure medium and the main l! Pressure chamber 55 as a member
have. In this pressure chamber, the piston disk 56
A separating bellows 57 is provided which is moved by. The piston disk 56 connects the table wheel body 1t59 to, for example, the upper sakaki structure body 60 of the vehicle via the piston rod 5B. A pressure chamber 55 is provided within the superstructure mass. The pressure chamber 55 is connected via a switching valve 60 to a mechanism 61 for determining the elastic properties of the suspension mechanism, which mechanism has a V4-joint piston 63 in a cylinder device 62, this adjusting R piston being controlled from the outside. In this case, for example, acceleration, driving speed, steering input, road condition, etc. It is axially adjusted according to the senna signal for IS, which provides the elastic strength of the system depending on the position of the piston 63. A mechanism to stop the piston in case the control drive for the piston 63 fails! 164 is used, so the elastic strength remains approximately constant. The piston 63 is mounted in the cylinder unit with a certain amount of play A23, so that a static pressure compensation is obtained. Furthermore, the pressure chamber 55 is connected to a load compensator Km via a conduit 65, which is connected to a pressure medium supply conduit 67 or an outflow conduit 68 via a regulating valve 6.
6 is provided. Said elastic structure, whose elastic strength is adjusted by arbitrarily controlling and defining the position of the piston 63, is particularly advantageously completed by the loosening device 69 mentioned above. In order to adjust the elastic strength of this fit, for example on the basis of a number of signals obtained via suitable sensors,
Depending on the case, handle it appropriately and use TLK to set the loose 1# valve to A4.
It is possible to control the joints or sills. This load position signal can simultaneously load the load compensation device.

The present invention is not limited to the illustrated embodiment, but can be implemented in various ways.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a diagram showing the progression of the amplitude state of an object and a single wheel with respect to the frequency of the applied force, and FIG. Fig. 2 is a diagram showing the dl 11ft force in the so-called V-Vrel plane for a passive damping fit, where the Vrel of the fit is coupled together through a 6A shock absorber. Figure 6 is the same diagram as Figure 2 for a purely active slow-moving fit, Figure 4 is the relative velocity of the masses used in the vehicle, and V is the velocity of the upper structure used in the vehicle. is a diagram corresponding to FIGS. 2 and 6 in the V-Vrel plane for a combined active and passive damping fit; FIG.
! Figure 6a is a diagram showing the range of supplying energy and the range of energy dissipation in the case of preparation.
A perspective view showing the course of the effective damping coefficient adjusted by Senna signal control of a semi-active damper enclosure in the plane, FIG. 6b is the 61st! The plan view of figure L, figure 7 is V
- Diagram of the pick-up effect in the Tree plane caused by a semi-active damper with controlled pick-up, g8
The figure shows when the passive buffer is connected, d or disconnected.
The same diagram as in FIG. 7, FIG. 9a is a perspective view of a first embodiment of a semi-active buffer with variable asymmetric damping behavior;
Fig. 9b is a chart showing the progression of buffering force with respect to speed, Fig. 9c is an example of changes in the dk valve, and Fig. 10a is a diagram showing the direct partitioning method through disk pulp. ii Controlling semi-function 1
Fig. 41 Ob shows the curve of the damping force with respect to speed Diagram 1, Fig. J411 shows another example of a semi-active damper with only one cylinder working chamber.
Embodiment Figure 12 shows another embodiment of a semi-active evacuator having a variable asymmetrical valve mechanism housed in the piston; Figure 16 shows a variation of the valve mechanism located in the piston. FIG. 14 is a diagram showing another embodiment of the dampener, and FIG. 15 is a ninth diagram showing a semi-active damper according to the present invention integrated into a full suspension mechanism having an air spring. 10.47...Cylinder, 1,48...Piston,
12a, 121)--Working room, 14aI, 14
1). 19.3B, 40aI, 40b, 65... conduit, 14
IL■, 14 a', 14 b", 14
b" I 31 ... Branch conduit, 16 a, 16
b, 50--Check valve, is, isl...
・Storage II, trowel, 11...Connection point, 18°18',
18I, 51-d valve, iaaI, iab... axial rotation,
20... Hole, 2, 211 Valve member, 22... Contraction part,
zaaI, zab...valve connection part, 24...transition surface,
26.42aI, 42b...4-shaped notch, 21...
Benzujin part or outflow part, 28... disk, 29...
Pressure conduit, 29.29''--Partial conduit, 30...Valve connection conduit, 33...Control rod l', 33a. 331)...Flow section, 34.58...Piston rod, 35...4 moving member, 36a, 361)...flap valve, 31...buffer valve connection part, 39...rotating valve member, 40°52...flow opening, 44&e44b...
・7 Ratsuzo, 45... World 1j side passage, 49... Annular Emperor, 55... Pressure chamber, 56... Piston disk,
51... Separation bellows, 59... Wheel mass, 60...
・Superstructure j! 61...Mechanism, 62...Cylinder unit, 63...MS piston, 64...Zoroku system, 66...Control valve, 6T...Pressure medium supply conduit, 68...・Leakage specialist, 69...buffer device, 迿n恡

Claims (1)

