RU2482347C2 - Oscillation damping method and device for its implementation (versions) - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: inclination angle of relationship between resistance force modulus and deflection speed modulus of an elastic member is changed if current resistance force modulus differs from the specified value. The specified value of resistance force is changed depending on current deflection of the elastic member. The specified current value of resistance force is set so that it is directly proportional to modulus of current deflection of elasticity force, which is corrected to resistance force vector, of the elastic member of its static value. The device for implementing the method represents a hydraulic telescopic damper, in which the resistance force, the modulus of which depends on the modulus of deflection variation speed, is created during the suspension deflection variation. As per the first version, the damper includes a bar fixed at the compression chamber bottom. The bar has a four-sided variable cross-section in the working section of its length. At the damper compression, the bar is retracted into inner cavity of the stock. As per the second version, the damper includes two bars, as well as a compensating chamber that is separated from the compression chamber with a partition wall and partially filled with liquid. The bars are made in the form of a rotation body and installed inside the first and the second guide elements respectively with possibility of longitudinal movement.

EFFECT: preventing resonance, and minimising the resultant force acting on the under-spring mass of the transport vehicle.

17 cl, 10 dwg

Description

FIELD OF THE INVENTION

The present invention relates to damping oscillations of various oscillatory systems. Most successfully, the present invention can be used in the suspension of land vehicles. It can also be used to damp vibrations of any mechanical and electromagnetic oscillatory systems.

BACKGROUND OF THE INVENTION

The oscillatory system, regardless of its physical nature, contains at least one first element, which has an inertial property, at least one second element, which, changing its state under the action of an external force with respect to this element, stores the potential energy and therefore creates a potential force acting on other elements of the oscillatory system associated with this element, and at least one third element, which in the process of energy circulation between the first and second ith elements creates a resistance force that impedes this circulation, and removes energy from the oscillatory system by spending it on performing work outside the oscillatory system.

In many cases of the use of oscillatory systems, there is a need to minimize the force acting on the first element mentioned when external oscillations of various frequencies, amplitudes, and shapes are exposed to the oscillatory system. One of the most relevant cases of the need to solve such a problem is the suspension of the vehicle.

The vehicle suspension is a mechanical oscillatory system that contains:

- said first element, which is the sprung mass of the vehicle;

- the unsprung mass of the vehicle through which the vehicle rests on the supporting surface (road) and through which external disturbances (changes in the profile of the supporting surface) are transmitted to the suspension;

- said second element, which is an elastic suspension element and which, under the action of an external force with respect to it, changes its deflection and creates an elastic force that acts on the sprung and unsprung masses of the vehicle connected with this element;

- said third element, which is a damper and which, during a change in the deflection of the said second element, carries out the output of mechanical energy circulating in the suspension and creates a resistance force, the module of which has a direct dependence on the module of the rate of change of the deflection of the second element and which slows down the change in this deflection.

The vehicle suspension is designed to reduce the force acting on the sprung mass, as well as to reduce fluctuations in the force pressing the unsprung mass to the supporting surface when changing the profile of the supporting surface.

The highest values of the force acting on the sprung mass and fluctuations in the force pressing the unsprung mass to the supporting surface arise with resonant vibrations of the suspension.

To reduce the force acting on the sprung mass, and fluctuations in the force pressing the unsprung mass to the supporting surface, damping the suspension vibrations by dissipating the mechanical energy circulating in the suspension.

To completely prevent resonance phenomena, it is necessary to establish the angle of inclination of the aforementioned dependence of the module of the resistance force on the module of the rate of change of deflection, which corresponds to the aperiodic damping of the suspension disturbances. However, at such an angle of inclination, the dependences of the modulus of the resistance force on the modulus of the rate of change of the deflection occur the following negative phenomena:

- the unsprung and sprung masses act on the suspension side from an excessively large resulting force during compression of the suspension under the influence of changes in the profile of the supporting surface, the speed of which exceeds the speed characteristic of the resonance of the suspension;

- the resulting force is excessively reduced, pressing the unsprung mass to the supporting surface (up to the loss of contact of the unsprung mass with the supporting surface) during suspension tension under the influence of changes in the profile of the supporting surface, the speed of which exceeds the speed characteristic of the resonance of the suspension.

To reduce these negative phenomena, it is necessary to establish the angle of inclination of the aforementioned dependence of the modulus of the resistance force on the modulus of the rate of change of the deflection, which corresponds to the vibrational attenuation of the suspension disturbances. Moreover, the smaller (larger) the angle of inclination of the aforementioned dependence of the modulus of the resistance force on the modulus of the rate of change of the deflection, the more (less) the negative phenomena characteristic of aperiodic attenuation decrease, but the resonance phenomena increase.

The well-known and widely used method of damping vehicle suspension vibrations, in which

establish the angle of inclination of the aforementioned dependence of the module of the resistance force on the module of the rate of change of deflection, which corresponds to the vibrational attenuation of the suspension disturbances,

reduce (increase) the angle of inclination of the said dependence of the module of the resistance force on the module of the rate of change of deflection, if the current module of the said force of resistance is greater (less) than the specified value.

The rate of change of suspension deflection depends on the frequency, on the amplitude and on the phase of the oscillations. As a result of this, the setpoint value corresponds to an infinitely large number of variants of combinations of various phases, amplitudes and vibration frequencies. For this reason, the well-known method does not allow to minimize the force acting on the sprung mass, and fluctuations in the force pressing the unsprung mass to the supporting surface when the vehicle is affected by changes in the profile of the supporting surface of different frequencies, amplitudes and shapes.

A well-known method of damping suspension vibrations is mentioned in the book “Car Suspension. Oscillations and smoothness of movement ”(chapter 3“ Vibrational parameters of a car and its suspension ”, paragraph 14“ Friction in a suspension. Shock absorbers ”), author R.V. Rotenberg, third edition, Mashinostroenie publishing house, Moscow, 1972, patents RU 2286491 C2 and RU 2120389 C1 and application DE 4139746 A1.

The closest analogue of the present invention is a method of damping the suspension of a vehicle, known from patent RU 2127675 C1 (claim 8) and the international application for invention WO 02/101262 A1, published on December 19, 2002 in the WIPO bulletin, in which, like in a well-known way,

establish the angle of inclination of the aforementioned dependence of the module of the resistance force on the module of the rate of change of deflection, which corresponds to the vibrational attenuation of the suspension disturbances,

reduce (increase) the angle of inclination of the said dependence of the module of the resistance force on the module of the rate of change of deflection, if the current module of the said force of resistance is greater (less) than the specified value.

In contrast to the well-known method in the method known from patent RU 2127675 C1 and international patent application WO 02/101262 A1

changing the specified value depending on the current deflection of the said elastic element, at least in part of the stroke of said suspension.

The method known from patent RU 2127675 C1 and international patent application WO 02/101262 A1 does not establish any pattern of change in said setpoint depending on the current deflection of said elastic element. For this reason, this method does not provide an unconditional minimization of the resulting force acting on the sprung mass, and fluctuations in the force pressing the unsprung mass to the supporting surface when a vehicle changes in the profile of the supporting surface of different frequencies, amplitudes and shapes.

Another case of solving the problem of minimizing the force acting on the first element of the oscillatory system is to minimize fluctuations in the voltage drop across the inductance of the electromagnetic oscillating circuit when an external electromotive force of different frequency, amplitude and shape is applied to this circuit.

Mechanical and electromagnetic oscillatory systems have the same laws of development of the oscillatory process, which are described by the same, from a mathematical point of view, equations. Therefore, the method known from patent RU 2127675 C1 and international patent application WO 02/101262 A1 can also be used to damp the vibrations of an electromagnetic oscillating system, which is an electromagnetic oscillating circuit that contains:

- said first element, which is the inductance;

- said second element, which is an electric capacitance, which, under the action of a difference in electric potentials applied to it, changes its electric charge and creates a difference in electric potentials, which acts on other circuit elements connected with it;

- said third element, which is an electrical resistance, which, during a change in the electric charge of said second element, carries out the output of electromagnetic energy circulating in the circuit and creates a difference in electric potentials, which is a resistance force, the module of which has a direct dependence on the module of the rate of change of the electric charge of said second element and which slows down the change in this charge.

In the case of damping the oscillations of the electromagnetic circuit, the method known from patent RU 2127675 C1 and the international application for invention WO 02/101262 A1, is that

establish the angle of inclination of the aforementioned dependence of the modulus of the resistance force on the modulus of the rate of change of the electric charge, which corresponds to the vibrational attenuation of the disturbances of the circuit,

reduce (increase) the angle of inclination of the said dependence of the module of the resistance force on the module of the rate of change of the electric charge, if the current module of the said resistance force is greater (less) than the specified value,

changing said set value depending on the current electric charge of said electric capacity, at least in part of the maximum interval of change in the magnitude of its electric charge.

