KR100349845B1 - Electronic controll suspension system for vehicle - Google Patents
Electronic controll suspension system for vehicle Download PDFInfo
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- KR100349845B1 KR100349845B1 KR1019990010948A KR19990010948A KR100349845B1 KR 100349845 B1 KR100349845 B1 KR 100349845B1 KR 1019990010948 A KR1019990010948 A KR 1019990010948A KR 19990010948 A KR19990010948 A KR 19990010948A KR 100349845 B1 KR100349845 B1 KR 100349845B1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- 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
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
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- 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
- B60G2600/12—Sampling or average detecting; Addition or substraction
- B60G2600/122—Summation signal
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- 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
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- 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
- B60G2800/016—Yawing condition
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- 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
- B60G2800/24—Steering, cornering
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
본 발명은 차량 주행중 코너링시 차량의 자세 제어 성능 및 안정성을 향상시킬 수 있도록 한 차량의 전자제어 현가장치에 관한 것이다.The present invention relates to an electronically controlled suspension of a vehicle to improve the attitude control performance and stability of the vehicle when cornering while driving.
본 발명은 차량의 차고센서로 부터 입력되는 차체 수직속도에 고정이득을 증폭하는 제 1 증폭기 와, 상기 차체수직속도와 차체요속도 센서로 부터 감지되어 입력되는 차체 요속도 절대값과의 이득을 증폭하는 제 2 증폭기와, 상기 제 1, 제 2 증폭기에서 검출된 이득을 합산하는 합산기로 구성되는 스카이 훅 제어기와, 상기 스카이 훅 제어기에서 출력되는 신호를 받아 구동하면서 차체의자세를 제어하는 현가제어액츄에이터를 포함하는 것을 특징으로 한다.The present invention amplifies a gain between a first amplifier for amplifying a fixed gain to a vehicle vertical speed input from a vehicle height sensor, and an absolute value of the vehicle body speed and a vehicle body speed detected by the vehicle speed sensor. A sky hook controller comprising a second amplifier configured to add a gain detected by the first and second amplifiers, and a suspension control actuator configured to control a vehicle body while driving by receiving a signal output from the sky hook controller. Characterized in that it comprises a.
Description
본 발명은 차량의 전자제어현가장치에 관한 것으로, 보다 상세하게는 차량의 주행중 코너링시 차체의 자세 제어 성능 및 안정성을 향상시킬 수 있도록 한 차량의 전자제어현가장치에 관한 것이다.The present invention relates to an electronic control suspension of a vehicle, and more particularly, to an electronic control suspension of a vehicle to improve the attitude control performance and stability of the vehicle body when cornering while driving the vehicle.
일반적으로 차량에서 전자제어현가장치는 운전자의 스위치선택, 주행조건및 노면상태에 따라 차량의 높이와 스프링의 상수및 완충능력이 전자제어유니트에 의해 자동으로 조절되는 장치이다.In general, an electronically controlled suspension in a vehicle is a device in which the height and spring constant and buffering capacity of the vehicle are automatically adjusted by the electronic control unit according to the driver's switch selection, driving conditions and road conditions.
상기 전자제어현가장치는 차량의 각부에 설치된 센서로 부터 감지한 자동차 운행 상태의 정보와 운전자가 선택하는 운행등을 종합하여 전자제어유니트가 액츄에이터를 제어함으로써, 승차감을 향상하고, 조향성및 안정성을 향상시켜 보다 안전하고 안락한 운행이 되도록 한다.The electronically controlled suspension device combines the information of the vehicle driving state detected by the sensors installed in each part of the vehicle and the driving selected by the driver, thereby controlling the actuator by the electronic control unit to improve ride comfort, and improve steering and stability. To make the operation safer and more comfortable.