[Claims] 1. A device for damping the course of motion of two objects or masses moving at variable speeds relative to each other and in absolute positions, which is movable within a cylinder and which
A piston is provided which divides the working chamber into two working chambers, the piston and the cylinder being connected to each one of the bodies and acting on the flow of pressure medium from one working chamber to the other. 16a, 16b; 16a^ I ; 16b^ I ; 36a
, 36b; 44a, 44b) are controlled to predetermined positions by sensor signals (18, 18^I; 18a
^ I , 18b^ I ; 18^ II) are configured to be connected in series to the flow passages of ^ I , 18b^ I ; Resistance leads to valve adjustment member (21; 21^
In order to produce an asymmetric damping characteristic with respect to each one predetermined position of I; 28; 39), the valving member can be moved from the respective maximum opening position for compression or tension to any intermediate position. In such a way that a damping force with a plus or minus opposite to the respective damping force desired or required by the course of motion is produced, without an external supply of energy as a whole. 1. A device for damping the course of motion, characterized in that the entire damping valve is designed in such a way that a semi-active damping device is obtained in which the damping force becomes almost zero (Fd≈0). 2. Both working chambers (12a, 12b) are connected to each other and simultaneously to the hydropneumatic reservoir (15, 15^ I ) and controlled in a predetermined position by a sensor signal so as to be located parallel to each check valve and thus in series with the other check valve for a given flow direction. buffer valve (18, 18^ I, 18a^ I, 18b^
I) are connected so that the respective flow directions are different when the valve regulating member is moved in a controlled manner, i.e. with an asymmetrical damping behavior and in opposite directions. 2. The device of claim 1, wherein the valving member is configured to control the opening cross section in relation to the opening cross section. 3. Buffer valve (18; 18^ I; 18a^ I; 18b^
I ) consists of a valve with three connections (23a, 23b; 19) and a cylindrical valve adjustment member (21) which is axially movable under control and is provided with a central recess (22). Claim 2, wherein one flow direction is closed by axial movement of the valve regulating member as the other flow direction is opened. equipment. 4. The buffer valve (18^ I) has a rotating valve member (21^ I) with a central notch whose restricting wall extends diagonally, and the buffer valve is rotated by appropriate sensor signal control. 3. A device as claimed in claim 2, in which one flow direction becomes increasingly closed as the other flow direction is opened. 5. Each check valve (16a, 16b) is connected in parallel with a separate valve part (18a^I, 18b^I) of a buffer valve, each provided with a disc valve member (28), said disc The valve member is electromagnetically movable by simple switching or continuously in opposite directions into open and closed positions, furthermore one valve part (18a^ I) is in the tension stage and the other valve part (18b 2. The device according to claim 2, wherein ^I) belongs to the compression stage. 6. Hydropneumatic reservoirs (15, 15^ I) connected to both working chambers (12a, 12b) via check valves and/or via variable asymmetric damping valves are connected to the annular part of the cylinder. 6. The device according to claim 1, wherein the device is arranged in a chamber (26). 7. Only one working chamber (12^ I) is formed, and this working chamber is connected to two branch conduits (29^ I, 29^ II
) to the check valves (16a^ I , 16b^ I ) which are each connected in antiparallel via a connecting conduit (29) divided into
8^I) and the other connection of the buffer valve is connected to a hydropneumatic reservoir (15). The device described. 8. The device according to claim 7, wherein the valve adjusting member of the buffer valve (18^I) consists of a rotary valve member. 9. A valve mechanism having check valves (36a, 36b; 44a, 44b) and variable asymmetric damping valves (18^I, 18^II) is arranged in the piston (32). The device according to any one of the ranges 1 to 8. 10, the piston (32) is located in the upper and lower working chambers (1
2a, 12b) containing a variable asymmetrical damping valve (18^ I) with a pivoting valve member in the central hole connected to the hollow piston rod; via the control rod (33) and the other buffer valve connection (37) connects to the check/flap valve (3).
6a, 36b) to the upper and lower working chambers (12
a, 12b) and which valves the hollow piston rod and at the same time connects one damping valve connection (37) to an external hydropneumatic reservoir (15). The device according to scope item 9. 11. In order to obtain a low pressure and a high flow ratio, the valve regulating member (39) is constructed rotatably in the piston in a cup-like manner and in two rows to create an arbitrary asymmetrical flow resistance. are provided with an opening consisting of an individual flow cutout (41), which opening is directed to the respective flow opening for the pressure medium connected to the upper and lower working chambers, and 11. A device according to claim 1, wherein the openings of both rows are offset from each other by one step width in order to asymmetrically vary the throughput. 12. In the case of a unidirectional flow damper, two different pressures are simultaneously installed in the outer cylinder annular chamber (49), which is connected to the upper and lower working chambers via inflow and outflow openings. Ring slide valve (51), in which the medium is provided and the flow passage (52) to the working chamber (12a^ I) on the piston rod side is actuated electrodynamically.
A check valve (50, 50^ I) is arranged in the piston as well as at the bottom of the other working chamber (12b^ I), which is adapted to change the flow cross section through the piston and acts in the opposite direction. An apparatus according to any one of claims 1 to 11. 13. A semi-active damper with a variable asymmetric damping valve adjusts the elastic strength of the piston via a switching valve (60) in a pressure chamber (55) closed by a roll bellows (57). Claims 1 to 1 which are part of the air spring/suspension mechanism connected to the cylinder device (61)
The device according to any one of items up to item 2.