At the same time, the same disadvantages that are inherent in the use of this method for damping the vibrations of a mechanical oscillatory system remain.

Due to the identity of the development of oscillations of mechanical and electromagnetic oscillatory systems, the method known from patent RU 2127675 C1 and international patent application WO 02/101262 A1 can be expressed in a generalized form as a method of damping oscillations of an oscillatory system containing at least one first element , which has the inertial property of at least one second element, which, changing its state under the action of an external, relative to this element, force, stores potential energy and as a result creates a potential force acting on other elements of the oscillatory system associated with this element, and at least one third element, which, in the process of energy circulation between the first and second elements, removes energy from the oscillatory system by spending it on performing work outside the oscillatory system and creates a resistance force, the module of which has a direct dependence on the module of the rate of change of state of the said second element and which slows down this change, at which

establish the angle of inclination of the said dependence of the modulus of the resistance force on the modulus of the rate of change of state of the said second element, which corresponds to the vibrational attenuation of disturbances of the oscillatory system,

reduce (increase) the angle of inclination of the said dependence of the module of the resistance force on the module of the rate of change of the state of the said second element, if the current module of the said resistance force is greater (less) than the specified value,

changing said predetermined value depending on the current state of said second element, at least in part of the maximum interval for changing its state values.

For the case of damping of mechanical vibrations, the method known from patent RU 2127675 C1 and international patent application WO 02/101262 A1 can be carried out by using, as said third element of a mechanical oscillating system, which carries out the output of mechanical energy circulating in it, a device known from international patent application WO 02/101262 A1. This device is a hydraulic telescopic damper that contains:

a working cylinder, the inner cavity of which is filled with liquid,

the rod, which is designed to absorb external load and mounted coaxially with the said working cylinder with the possibility of translational (return) movement in the said working cylinder during compression (tension) of the damper,

an internal cavity of said rod, which communicates with an internal cavity of said working cylinder,

a piston which is fixed at the end of said rod and divides the internal cavity of said working cylinder into a compression chamber, the volume of which decreases when the damper is compressed, and into a tensile chamber, the volume of which decreases when the damper is stretched,

a compression valve that has at least one inlet channel that is formed in said piston and has an inlet on the side of said compression chamber, and an outlet on the side of said tensile chamber,

a tensile valve, which has at least one inlet channel that is formed in said piston and has an inlet on the side of said tensile chamber, and an outlet on the side of said compression chamber,

the first locking element, which is part of said compression valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said liquid flowing out of said compression chamber,

the second locking element, which is part of said tensile valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said fluid flowing out of said tensile chamber,

a first elastic element, the elastic force of which prevents the movement of said first locking element under the action of said liquid flowing out of said compression chamber, and which is part of said compression valve,

a second elastic element, the elastic force of which prevents the movement of said second locking element under the action of said fluid flowing from said tensile chamber, and which is part of said tensile valve,

the first support, which interacts with said first elastic element, is part of said compression valve and has a part of the inner surface which is conical,

a first guide element along which said first support is capable of reciprocating movement in the direction of said first elastic element,

the second support, which interacts with said second elastic element, is part of said tensile valve and has a part of the inner surface, which is made conical,

a second guide element along which said second support is capable of reciprocating movement in the direction of said second elastic element,

the rod, which is fixed at the bottom of said compression chamber, slides into said inner cavity of said rod when the damper is compressed, has a four-sided variable cross-section in the working section of its length, which is equal to the maximum stroke of the said rod,

a first hole made in said first guide element from the side of the first side surface of said rod and whose axis is perpendicular to the longitudinal axis of this rod,

a second hole made in said first guide element from the side of the second side surface of said rod, which is opposite to said first side surface of this rod, and whose axis is perpendicular to the longitudinal axis of this rod,

a third hole made in said second guide element from the side of the third lateral surface of said rod and whose axis is perpendicular to the longitudinal axis of this rod,

a fourth hole made in said second guide element on the side of the fourth lateral surface of said rod, which is opposite to said third lateral surface of this rod, and whose axis is perpendicular to the longitudinal axis of this rod,

the first emphasis is cylindrical in shape, which is mounted in said first hole with the possibility of reciprocating movement along the axis of this hole and with one end thereof interacts with said first side surface of the rod, and with its opposite end interacts with the conical inner surface of said first support,

a second stop, which is identical to the first stop, is installed in said second hole with the possibility of reciprocating movement along the axis of this hole and interacts with one of its second second side surface of the rod, and interacts with its opposite end with the conical inner surface of the first support,

a third cylindrical stop which is mounted in said third hole with the possibility of reciprocating movement along the axis of this hole and with one end thereof interacts with said third lateral surface of the rod, and interacts with its opposite end face with the conical inner surface of said second support,

a fourth stop, which is identical to the third stop, is installed in said fourth hole with the possibility of reciprocating movement along the axis of this hole and interacts with its fourth end face with the fourth lateral surface of the rod, and interacts with its opposite end with the conical inner surface of the second support,

a first choke that couples said compression chamber to said tensile chamber and which is formed by a gap between a side surface of said first stop and a surface of said first hole,

a second throttle that connects said compression chamber to said tensile chamber and which is formed by a gap between the side surface of said second stop and the surface of said second hole.

SUMMARY OF THE INVENTION

The present invention solves the problem of preventing resonance in the oscillatory system and minimizing the resultant force acting on the first element of the oscillatory system, which has an inertial property, when external oscillations of various frequencies, amplitudes and shapes are exposed to the oscillatory system.

The consequence of solving this problem for a mechanical oscillatory system, which is a vehicle suspension, are:

- minimizing fluctuations in the force pressing the unsprung mass of the vehicle to the supporting surface;

- increase vehicle comfort;

- improving the handling and directional stability of the vehicle;

- increase the braking and accelerating dynamics of the vehicle;

- reduction of average operating fuel consumption and harmful emissions;

- reducing the dynamic load on the roadway and increasing its service life;

- reducing the dynamic load on the sprung and unsprung masses of the vehicle and increasing their service life.

The proposed method, as in the closest analogue, is a method of damping the vibrations of an oscillatory system containing at least one first element, which has an inertial property, at least one second element, which, changing its state under the action of an external in relation to this element, forces, stores potential energy and, as a result, creates a potential force acting on other elements of the oscillatory system associated with this element, and at least one third element, which in The process of energy circulation between the aforementioned first and second elements removes energy from the oscillatory system by spending it on performing work outside the oscillatory system and creates a resistance force, the module of which has a direct dependence on the modulus of the rate of change of the state of the second element and which slows down this change, at which

reduce (increase) the angle of inclination of the said dependence of the module of the resistance force on the module of the rate of change of the state of the said second element, if the current module of the said resistance force is greater (less) than the specified value,

changing said predetermined value depending on the current state of said second element, at least in part of the maximum interval for changing its state values.

The proposed method differs from the closest analogue in that:

while decreasing the module, the deviation of the current state of the said second element from the static state sets the current mentioned set value, which is directly proportional to the modulus of the current deviation of the said potential force of the said second element from its static value, reduced to the vector of the said resistance force,

to achieve the greatest technical effect from the use of the proposed method

while decreasing the module, the deviation of the current state of the second element from the static state sets the current mentioned set value equal to the vector of the said resistance force modulus of the current deviation of the potential force of the second element from its static value,

setting the inclination angle of said dependence of the modulus of resistance force on the modulus of the rate of change of state of said second element, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of perturbations of said oscillatory system, if the current module of said resistance force is equal to or less than the current said setpoint,

establish the angle of inclination of the said dependence of the modulus of resistance force on the modulus of the rate of change of state of the said second element, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the said oscillatory system, if the current module of the said resistance is greater than the current setpoint value

establish the angle of inclination of the said dependence of the module of resistance force on the module of the rate of change of state of the said second element, corresponding to the aperiodic damping of disturbances of the said oscillatory system, the maximum possible for the structural and technological limitations of the device, which implements the method if the current module of the said resistance force is equal to or less than the current specified values

setting the inclination angle of said dependence of the resistance force modulus on the rate of change of state of said second element, corresponding to the vibrational attenuation of disturbances of said vibrational system, the minimum possible for structural and technological limitations of a device that implements a method if the current module of said resistance force is greater than the current said predetermined value,

during the increase in the module, the deviation of the current state of the second element from the static state sets the specified value is less than 10% of the reduced to the vector of the said resistance force of the module of the static value of the said potential force of the said second element,

to increase the amplitude of external disturbances that the oscillatory system is capable of perceiving,

change the current mentioned set value in direct proportion to the module of the current deviation of the said potential force of the second element from its static value, at least in part of the maximum interval of values of the deviation of the state of the second element from the static state during an increase in the module of this deviation.