그리고 상기 전자제어현가장치는 도 2 에 도시한 바와같이 차체 수직속도만을 감지하는 차고센서(20)와; 상기 차고센서(20)로 부터 감지된 수직속도를 피드백 받아 고정이득값과 결합하는 스카이훅 제어기(21)를 구비한 전자제어유니트(22)와,The electronically controlled suspension includes a garage sensor 20 for detecting only the vehicle vertical speed as shown in FIG. 2; An electronic control unit 22 having a sky hook controller 21 for receiving a vertical velocity detected from the height sensor 20 and coupling it with a fixed gain value;
상기 전자제어유니트(22)로 부터 출력되는 신호에 의하여 작동하는 현가제어 액츄에이터(23)로 구성된다.It is composed of a suspension control actuator 23 operating by a signal output from the electronic control unit 22.
이와같이 구성되는 전자제어현가장치는 상기 차고센서(20)로 부터 차체 수직속도 만을 피드백 받아 스카이 훅 제어기(21)의 고정이득값과 결합하여 이 결합 출력으로 액츄에이터(23)를 제어하게 된다.The electronic control suspension configured as described above receives the feedback of the vehicle body vertical speed only from the height sensor 20 and combines it with the fixed gain value of the sky hook controller 21 to control the actuator 23 with this coupling output.
그러나 상기 전자제어유니트(22)는 내부에 스카이 훅 제어기(21)의 이득에 따라 조향 및 안정성능 및 승차감이 다르게 출력되게 된다.However, the electronic control unit 22 outputs different steering, stability, and riding comfort depending on the gain of the sky hook controller 21 therein.
즉 상기 스카이 훅 제어기(21)는 기준상황을 정하여 적절한 값으로 고정이득을 결정하게 되는데, 이렇게 결정된 고정이득을 갖는 경우 모든 주행상황에서 전자제어현가장치의 성능이 좋아 진다고 할 수 없다.That is, the sky hook controller 21 determines the fixed gain with an appropriate value by setting the reference situation. When the fixed gain is determined in this way, the performance of the electronic control suspension is not improved in all driving situations.
그럼에도 불구하고 종래의 전자제어현가장치는 차량이 코너링시 고정이득값으로 자세 제어를 하도록 되어 있어 코너링시 차량의 자세 제어 성능이 좋지 않게 된다.Nevertheless, the conventional electronically controlled suspension device is configured to control the posture with a fixed gain value when the vehicle is cornering, so that the vehicle posture control performance is poor.
이와 같이 종래의 전자제어 현가장치는 차량이 코너링시 고정이득값에 의하여 차량의 자세를 제어하게 되므로, 상기 차량이 과도한 코너링을 하게 되면, 요속도(yaw속도; 앞바퀴의 좌우선회 속도)는 증가하게 되고, 상기 증가되는 요속도에의하여 차체는 좌우로 더욱 더 기울어지게 되어 결국 전자제어현가장치는 자세 제어 성능 저하 및 과도한 코너링시 안전성에 문제점을 가지게 되었다.As described above, the conventional electronically controlled suspension device controls the attitude of the vehicle by a fixed gain value when the vehicle is cornering. Therefore, when the vehicle is excessively cornered, the yaw speed (yaw speed; left and right turning speed of the front wheel) is increased. Due to the increased yaw speed, the vehicle body is further inclined to the left and right, so that the electronically controlled suspension has a problem in deterioration of posture control performance and safety at excessive cornering.
따라서 본 발명의 목적은 차량 주행중 코너링시 차량의 차체수직속도와 요속도로 스카이 훅 제어기의 이득을 상황에 따라 변화시켜 차량의 자세 제어성능 및 안전성을 향상시킬 수 있는 전자제어현가장치를 제공하고자 하는데 있다.Therefore, an object of the present invention is to provide an electronically controlled suspension device that can improve the attitude control performance and safety of the vehicle by changing the gain of the sky hook controller according to the situation at the vehicle body vertical speed and yaw speed when cornering while driving. have.
도 1 은 본 발명 차량 전자제어현가장치의 제어 블럭도1 is a control block diagram of an electronic vehicle control suspension according to the present invention.