A particular case of the proposed method is a method for damping vibrations of a mechanical oscillatory system, which is a vehicle suspension, which is characterized in that

carry out damping of vibrations of a mechanical oscillatory system, which is a suspension of a vehicle, in which:

- said first element of the oscillatory system is the sprung mass of the vehicle;

- said second element of the oscillating system is an elastic suspension element that connects said sprung mass of the vehicle with its unsprung mass, through which the suspension perceives external disturbances;

- said state of said second element of the oscillating system is the deflection of said elastic element, and said potential force of this element is the elastic force of the elastic element;

- said third element of the oscillatory system is a damper that binds said sprung and unsprung masses of the vehicle and which, when the deflection of said elastic element changes, creates a resistance force slowing down the change in this deflection and whose module has a direct dependence on the rate of change of this deflection,

establish and change the angle of inclination of said dependence of the modulus of resistance force of said damper on the modulus of the rate of change of said deflection of said elastic element,

set and change said setpoint depending on the current deviation of said elastic force of said elastic element from its static value.

A particular case of the proposed method is a method for damping the vibrations of an electromagnetic oscillating system, which is an electromagnetic oscillating circuit, which is characterized in that

carry out the damping of the oscillations of the electromagnetic oscillatory system, which is an electromagnetic circuit in which:

- the aforementioned first element of the oscillatory system is the inductance of the circuit;

- said second element of the oscillatory system is the electric capacitance of the circuit;

- said state of said second element of the oscillating system is the electric charge of said electric capacitance, and said potential force of this element is the difference of electric potentials on this capacitance;

- the said third element of the oscillatory system is the active electrical resistance of the circuit, which during a change in the electric charge of the said electric capacitance creates an electric potential difference, which is a resistance force that slows down the change in the electric charge of the said electric capacitance and the module of which has a direct dependence on the modulus of the rate of change of this charge

establish and change the angle of inclination of said dependence of the modulus of resistance force of said active electrical resistance on the modulus of the rate of change of electric charge of said electric capacity,

set and change said setpoint depending on the current deviation of the difference of electric potentials on said electric capacitance from its static value.

The proposed method for damping the vibrations of a mechanical vibrational system, which is a vehicle suspension, can be implemented by using, as the third element of the vibrational system, one of the two device variants described below.

The first embodiment of the device for implementing the proposed method, as well as the device known from the international application for the invention WO 02/101262 A1, is a device for damping the suspension of a vehicle, which contains at least one elastic element that creates an elastic force acting on the sprung mass and unsprung mass of the vehicle connected by this elastic element, and it is a hydraulic telescopic damper, which, when the deflection of dvski creates a resistance force, the modulus of which depends on the modulus of the rate of change of the deflection, and which

a working cylinder, the inner cavity of which is filled with liquid,

the rod, which is designed to absorb external load and mounted coaxially with the said working cylinder with the possibility of translational (return) movement in the said working cylinder during compression (tension) of the damper,

an internal cavity of said rod, which communicates with an internal cavity of said working cylinder,

a piston which is fixed at the end of said rod and divides the internal cavity of said working cylinder into a compression chamber, the volume of which decreases when the damper is compressed, and into a tensile chamber, the volume of which decreases when the damper is stretched,

a compression valve that has at least one inlet channel that is formed in said piston and has an inlet on the side of said compression chamber, and an outlet on the side of said tensile chamber,

a tensile valve, which has at least one inlet channel that is formed in said piston and has an inlet on the side of said tensile chamber, and an outlet on the side of said compression chamber,

the first locking element, which is part of said compression valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said liquid flowing out of said compression chamber,

the second locking element, which is part of said tensile valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said fluid flowing out of said tensile chamber,

a first elastic element, the elastic force of which prevents the movement of said first locking element under the action of said liquid flowing out of said compression chamber, and which is part of said compression valve,

a second elastic element, the elastic force of which prevents the movement of said second locking element under the action of said fluid flowing from said tensile chamber, and which is part of said tensile valve,

the first support, which interacts with said first elastic element, is part of said compression valve and has a part of the inner surface which is conical,

a first guide element along which said first support is capable of reciprocating movement in the direction of said first elastic element,

the second support, which interacts with said second elastic element, is part of said tensile valve and has a part of the inner surface, which is made conical,

a second guide element along which said second support is capable of reciprocating movement in the direction of said second elastic element,

the rod, which is fixed at the bottom of said compression chamber, slides into said inner cavity of said rod when the damper is compressed, has a four-sided variable cross-section in the working section of its length, which is equal to the maximum stroke of said rod,

a first hole made in said first guide element from the side of the first side surface of said rod and whose axis is perpendicular to the longitudinal axis of this rod,

a second hole made in said first guide element from the side of the second side surface of said rod, which is opposite to said first side surface of this rod, and whose axis is perpendicular to the longitudinal axis of this rod,

a third hole made in said second guide element from the side of the third lateral surface of said rod and whose axis is perpendicular to the longitudinal axis of this rod,

a fourth hole made in said second guide element on the side of the fourth lateral surface of said rod, which is opposite to said third lateral surface of this rod, and whose axis is perpendicular to the longitudinal axis of this rod,

the first emphasis is cylindrical in shape, which is mounted in said first hole with the possibility of reciprocating movement along the axis of this hole and with one end thereof interacts with said first side surface of the rod, and with its opposite end interacts with the conical inner surface of said first support,

a second stop, which is identical to the first stop, is installed in said second hole with the possibility of reciprocating movement along the axis of this hole and interacts with one of its second second side surface of the rod, and interacts with its opposite end with the conical inner surface of the first support,

a third cylindrical stop which is mounted in said third hole with the possibility of reciprocating movement along the axis of this hole and with one end thereof interacts with said third lateral surface of the rod, and interacts with its opposite end face with the conical inner surface of said second support,

a fourth stop, which is identical to the third stop, is installed in said fourth hole with the possibility of reciprocating movement along the axis of this hole and interacts with its fourth end face with the fourth lateral surface of the rod, and interacts with its opposite end with the conical inner surface of the second support,

a first choke that couples said compression chamber to said tensile chamber and which is formed by a gap between a side surface of said first stop and a surface of said first hole,

a second throttle that connects said compression chamber to said tensile chamber and which is formed by a gap between the side surface of said second stop and the surface of said second hole.

The proposed device differs from the device known from the international application for the invention WO 02/101262 A1, in that:

each value of the said deflection of the suspension corresponds to a cross section of the said rod on the working section of its length,

on the working section of the length of said rod, the distance between said first and said second side surfaces of this rod in each cross section of this rod corresponds to equation (e1):

Where

L ₁ is the distance between said first and said second side surfaces of said rod in each cross section of this rod;

Ln ₁ is the maximum distance between said first and said second side surfaces of said rod, corresponding to an undeformed state of said first elastic element;

α ₁ is the angle between the longitudinal axis of said rod and the conical inner surface of said first support;

X ₁ - corresponding to each cross-section of the said rod, the set value of the module of the mentioned resistance force, at which the said compression valve opens;

S ₁ is the cross-sectional area of the said working cylinder;

Sk ₁ is the area of said outlet opening of the supply channel of said compression valve;

C ₁ is the stiffness of said first elastic element,

on the working section of the length of the said rod, which corresponds to the stretched state of the said suspension, the specified target value X ₁ for each cross section of this rod is directly proportional to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper,

in the working section of the length of said rod, the distance between said third and said fourth lateral surfaces of this rod in each cross section of this rod corresponds to equation (e2):

Where

L ₂ is the distance between said third and said fourth side surfaces of said rod in each cross section of this rod;

Ln ₂ is the maximum distance between said third and said fourth side surfaces of said rod, corresponding to an undeformed state of said second elastic element;

α ₂ is the angle between the longitudinal axis of said rod and the conical inner surface of said second support;

X ₂ - corresponding to each cross-section of the said rod, the set value of the module of the mentioned resistance force, at which the said tensile valve opens;

S ₂ is the difference between the cross-sectional area of said working cylinder and the cross-sectional area of said rod;

Sk ₂ is the area of said outlet opening of the inlet channel of said tensile valve;

C ₂ - the stiffness of the said second elastic element,

on the working section of the length of the said rod, which corresponds to the compressed state of the said suspension, the specified target value X ₂ for each cross section of this rod is directly proportional to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper,

on the working section of the length of the said rod, which corresponds to the stretched state of the said suspension, said predetermined value X ₁ for each cross section of this rod is equal to the module for the deviation of the said elastic force from its static value corresponding to this longitudinal section of the rod,

on the working section of the length of the said rod, which corresponds to the compressed state of the said suspension, the said predetermined value X ₂ for each cross section of this rod is equal to the module for the deviation of the said elastic force from its static value corresponding to this longitudinal section of the rod,

on the working section of the length of said rod, which corresponds to the compressed state of said suspension, said predetermined value X ₁ for each cross section of this rod is less than 10% of the static value of the elastic force referred to the longitudinal axis of the damper module

on the working section of the length of the said rod, which corresponds to the stretched state of the said suspension, said predetermined value X ₂ for each cross section of this rod is less than 10% of the static value of the elastic force referred to the longitudinal axis of the damper module,

at least on a part of the working section of the length of said rod that corresponds to the compressed state of said suspension, said set value X ₁ for each cross section of this rod is directly proportional to the modulus of deviation of said elastic force from its corresponding to the longitudinal axis of the damper and the corresponding cross section of the rod static value

at least in parts on the working portion of the length of the said rod, which corresponds to the stretched state of the said suspension, the specified target value X ₂ for each cross section of this rod is directly proportional to the modulus of the deviation of the said elastic force from the longitudinal axis of the damper and the corresponding cross section of the rod its static value

the bore of the said compression valve corresponds to the angle of inclination of the dependence of the module of the resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension,

the bore of the said tensile valve corresponds to the angle of inclination of the dependence of the modulus of the resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension,

the total bore of the said first and second chokes corresponds to the slope of the said dependence of the modulus of the resistance force on the modulus of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of disturbances of the said suspension.

The second variant of the device for implementing the proposed method, as well as the device known from the international application for the invention WO 02/101262 A1, is a device for damping the suspension of a vehicle, which contains at least one elastic element that creates an elastic force acting on the sprung mass and unsprung mass of the vehicle connected by this elastic element, and it is a hydraulic telescopic damper, which, when the deflection of dvski creates a resistance force, the modulus of which depends on the modulus of the rate of change of the deflection, and which

a working cylinder, the inner cavity of which is filled with liquid,

the rod, which is designed to absorb external load and mounted coaxially with the said working cylinder with the possibility of translational (return) movement in the said working cylinder during compression (tension) of the damper,

a piston which is fixed at the end of said rod and divides the internal cavity of said working cylinder into a compression chamber, the volume of which decreases when the damper is compressed, and into a tensile chamber, the volume of which decreases when the damper is stretched,

a compression valve that has at least one inlet channel that has an inlet on the side of said compression chamber, and an outlet on the side of another chamber of said damper,

a tensile valve, which has at least one inlet channel that is formed in said piston and has an inlet on the side of said tensile chamber, and an outlet on the side of said compression chamber,

the first locking element, which is part of said compression valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said liquid flowing out of said compression chamber,

the second locking element, which is part of said tensile valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said fluid flowing out of said tensile chamber,

a first elastic element, the elastic force of which prevents the movement of said first locking element under the action of said liquid flowing out of said compression chamber, and which is part of said compression valve,

a second elastic element, the elastic force of which prevents the movement of said second locking element under the action of said fluid flowing from said tensile chamber, and which is part of said tensile valve,

the first support, which interacts with said first elastic element, is part of said compression valve and has a part of the inner surface which is conical,

a first guide element along which said first support is capable of reciprocating movement in the direction of said first elastic element,

the second support, which interacts with said second elastic element, is part of said tensile valve and has a part of the inner surface, which is made conical,

a second guide element along which said second support is capable of reciprocating movement in the direction of said second elastic element.

The proposed device differs from the device known from the international application for the invention WO 02/101262 A1, in that:

contains a compensation chamber, which is separated from said compression chamber by a partition and partially filled with said liquid,

comprises a bypass valve that couples said compression chamber to said tensile chamber during compression of the damper and has a negligible resistance to the outflow of said liquid from said compression chamber,

said feed channel of said compression valve is made in said partition and has an outlet on the side of said compensation chamber,

comprises a first rod, which is mounted coaxially with said working cylinder inside said first guide element with the possibility of longitudinal movement and at a working section of its length, which is less than the maximum stroke of said rod, made in the form of a body of revolution with a concave or convex side surface,

one end of said first rod is located in said compression chamber, and a working length portion of this rod is located in said compensation chamber,

contains a second rod, which is mounted coaxially with the said working cylinder inside the said second guide element with the possibility of longitudinal movement and on the working section of its length, which is less than the maximum stroke of the said rod, made in the form of a body of revolution with a concave or convex side surface,

contains at least first and second holes made in said first guide element and whose axes are perpendicular to the longitudinal axis of said first rod,

contains at least a third and a fourth hole made in said second guide element and whose axes are perpendicular to the longitudinal axis of said second rod,

contains at least first and second identical balls mounted respectively in said first and second holes with the possibility of reciprocating rolling along the axis of these holes and each of which interacts with one side of the side surface of said first rod, and interacts with the conical side the inner surface of said first support,

contains at least third and fourth identical balls mounted respectively in said third and fourth holes with the possibility of reciprocating rolling along the axis of these holes and each of which interacts with one side of the side surface of said second rod and interacts with the conical side the inner surface of said second support,

comprises a third support which is connected to an end face of said first rod located in said compression chamber,

comprises a fourth support, which is connected to the end face of said second rod facing the said compression chamber,

comprises a first spring which is installed between said third support and said fourth support,

contains a second spring, which is installed between said third support and said partition, and the rigidity of which relates to the rigidity of said first spring, as the maximum stroke of said rod refers to the length of the working section of said first rod,

comprises a third spring which is installed between said fourth support and said piston and whose stiffness relates to the stiffness of said first spring, as the maximum stroke of said rod relates to the length of the working section of said second rod,

each value of said deflection of the suspension corresponds to a cross section of said first rod in the working section of its length,

each value of the said deflection of the suspension corresponds to a cross section of the said second rod on the working section of its length,

on the working section of the length of the said first rod, the diameter in each cross section of this rod corresponds to equation (e3):

Where

D ₁ is the diameter of said first rod in each cross section of this rod;

Dn ₁ is the maximum diameter of said first rod corresponding to an undeformed state of said first elastic element;

α ₁ is the angle between the longitudinal axis of said first rod and the conical inner surface of said first support;

X ₁ - corresponding to each cross-section of said first rod, a predetermined module value of said resistance force, at which said said compression valve is opened;

S ₁ is the cross-sectional area of said rod;

Sk ₁ is the area of said outlet opening of the supply channel of said compression valve;

C ₁ is the stiffness of said first elastic element,

on the working section of the length of said first rod, which corresponds to the stretched state of said suspension, said set value X ₁ for each cross section of this rod is directly proportional to the modulus of deviation of said elastic force from its static value corresponding to the longitudinal axis of the damper,

on the working section of the length of the said second rod, the diameter in each cross section of this rod corresponds to equation (e4):

Where

D ₂ is the diameter of said second rod in each cross section of this rod;

Dn ₂ is the maximum diameter of said second rod corresponding to an undeformed state of said second elastic element;

α ₂ is the angle between the longitudinal axis of said second rod and the conical inner surface of said second support;

X ₂ - corresponding to each cross-section of the said second rod, the set value of the module of the mentioned resistance force, at which the said tensile valve opens;

S ₂ is the difference between the cross-sectional area of said working cylinder and the cross-sectional area of said rod;

Sk ₂ is the area of said outlet opening of the inlet channel of said tensile valve;

C ₂ - the stiffness of the said second elastic element,

on the working section of the length of said second rod, which corresponds to the compressed state of said suspension, said predetermined value X ₂ for each cross section of this rod is directly proportional to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper,

on the working section of the length of said first rod, which corresponds to the stretched state of said suspension, said predetermined value X ₁ for each cross section of this rod is equal to the modulus of deviation of the said elastic force from its static value corresponding to this longitudinal section of the rod,

on the working section of the length of the said second rod, which corresponds to the compressed state of the suspension, the said predetermined value X ₂ for each cross section of this rod is equal to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper,

on the working portion of the length of said first rod, which corresponds to the compressed state of said suspension, said predetermined value X ₁ for each cross section of this rod is less than 10% of the static value of the elastic force referred to the longitudinal axis of the damper module,

on the working portion of the length of said second rod, which corresponds to the stretched state of said suspension, said predetermined value X ₂ for each cross section of this rod is less than 10% of the static value of the elastic force referred to the longitudinal axis of the damper module,

at least on a part of the working portion of the length of said first rod, which corresponds to the compressed state of said suspension, said predetermined value X ₁ for each cross section of this rod is directly proportional to the modulus of deviation of said elastic force from the longitudinal axis of the damper and corresponding to this cross section of the rod its static value

at least on a part of the working portion of the length of said second rod, which corresponds to the stretched state of said suspension, said predetermined value of X ₂ for each cross section of this rod is directly proportional to the modulus of deviation of the said elastic force from the longitudinal axis of the damper and the corresponding cross section of the rod its static value

the bore of the said compression valve corresponds to the angle of inclination of the dependence of the module of the resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension,

the bore of the said tensile valve corresponds to the angle of inclination of the dependence of the modulus of the resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension,

contains at least one throttle that connects said inner cavity of said working cylinder with said compensation chamber,

the bore of the said inductor corresponds to the angle of inclination of the dependence of the modulus of the resistance force on the modulus of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of disturbances of the suspension.