도 2 는 종래 차량 전자제어현가장치의 제어 블록도2 is a control block diagram of a conventional vehicle electronic control suspension device
본 발명의 목적을 실현하기 위한 구성은 차량의 차고센서로 부터 입력되는 차체 수직속도를 제어하여 제어신호를 출력하는 전자제어유니트의 내부에 차체 수직속도를 고정이득으로 증폭하는 제 1 증폭기와; 상기 차체 수직속도와 차체 요속도센서로 부터 감지되어 입력되는 차체 요속도 절대값과의 이득을 증폭하는 제 2 증폭기와; 상기 제 1, 제 2 증폭기에서 검출된 이득을 합산하는 합산기로 구성되는 스카이 훅 제어기와; 상기 스카이 훅 제어기에서 출력되는 신호를 받아 구동하면서 차체 자세를 제어하는 현가제어액츄에이터를 포함하는 것을 특징으로 한다.A configuration for realizing the object of the present invention comprises: a first amplifier for amplifying a vehicle body vertical speed with a fixed gain inside an electronic control unit that outputs a control signal by controlling the vehicle body vertical speed input from a vehicle height sensor; A second amplifier for amplifying a gain between the vehicle body vertical speed and the vehicle body yaw velocity absolute value detected and input from the vehicle body yaw rate sensor; A sky hook controller comprising an adder for summing gains detected by the first and second amplifiers; It characterized in that it comprises a suspension control actuator for controlling the vehicle body attitude while driving in response to the signal output from the sky hook controller.
따라서 본 발명에 의하면, 차량의 주행중 코너링시 감지되는 차체 수직속도에 대한 고정이득과 상기 고정이득과 차체 요속도절대값의 이득을 증폭하여 합산한 이득으로 현가제어 액츄에이터를 제어하게 되므로 과도한 코너링시에도 차량의 자세 제어 성능및 안정성 있게 할 수 있게 된다.Therefore, according to the present invention, the suspension control actuator is controlled by the sum of the fixed gain for the vertical velocity detected during cornering of the vehicle and the gain obtained by amplifying the fixed gain and the absolute value of the absolute speed of the vehicle body, even when excessive cornering. Attitude control performance and stability of the vehicle can be made.
이하 본 발명의 바람직한 실시예를 첨부되는 도면에 의거 상세히 설명하면 다음과 같다.Hereinafter, described in detail with reference to the accompanying drawings, preferred embodiments of the present invention.
도 1 은 본 발명 차량 전자제어현가장치의 제어 블럭도 로서, 차량의 주행시차체의 수직속도를 감지하는 차고센서(10)와; 차량의 차체 요속도를 감지하는 차체요속도센서(11)와; 상기 차고센서(10)와 차체요속도센서(11)로 부터 감지되어 입력되는 차체 수직속도와 차체 요속도 절대값 제어하고 제어된 신호를 출력하는 전자제어유니트(13)와, 상기 전자제어유니트(13)에서 출력되는 제어신호에 의하여 차체를 제어하는 현가제어액츄에이터(17)로 구성된다.1 is a control block diagram of a vehicle electronic control suspension according to the present invention, comprising: a garage sensor 10 for detecting a vertical speed of a vehicle body when a vehicle is driven; A vehicle body speed sensor 11 for detecting a vehicle body speed of the vehicle; An electronic control unit 13 for controlling the vehicle body vertical speed and the vehicle body yaw velocity absolute value detected by the height sensor 10 and the vehicle body velocity sensor 11 and outputting a controlled signal, and the electronic control unit ( It is composed of a suspension control actuator 17 for controlling the vehicle body by the control signal output from 13).
따라서 상기 전자제어유니트(13)에서는 차량의 주행중 코너링시 차고센서Therefore, in the electronic control unit 13, the garage sensor when cornering while driving the vehicle
(10)로 부터 차체 수직속도와 차체요속도센서(11)로 부터 감지되는 차체 요속도를 감지되어 입력되는 수직속도와 차체요속도들을 제어하고 이 제어신호를 현가제어 액츄에이터(17)에 출력하여 차체의 자세제어 및 승차감을 제어하게 된다.(10) detects the vehicle body vertical speed and the vehicle body yaw velocity detected by the vehicle body speed sensor (11) to control the vertical speed and the body yaw velocity that are input and output this control signal to the suspension control actuator (17). Attitude control and ride comfort of the vehicle body are controlled.