DESCRIPTION OF THE DRAWINGS

Figure 1 shows a first embodiment of a device for implementing the proposed method.

Figure 2 shows a second variant of the device for implementing the proposed method.

Figure 3 shows the time diagrams of the dynamic stress changes in the body element of the VAZ-2110 car at the attachment point of the MacPherson right front suspension strut while driving at a speed of 40 km / h on a smooth cobblestone with a serial suspension strut and with an experimental suspension strut.

Figure 4 shows the time diagrams of changes in dynamic stress in the body element of the VAZ-2110 car at the attachment point of the MacPherson right front suspension strut while driving at a speed of 30 km / h on broken cobblestone with a serial suspension strut and with an experimental suspension strut.

Figure 5 shows the time diagrams of changes in dynamic stress in the body element of the VAZ-2110 car at the attachment point of the MacPherson right front suspension strut while driving at a speed of 50 km / h on worn (broken) asphalt with a serial suspension strut and with an experimental strut pendants.

Figure 6 shows the time diagrams of changes in the dynamic voltage in the body element of the VAZ-2110 car at the attachment point of the MacPherson right front suspension strut while driving at a speed of 90 km / h on smooth asphalt with a serial suspension strut and with an experimental suspension strut.

DETAILED DESCRIPTION OF THE INVENTION

The ability to achieve the claimed technical result when using the proposed method is confirmed by the analysis of the reactions of the mechanical oscillatory system, which is a simplified model of the vehicle suspension, to various changes in the profile of the supporting surface.

The mechanical oscillation system under consideration contains sprung and unsprung masses, which are connected by an elastic element that creates an elastic force acting on the sprung and unsprung mass, and by an element that, when the deflection of the elastic element changes, removes mechanical energy from the suspension and creates a drag force that slows down deflection change and the module of which has a direct dependence on the module of the rate of deflection change.

In the considered oscillatory system, the following assumptions are made:

- the sprung and unsprung mass is affected by gravity;

- all forces act along one straight line;

- the direction of gravity is taken as a negative direction;

- the resultant force pressing the unsprung mass to the supporting surface is balanced by the reaction of the supporting surface.

The resulting force acting on the sprung mass is described by equation (e5).

Where

F is the resulting force acting on the sprung mass;

Fest - static value of elastic force;

_Δ Fe is the deviation of the elastic force from the static value (positive values for the deflection greater than the static deflection, negative values for the deflection less than the static deflection);

Fr is the resistance force;

M - sprung mass;

G - free fall acceleration module.

Since in a static state the elastic force balances the weight of the sprung mass, equation (e5) can be written in the form (e5.1).

(e5.1) F = _Δ Fe + Fr

The resulting force pressing the unsprung mass to the supporting surface is described by equation (e6).

Where

Fa is the resultant force pressing the unsprung mass to the supporting surface;

Fest - static value of elastic force;

_Δ Fe is the deviation of the elastic force from the static value (positive values for the deflection greater than the static deflection, negative values for the deflection less than the static deflection);

Fr is the resistance force;

Ma is the unsprung mass;

G - free fall acceleration module.

In the proposed method, the resistance force is described by equations (e7.1) and (e7.2).

Where

Fr is the resistance force;

K ₁ - the slope of the dependence of the module of the resistance force on the module of the rate of change of deflection, corresponding to the condition:

K ₁ > 2 × (M × C) ^0.5 , where M is the sprung mass, C is the stiffness of said elastic suspension element (maximum stiffness if this element has variable stiffness);

V is the current rate of change of suspension deflection (positive values for suspension compression, negative values for tension);

X is the current reference value;

K ₂ - the slope of the dependence of the module of the resistance force on the module of the rate of change of deflection, corresponding to the condition:

0.0001 × 2 × (M × C) ^0.5 <K ₂ <0.3 × 2 × (M × C) ^0.5 , where M is the sprung mass, C is the stiffness of the said elastic suspension element (minimum stiffness if this element has variable stiffness).

In turn, the current reference value X is set in accordance with equations (e8.1) and (e8.2).

if _Δ Fe> 0 and V <0 or if _Δ Fe <0 and V> 0

if _Δ Fe≥0 and V> 0 or if _Δ Fe≤0 and V <0

Since the proposed method provides for the establishment of the possibly small mentioned setpoint X for the case described by equation (e8.2), it can approximately be considered fair equation (e8.2.1).

if _Δ Fe≥0 and V> 0 or if _Δ Fe≤0 and V <0

Since in the proposed method K _{1 is} set as large as possible, and K _{2 is} set as small as possible, it can be approximately assumed that, when the suspension deflection changes, the resistance force module Fr at each moment of time tends to the current mentioned set value X and corresponds to the equations (e9 .1) and (e9.2).

if _Δ Fe> 0 and V <0 or if _Δ Fe <0 and V> 0

if _Δ Fe≥0 and V> 0 or if _Δ Fe≤0 and V <0

Analysis of the response of the suspension to changes in the profile of the supporting surface

1. Change the profile of the supporting surface in the form of a ledge →

1.1. Access to roughness:

- the deviation of the elastic force from the static value _Δ Fe is equal to zero;

- the rate of change of the suspension deflection V is zero;

- the resistance force Fr is zero;

- equation (e5.1) has the form F = 0, that is, the resulting force acting on the sprung mass is zero;

- equation (e6) has the form Fa = -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface is equal to the sum of the weight of the sprung and unsprung masses.

1.2. Roughness entry:

- the deflection modulus of the deflection from the static value increases, and the deflection deflection itself is greater than zero;

- the deviation of the elastic force from the static value _Δ Fe is greater than zero;

- the rate of change of the suspension deflection V is greater than zero;

- in accordance with equation (e9.2), it can be approximately assumed that the resistance force Fr tends to zero from the side of positive values, since the current mentioned setpoint X is set as small as possible;

- equation (e5.1) has the form F → _Δ Fe, that is, the resulting force acting on the sprung mass tends to the value of the current deviation of the elastic force from a static value;

- equation (e6) has the form Fa → -Fest- _Δ Fe-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the current deviation of the elastic force from the static value and the weight of the sprung and unsprung masses;

- the suspension stores energy equal to the work done by an excess of elastic force over the weight of the sprung mass.

1.3. Movement after entering roughness:

- the deflection modulus of the deflection from the static value decreases, and the deflection deflection itself is greater than zero;

- the deviation of the elastic force from the static value _Δ Fe is greater than zero;

- the rate of change of the suspension deflection V is less than zero;

- in accordance with equation (e9.1), we can approximately assume that the resistance force Fr tends to the magnitude of the current deviation of the elastic force from the static value and is opposite in sign, since the current reference value X is set equal to the modulus of the current deviation of the elastic force from the static Values

- equation (e5.1) has the form F → 0, that is, the resulting force acting on the sprung mass tends to zero;

- equation (e6) has the form Fa → -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the weight of the sprung and unsprung masses;

- return to a static state has an aperiodic character due to the equality of work performed by the excess of elastic force over the weight of the sprung mass, and work performed by the resistance force.

2. Change the profile of the supporting surface in the form of a decline →

2.1. The approach to roughness is considered in paragraph 1.1.

2.2. Departure from bumps:

- the modulus of deflection of the deflection from the static value increases, and the deflection of the deflection itself is less than zero;

- the deviation of the elastic force from the static value _Δ Fe is less than zero;

- the rate of change of the suspension deflection V is less than zero;

- in accordance with equation (e9.2), we can approximately assume that the resistance force Fr tends to zero from the side of negative values, since the current reference value X is set to possibly small;

- equation (e5.1) has the form F → _Δ Fe, that is, the resulting force acting on the sprung mass tends to the value of the current deviation of the elastic force from a static value;

- equation (e6) has the form Fa → -Fest- _Δ Fe-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the current deviation of the elastic force from the static value and the weight of the sprung and unsprung masses;

- the suspension stores energy equal to the work done by the excess weight of the sprung mass over the elastic force.

2.3. Movement after leaving the bumps:

- the deflection modulus of the deflection from the static value decreases, and the deflection deflection itself is less than zero;

- the deviation of the elastic force from the static value _Δ Fe is less than zero;

- the rate of change of the suspension deflection V is greater than zero;

- in accordance with equation (e9.1), we can approximately assume that the resistance force Fr tends to the magnitude of the current deviation of the elastic force from the static value and is opposite in sign, since the current reference value X is set equal to the modulus of the current deviation of the elastic force from the static Values

- equation (e5.1) has the form F → 0, that is, the resulting force acting on the sprung mass tends to zero;

- equation (e6) has the form Fa → -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the weight of the sprung and unsprung masses;

- return to a static state is aperiodic in nature due to the equality of work performed by the excess weight of the sprung mass over the elastic force, and work performed by the resistance force.

3. Changing the profile of the supporting surface in the form of a protrusion →

In the case when the unevenness travel time is longer than the aperiodic suspension return time to the static equilibrium position, a consistent combination of unevenness travel described in paragraph 1 and the unevenness discussed in paragraph 2 is obtained. Therefore, in this paragraph the case is considered when the unevenness travel time is less than the aperiodic return time pendants in the position of static equilibrium.

3.1. The approach to the ledge is considered in paragraph 1.1.

3.2. Entrance to the ledge is considered in paragraph 1.2.

3.3. The movement after entering the ledge is discussed in paragraph 1.3. In this case, only a partial aperiodic return to a static state and partial dissipation of the energy stored in the suspension occur.

3.4. The exit from the ledge

Two phases of the exit from the ledge are considered. The first phase is when the current deviation of the deflection of the elastic element from the static value is positive. The second phase is when the current deviation of the deflection of the elastic element from the static value is negative. The actual exit from the protrusion, depending on the geometry of the protrusion, can consist either of only the first phase, or of the sequence of the first and second phases.

3.4.1. The first phase of the exit from the ledge:

- the deflection modulus of the deflection from the static value decreases, and the deflection deflection itself is greater than zero;

- the deviation of the elastic force from the static value _Δ Fe is greater than zero;

- the rate of change of the suspension deflection V is less than zero;

- in accordance with equation (e9.1), we can approximately assume that the resistance force Fr tends to the magnitude of the current deviation of the elastic force from the static value and is opposite in sign, since the current reference value X is set equal to the modulus of the current deviation of the elastic force from the static Values

- equation (e5.1) has the form F → 0, that is, the resulting force acting on the sprung mass tends to zero;

- equation (e6) has the form Fa → -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the weight of the sprung and unsprung masses;

- due to the equality of the work performed by the excess elastic force over the weight of the sprung mass and the work performed by the resistance force, the energy stored in the suspension is dissipated, which corresponds to the difference between the initial and final values of the deflection deviation from the static value during the course of this phase.

3.4.2. The second phase of the exit from the ledge:

- the modulus of deflection of the deflection from the static value increases, and the deflection of the deflection itself is less than zero;

- the deviation of the elastic force from the static value _Δ Fe is less than zero;

- the rate of change of the suspension deflection V is less than zero;

- in accordance with equation (e9.2), we can approximately assume that the resistance force Fr tends to zero from the side of negative values, since the current reference value X is set to possibly small;

- equation (e5.1) has the form F → _Δ Fe, that is, the resulting force acting on the sprung mass tends to the value of the current deviation of the elastic force from a static value;

- equation (e6) has the form Fa → -Fest- _Δ Fe-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the current deviation of the elastic force from the static value and the weight of the sprung and unsprung masses;

- the suspension stores energy equal to the work done by the excess weight of the sprung mass over the elastic force.

3.5. Movement after leaving the ledge

Two variants of movement after the exit from the ledge are considered. The first option is when the return to a static state begins from the first phase of the exit with a ledge. The second option is when the return to a static state begins from the second phase of the exit with a ledge.

3.5.1. The first version of the movement after the exit from the ledge:

- the deflection modulus of the deflection from the static value decreases, and the deflection deflection itself is greater than zero;

- the deviation of the elastic force from the static value _Δ Fe is greater than zero;

- the rate of change of the suspension deflection V is less than zero;

- in accordance with equation (e9.1), we can approximately assume that the resistance force Fr tends to the magnitude of the current deviation of the elastic force from the static value and is opposite in sign, since the current reference value X is set equal to the modulus of the current deviation of the elastic force from the static Values

- equation (e5.1) has the form F → 0, that is, the resulting force acting on the sprung mass tends to zero;

- equation (e6) has the form Fa → -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the weight of the sprung and unsprung masses;

- return to a static state has an aperiodic character due to the equality of work performed by the excess of elastic force over the weight of the sprung mass, and work performed by the resistance force.

3.5.2. The second version of the movement after the exit from the ledge:

- the deflection modulus of the deflection from the static value decreases, and the deflection deflection itself is less than zero;

- the deviation of the elastic force from the static value _Δ Fe is less than zero;

- the rate of change of the suspension deflection V is greater than zero;

- in accordance with equation (e9.1), we can approximately assume that the resistance force Fr tends to the magnitude of the current deviation of the elastic force from the static value and is opposite in sign, since the current reference value X is set equal to the modulus of the current deviation of the elastic force from the static Values

- equation (e5.1) has the form F → 0, that is, the resulting force acting on the sprung mass tends to zero;

- equation (e6) has the form Fa → -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the weight of the sprung and unsprung masses;

- return to a static state is aperiodic in nature due to the equality of work performed by the excess weight of the sprung mass over the elastic force, and work performed by the resistance force.

4. Changing the profile of the supporting surface in the form of a depression →

In the case when the unevenness travel time is longer than the suspension aperiodic return to the static equilibrium position, a consistent combination of unevenness travel described in paragraph 2 and the unevenness discussed in paragraph 1 is obtained. Therefore, this paragraph discusses the case when the unevenness travel time is less than the aperiodic return time pendants in the position of static equilibrium.

4.1. The approach to the cavity is considered in paragraph 1.1.

4.2. The exit to the cavity is considered in paragraph 2.2.

4.3. The movement after the exit to the cavity is considered in paragraph 2.3. In this case, only a partial aperiodic return to a static state and partial dissipation of the energy stored in the suspension occur.

4.4. Departure from the Depression

Two phases of the exit from the depression are considered. The first phase is when the current deviation of the deflection of the elastic element from the static value is negative. The second phase is when the current deviation of the deflection of the elastic element from the static value is positive. The actual exit from the depression, depending on the geometry of the depression, can consist of either only the first phase, or the sequence of the first and second phases.

4.4.1. The first phase of the exit from the cavity:

- the deflection modulus of the deflection from the static value decreases, and the deflection deflection itself is less than zero;

- the deviation of the elastic force from the static value _Δ Fe is less than zero;

- the rate of change of the suspension deflection V is greater than zero;

- in accordance with equation (e9.1), we can approximately assume that the resistance force Fr tends to the magnitude of the current deviation of the elastic force from the static value and is opposite in sign, since the current reference value X is set equal to the modulus of the current deviation of the elastic force from the static Values

- equation (e5.1) has the form F → 0, that is, the resulting force acting on the sprung mass tends to zero;

- equation (e6) has the form Fa → -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the weight of the sprung and unsprung masses;

- due to the equality of the work performed by the excess weight of the sprung mass over the elastic force and the work performed by the resistance force, the energy stored in the suspension is dissipated, which corresponds to the difference between the initial and final values of the deflection deviation from the static value during the course of this phase.

4.4.2. The second phase of the exit from the cavity;

- the deflection modulus of the deflection from the static value increases, and the deflection deflection itself is greater than zero;

- the deviation of the elastic force from the static value _Δ Fe is greater than zero;

- the rate of change of the suspension deflection V is greater than zero;

- in accordance with equation (c9.2), it can be approximately assumed that the resistance force Fr tends to zero from the side of positive values, since the current reference value X is set as small as possible;

- equation (e5.1) has the form F → _Δ Fe, that is, the resulting force acting on the sprung mass tends to the value of the current deviation of the elastic force from a static value;

- equation (e6) has the form Fa → -Fest- _Δ Fe-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the current deviation of the elastic force from the static value and the weight of the sprung and unsprung masses;

- the suspension stores energy equal to the work done by an excess of elastic force over the weight of the sprung mass.

4.5. Movement after leaving the cavity

Two variants of movement after leaving the cavity are considered. The first option is when the return to a static state begins from the first phase of the exit from the depression. The second option is when the return to a static state begins from the second phase of the exit from the depression.