한편 전자제어유니트(13)는 차고센서(10)와 차체요속도센서(11)로 부터 입력되는 차체 수직속도와 차체 요속도절대값에 대한 이득을 증폭하고 증폭된 이득을합산하여 이 합산이득 신호를 출력하는 스카이 훅 제어기(13)를 구비한다.On the other hand, the electronic control unit 13 amplifies the gain for the vehicle body vertical velocity and the vehicle body absolute velocity input from the height sensor 10 and the vehicle body velocity sensor 11, and adds the amplified gains to add up the gain signal. It is provided with a sky hook controller 13 for outputting.
또한 상기 스카이 훅 제어기(13)는 차체가 코너링시 입력되는 차체 수직속도를 증폭하여 고정이득을 출력하는 제 1 증폭기(14)와, 상기 차체 수직속도와 입력되는 차체 요속도절대값을 증폭하여 이득을 출력하는 제 2 증폭기(15)와, 상기 제 1, 제 2 증폭기(14)(15)의 이득을 합산하는 합산기(16)를 포함하게 된다.In addition, the sky hook controller 13 is a first amplifier 14 for outputting a fixed gain by amplifying the vehicle body vertical velocity input when the vehicle body is cornering, and the body body vertical velocity and the absolute value of the vehicle body velocity input to amplify the gain It includes a second amplifier 15 for outputting the sum, and a summer 16 for summing the gains of the first and second amplifiers (14) (15).
그러므로 본 발명은 차량 제어시 차량이 코너링을 하게 되면 상기 차고센서Therefore, the present invention is the garage sensor when the vehicle is cornering when controlling the vehicle
(10)및 차체 요속도센서(11)에서는 코너링에 따른 차체수직속도와 요속도를 감지하게 되는데, 이때 차체가 과도하게 코너링을 하면 할수록 요속도는 증가되고 차체는 좌우로 더 기울어지게 된다.10 and the body yaw speed sensor 11 detects the body vertical speed and yaw speed according to the cornering. At this time, as the body excessively corners, the yaw speed increases and the body tilts further to the left and right.
따라서 상기 차고센서(10)및 차체 요속도센서(11)에서는 상기 코너링에 의하여 변화되는 차체 수직속도와 차체 요속도 절대값 신호 각각을 전자제어유니트(12)Therefore, in the height sensor 10 and the body yaw speed sensor 11, the electronic control unit 12 transmits the vehicle body vertical speed and the body yaw velocity absolute value signals, which are changed by the cornering.
에 입력하게 되고, 전자제어유니트(12)에서는 입력되는 신호를 스카이 훅 제어기The input signal to the electronic control unit 12, the input signal to the sky hook controller
(13)에 입력된다.It is input to (13).
상기 차체수직속도신호는 제 1 증폭기(14)에 입력되어 증폭된 후 고정이득The body vertical speed signal is input to the first amplifier 14, amplified, and then fixed gain.
(k1)이 출력되어 합산기(16)에 입력하게 된다.(k1) is output and input to the summer 16.
그리고 상기 차체 요속도 절대값 신호는 제 2 증폭기(15)에 입력되어, 상기 차체 수직속도신호와 함께 증폭된 후 증폭이득(k2)를 출력하여 상기 합산기(16)에 입력되게 된다.The absolute body velocity value signal is input to the second amplifier 15, amplified together with the vehicle vertical velocity signal, and then outputs an amplification gain k2 to the summer 16.
이와같이 합산기(16)에 입력된 증폭이득(k2)는 차체 수직속도와 차량 요속도 절대값의 영향을 고려하여 코너링 정도에 따라 출력값을 변화하여 출력하게 된다.In this way, the amplification gain k2 input to the summer 16 changes the output value according to the cornering degree in consideration of the influence of the vehicle vertical speed and the vehicle yaw speed absolute value.