4.5.1. The first version of the movement after leaving the cavity:

- the deflection modulus of the deflection from the static value decreases, and the deflection deflection itself is less than zero;

- the deviation of the elastic force from the static value _Δ Fe is less than zero;

- the rate of change of the suspension deflection V is greater than zero;

- in accordance with equation (e9.1), we can approximately assume that the resistance force Fr tends to the magnitude of the current deviation of the elastic force from the static value and is opposite in sign, since the current reference value X is set equal to the modulus of the current deviation of the elastic force from the static Values

- equation (e5.1.) has the form F → 0, that is, the resulting force acting on the sprung mass tends to zero;

- equation (e6) has the form Fa → -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the weight of the sprung and unsprung masses;

- return to a static state is aperiodic in nature due to the equality of work performed by the excess weight of the sprung mass over the elastic force, and work performed by the resistance force.

4.5.2. The second version of the movement after leaving the cavity:

- the deflection modulus of the deflection from the static value decreases, and the deflection deflection itself is greater than zero;

- the deviation of the elastic force from the static value _Δ Fe is greater than zero;

- the rate of change of the suspension deflection V is less than zero;

- in accordance with equation (e9.1), we can approximately assume that the resistance force Fr tends to the magnitude of the current deviation of the elastic force from the static value and is opposite in sign, since the current reference value X is set equal to the modulus of the current deviation of the elastic force from the static Values

- equation (e5.1) has the form F → 0, that is, the resulting force acting on the sprung mass tends to zero;

- equation (e6) has the form Fa → -Fest-Ma × G, that is, the resulting force pressing the unsprung mass to the supporting surface tends to the sum of the weight of the sprung and unsprung masses;

- return to a static state has an aperiodic character due to the equality of work performed by the excess of elastic force over the weight of the sprung mass, and work performed by the resistance force.

As follows from the above analysis, a significant deviation of the resulting force acting on the sprung mass from zero, as well as the resulting force pressing the unsprung mass to the supporting surface, from the static value takes place only:

- when the current deflection of the suspension is greater than the static value during compression of the suspension when hitting an obstacle;

- when the current deflection is less than the static value during the suspension stretching when exiting an obstacle.

In all other situations, the resulting force acting on the sprung mass differs little from zero, and the resulting force pressing the unsprung mass to the supporting surface differs little from the static value.

The emergence of resonance of the sprung mass and resonance of the unsprung mass is impossible, since during the single process of reducing the modulus of deflection of the deflection of the elastic element from the static value, all energy stored in the suspension during the previous single process of increasing the modulus of the deviation of the deflection of the elastic element from the static value is dissipated.

This technical result is valid for changes in the profile of the supporting surface of any amplitude (within the suspension travel), repetition frequency (within the speed of the device for implementing the method) and shape, because:

- equations (e5) and (e5.1) describe the instantaneous value of the resulting force acting on the sprung mass;

- equation (e6) describes the instantaneous value of the resulting force, pressing the unsprung mass to the supporting surface;

- equations (e7.1) and (e7.2) describe the instantaneous value of the resistance force;

- equations (e8.1) and (e8.2) describe the instantaneous reference setpoint;

- any changes in the profile of the supporting surface can be represented by a combination of the irregularities considered in the analysis.

The proposed method of damping the vibrations of a mechanical oscillatory system, which is a vehicle suspension, can be implemented by connecting the sprung mass of the vehicle with its unsprung mass damper, which is any of the two proposed device options for implementing the proposed method.

The first embodiment of the device for implementing the proposed method is shown in figure 1.

Description of device design

The device is a single-tube hydraulic telescopic damper. The stem seal and the compensation gas chamber in figure 1 are not shown and are not considered, since they are similar to those traditionally used in single-tube hydraulic telescopic dampers and have no relation to the essence of the invention.

The device has the following design:

contains a working cylinder (1), the inner cavity of which is filled with liquid,

contains a rod (2), which is designed to absorb external load and is mounted coaxially with the working cylinder (1) with the possibility of translational (return) movement in the working cylinder (1) during compression (tension) of the damper,

the rod (2) has an internal cavity that communicates with the internal cavity of the working cylinder (1),

contains a piston (3), which is mounted on the end of the rod (2) and divides the inner cavity of the working cylinder (1) into a compression chamber (4), the volume of which decreases when the damper is compressed, and into a tensile chamber (5), the volume of which decreases when stretched damper

contains a compression valve, which has at least one inlet channel (6), which is made in the piston (3) and has an inlet on the side of the compression chamber (4), and an outlet on the side of the tensile chamber (5),

contains a tensile valve, which has at least one inlet channel (7), which is made in the piston (3) and has an inlet on the side of the tensile chamber (5), and an outlet on the side of the compression chamber (4),

contains the first locking element (8), which is part of the said compression valve, overlaps the outlet of the inlet channel (6) of this valve and is installed with the possibility of movement under the action of the said liquid flowing from the compression chamber (4),

contains a second locking element (9), which is part of the said tensile valve, overlaps the outlet of the inlet channel (7) of this valve and is mounted to move under the influence of the said fluid flowing from the tensile chamber (5),

contains a first elastic element (10), the elastic force of which prevents the movement of the first locking element (8) under the action of said liquid flowing from the compression chamber (4), and which is part of the said compression valve,

contains a second elastic element (11), the elastic force of which prevents the second locking element (9) from moving under the action of said fluid flowing from the tensile chamber (5), and which is part of the said tensile valve,

contains the first support (12), which interacts with the first elastic element (10), is part of the compression valve and has a part of the inner surface, which is made conical,

contains a first guide element (13) along which the first support (12) has the possibility of reciprocating movement in the direction of the first elastic element (10),

contains a second support (14), which interacts with the second elastic element (11), is part of the said tensile valve and has a part of the inner surface, which is made conical,

contains a second guide element (15) along which the second support (14) has the ability to reciprocate in the direction of the second elastic element (11),

contains a rod (16), which is mounted on the bottom of the compression chamber (4), slides into the said inner cavity of the rod (2) when the damper is compressed, has a four-sided variable cross section at the working section of its length, which is equal to the maximum stroke of the rod (2),

contains a first hole made in the first guide element (13) from the side of the first side surface of the rod (16) and whose axis is perpendicular to the longitudinal axis of the rod (16),

contains a second hole made in the first guide element (13) from the side of the second side surface of the rod (16), which is opposite to the said first side surface of the rod (16), and the axis of which is perpendicular to the longitudinal axis of the rod (16),

contains a third hole (similar to the first hole, not shown in FIG. 1, since it is perpendicular to the plane of the drawing) made in the second guide element (15) from the side of the third lateral surface of the rod (16) and whose axis is perpendicular to the longitudinal axis of the rod (16 ),

contains a fourth hole (similar to the second hole, not shown in FIG. 1, since it is perpendicular to the plane of the drawing) made in the second guide element (15) from the side of the fourth side surface of the rod (16), which is opposite to the said third side surface of the rod ( 16), and whose axis is perpendicular to the longitudinal axis of the rod (16),

comprises a first stop (17) of a cylindrical shape, which is mounted in said first hole with the possibility of reciprocating movement along the axis of this hole and with one of its ends, having the shape of a convex cylindrical surface, interacts with said first side surface of the rod (16), and its opposite the end face, having the shape of an inclined convex cylindrical surface, interacts with the conical inner surface of the first support (12),

contains a second stop (18), which is identical to the first stop (17), is installed in said second hole with the possibility of reciprocating movement along the axis of this hole and with one of its ends, having the shape of a convex cylindrical surface, interacts with said second lateral surface of the rod (16 ), and with its opposite end face, having the shape of an inclined convex cylindrical surface, interacts with the conical inner surface of the first support (12),

contains a third stop (identical to the stop (17), not shown in FIG. 1, since it is perpendicular to the plane of the drawing), which is mounted in the said third hole with the possibility of reciprocating movement along the axis of this hole and with one of its ends, having the shape of a convex surface, interacts with said third lateral surface of the rod (16), and with its opposite end, having the shape of an inclined convex cylindrical surface, interacts with the conical inner surface omyanutoy second bearing (14)

contains a fourth stop (identical to the stop (18), not shown in FIG. 1, since it is perpendicular to the plane of the drawing), which is mounted in said fourth hole with the possibility of reciprocating movement along the axis of this hole and with one of its end faces, having the shape of a convex cylindrical surface interacts with the fourth fourth lateral surface of the rod (16), and its opposite end, having the form of an inclined convex cylindrical surface, interacts with the conical inner surface the aforementioned second support (14),

contains a first throttle that connects the compression chamber (4) with a tensile chamber (5) and which is formed by a gap between the side surface of the first stop (17) and the surface of the first hole,

contains a second throttle that connects the compression chamber (4) with a tensile chamber (5) and which is formed by a gap between the side surface of the second stop (18) and the surface of the second hole,

on the working section of the length of the rod (16), the distance between the first and the second side surfaces of this rod in each cross section of this rod corresponds to equation (e1),