이때 상기 제 1 증폭기(14)로 부터 출력되는 고정이득(k1), 제 2 증폭기(15)로 부터 출력되는 증폭이득(k2), 요속도, 자체 수직속도 Z 라고 하면, 상기 스카이 훅 제어기(13)의 출력(U)은 다음의 수식과 같이 표현된다.At this time, the fixed gain (k1) output from the first amplifier 14, the amplification gain (k2) output from the second amplifier 15, yaw rate When the vertical velocity Z, the output U of the sky hook controller 13 is expressed by the following equation.
U = Z ( k1 + k2 ││)상기 수식에 따르면, 전자제어유니트(12)로 차체 요속도센서(11)로부터 인가되는 차체 요속도와 차고 센서(10)로부터 차체 수직속도 Z가 입력되면, 제2 증폭기(15)는 상기 입력되는 차체 요속도의 절대값 ||와 차체 수직속도 Z의 곱을 자체의 증폭이득(k2)(제2 증폭이득이라 칭함)에 따라 증폭하여 k2*Z*||을 출력하게 되고, 제1 증폭기(14)는 차체 수직속도 Z를 자체의 증폭이득(k1)(제1 증폭이득이라 칭함)에 따라 증폭하여 k1*Z를 출력하게 됨으로써, 상기 제1 증폭기(14) 및 제2 증폭기(15)의 출력이 합산기(16)에 의해 합산되어 제어출력(U)를 생성하게 된다.그러므로 스카이 훅 제어기(13)에서 출력되는 제어출력(U)는 전자제어유니트(12)의 자세제어로 현가제어액츄에이터(17)를 제어하여 과도한 코너링시에도 차체를 수평으로 유지시키게 되는 것이다.U = z (k1 + k2 │ According to the above formula, the vehicle body yaw velocity applied from the vehicle body yaw velocity sensor 11 to the electronic control unit 12 And the vehicle body vertical velocity Z is input from the garage sensor 10, the second amplifier 15 transmits the absolute value of the vehicle body yaw velocity | Multiply | | the vehicle vertical velocity Z by its amplification gain (k2) (called the second amplification gain) to obtain k2 * Z * | And the first amplifier 14 amplifies the vehicle body vertical velocity Z according to its amplification gain k1 (called the first amplification gain) and outputs k1 * Z, whereby the first amplifier ( 14 and the outputs of the second amplifier 15 are summed by the summer 16 to generate the control output U. Therefore, the control output U output from the sky hook controller 13 is the electronic control unit. The suspension control actuator 17 is controlled by the posture control of (12) to keep the vehicle body horizontal even when excessive cornering.
이상에서 설명한 바와같이 본 발명은 차량 주행중 코너링시 차량의 차체수직속도와 차체 요속도절대값을 증폭하여 스카이 훅 제어기의 출력이득을 상황에 따라 변화시켜 이 변화되는 출력이득으로 현가제어액츄에이터를 제어함으로써, 차체를 수평으로 유지하게 되므로, 전자제어현가장치의 제어성능 및 안정성을 향상시킬 수 있는 효과를 제공하게 되는 것이다.As described above, the present invention amplifies the vehicle body vertical speed and the vehicle body absolute speed absolute value during cornering while driving the vehicle to change the output gain of the sky hook controller according to the situation, thereby controlling the suspension control actuator with the changed output gain. Since the vehicle body is kept horizontal, it is to provide the effect of improving the control performance and stability of the electronic control suspension.
Claims (3)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019990010948A KR100349845B1 (en) | 1999-03-30 | 1999-03-30 | Electronic controll suspension system for vehicle |
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| KR1019990010948A KR100349845B1 (en) | 1999-03-30 | 1999-03-30 | Electronic controll suspension system for vehicle |
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| KR100349845B1 true KR100349845B1 (en) | 2002-08-22 |
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| KR1019990010948A KR100349845B1 (en) | 1999-03-30 | 1999-03-30 | Electronic controll suspension system for vehicle |
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