on the working section of the length of the rod (16), the distance between the said third and the said fourth side surfaces of this rod in each cross section of this rod corresponds to equation (e2),

on the working section of the length of the rod (16), which corresponds to the stretched state of the suspension, the set value X ₁ mentioned in equation (e1) for each cross section of this rod is equal to the modulus of the deviation of the said elastic force from the longitudinal axis of the damper and the corresponding cross section of the rod its static value

on the working section of the length of the rod (16), which corresponds to the compressed state of the suspension, the specified value X ₂ for each cross section of this rod referred to in equation (e2) is equal to the modulus of deviation of the said elastic force from the longitudinal axis of the damper and the corresponding cross section of the rod its static value

in the working section of the length of the rod (16), which corresponds to the compressed state of the suspension, the set value X ₁ mentioned in equation (e1) for each cross section of this rod is 1% of the static value of the elastic force referred to the longitudinal axis of the damper module,

on the working section of the length of the rod (16), which corresponds to the stretched state of the suspension, the set value X ₂ mentioned in equation (e2) for each cross section of this rod is 1% of the static value of the elastic force referred to the longitudinal axis of the damper module,

the cross-section of the said compression valve in any phase of opening of this valve corresponds to the angle of inclination of the dependence of the module of resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational damping of disturbances of the aforementioned pendants

the cross section of the said tensile valve in any phase of opening of this valve corresponds to the angle of inclination of the dependence of the modulus of resistance force on the modulus of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational damping of perturbations of the aforementioned pendants

the total bore of the said first and second chokes corresponds to the slope of the said dependence of the modulus of the resistance force on the modulus of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of disturbances of the said suspension.

Device Description

When reciprocating the rod (2) in the working cylinder (1), the first stop (17) slides along the first side surface of the shaft (16), and the second stop (18) slides along the second side surface of the shaft (16).

If during the movement of the rod (2) there is an increase in the distance between the first and second side surfaces of the rod (16), the stops (17) and (18) extend from the damper axis and squeeze the first support (12) along the first guide element (13) in the direction the first elastic element (10). In this case, the first elastic element (10) is compressed and its elastic force increases, which presses the first locking element (8) against the piston (3). This leads to an increase in the overpressure of said liquid in the compression chamber (4), at which the first locking element (8) opens the outlet of the inlet channel (6) of the compression valve during compression of the damper.

If during the movement of the rod (2) there is a decrease in the distance between the first and second side surfaces of the rod (16), the stops (17) and (18) are shifted to the damper axis under the action of the first support (12), which moves along the first guide element (13 ) in the direction from the first elastic element (10) under the action of its elastic force. In this case, the first elastic element (10) is stretched and its elastic force decreases, which presses the first locking element (8) against the piston (3). This leads to a decrease in the overpressure of said liquid in the compression chamber (4), at which the first locking element (8) opens the outlet of the inlet channel (6) of the compression valve during compression of the damper.

During stretching of the damper, the outlet of the inlet channel (6) is constantly closed due to the excess pressure of said liquid in the tensile chamber (5) and the elastic force of the first elastic element (10), which press the first locking element (8) to the piston (3).

When reciprocating the rod (2) in the working cylinder (1), said third stop slides along said third lateral surface of the rod (16), and said fourth stop slides along said fourth lateral surface of the rod (16).

If during the movement of the rod (2) there is an increase in the distance between the third and fourth side surfaces of the rod (16), the third and fourth stops extend from the damper axis and squeeze the second support (14) along the second guide element (15) in the direction of the second elastic element ( eleven). In this case, the second elastic element (11) is compressed and its elastic force increases, which presses the second locking element (9) against the piston (3). This leads to an increase in the overpressure of said liquid in the tensile chamber (5), at which the second locking element (9) opens the outlet of the inlet channel (7) of the tensile valve during tensile damper.

If during the movement of the rod (2) there is a decrease in the distance between the third and fourth lateral surfaces of the rod (16), the third and fourth stops are shifted to the damper axis under the action of the second support (14), which moves along the second guide element (15) in the direction from the second elastic element (11) under the action of its elastic force. In this case, the second elastic element (11) is stretched and its elastic force decreases, which presses the second locking element (9) against the piston (3). This leads to a decrease in the overpressure of said liquid in the tensile chamber (5), at which the second locking element (9) opens the outlet of the inlet channel (7) of the tensile valve while stretching the damper.

During compression of the damper, the outlet of the supply channel (7) is constantly closed due to the excess pressure of the liquid in the compression chamber (4) and the elastic force of the second elastic element (11), which press the second locking element (9) to the piston (3).

The modulus of the resistance force created by the damper during compression of the damper is described by equation (e10).

Where

Fr is the resistance force;

S ₁ - the cross-sectional area of the working cylinder (1);

P ₄₅ is the excess pressure of said liquid in the compression chamber (4) with respect to the pressure of this liquid in the expansion chamber (5).

The excess pressure of said liquid in the compression chamber (4) with respect to the pressure of this liquid in the expansion chamber (5) at the time of opening of said compression valve is described by equation (e11).

Where

P ₄₅ is the excess pressure of said liquid in the compression chamber (4) with respect to the pressure of this liquid in the expansion chamber (5);

With ₁ - the stiffness of the first elastic element (10);

Le ₁ is the deflection of the first elastic element (10);

Sk ₁ - the area of the outlet of the inlet channel (6) of the compression valve.

The deflection of the first elastic element (10) is described by equation (e12).

Where

Le ₁ is the deflection of the first elastic element (10);

L ₁ is the distance between said first and said second side surfaces of the rod (16) in a given cross section of this rod;

Ln ₁ is the maximum distance between said first and said second side surfaces of the rod (16), corresponding to the undeformed state of the first elastic element (10);

α ₁ is the angle between the longitudinal axis of the rod (16) and the inner conical surface of the first support (12).

Subsequent substitution of equation (e12) into equation (e11) and equation (e11) into equation (e10) brings equation (e10) to the form (e10.1).

.The substitution of equation (e1), which determines the value of L ₁ , into equation (e10.1) leads to the equality

.

Thus, during compression of said suspension, the opening of said compression valve occurs when the resistance modulus | Fr | and said predetermined value X ₁ corresponding to the current cross section of the rod (16).

As

- in the working section of the length of the rod (16), which corresponds to the stretched state of the suspension, the specified target value X ₁ for each cross section of this rod is equal to the module for the deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper,

- in the working section of the length of the rod (16), which corresponds to the compressed state of the said suspension, the specified target value X ₁ for each cross section of this rod is 1% of the static value of the elastic force referred to the longitudinal axis of the damper module,

- the total flow section of the aforementioned first and said second chokes corresponds to the angle of inclination of the aforementioned dependence of the modulus of the resistance force on the modulus of rate of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of disturbances of the said suspension,

- the bore of the said compression valve in any phase of opening of this valve corresponds to the angle of inclination of the aforementioned dependence of the module of resistance force on the module of the rate of change of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to vibrational damping of disturbances said suspension

then the modulus of the mentioned resistance force changes in accordance with equations (e9.1) and (e9.2) for the case V> 0, that is, the device in question provides the implementation of the proposed method during compression of the said suspension.

The modulus of the resistance force created by the damper during the stretching of the damper is described by equation (e13).

Where

Fr is the resistance force;

S ₂ - the difference between the cross-sectional area of the working cylinder (1) and the cross-sectional area of the rod (2);

P ₅₄ is the excess pressure of said liquid in the expansion chamber (5) with respect to the pressure of this liquid in the compression chamber (4).

The excess pressure of said liquid in the expansion chamber (5) with respect to the pressure of this liquid in the compression chamber (4) at the moment of opening said expansion valve is described by equation (e14).

Where

P ₅₄ is the excess pressure of said liquid in the expansion chamber (5) with respect to the pressure of this liquid in the compression chamber (4);

C ₂ is the stiffness of the second elastic element (11);

Le ₂ is the deflection of the second elastic element (11);

Sk ₂ - the area of the outlet of the inlet channel (7) of the tensile valve.

The deflection of the second elastic element (11) is described by equation (e15).

Where

Le ₂ is the deflection of the second elastic element (11);

L ₂ is the distance between said third and said fourth side surfaces of the rod (16) in a given cross section of this rod;

Ln ₂ is the maximum distance between said third and said fourth side surfaces of the rod (16), corresponding to the undeformed state of the second elastic element (11);

α ₂ is the angle between the longitudinal axis of the rod (16) and the inner conical surface of the second support (14).

Subsequent substitution of equation (e15) into equation (e14) and equation (e14) into equation (e13) brings equation (e13) to the form (e13.1).

Substitution of equation (e2), which determines the value of L ₂ , into equation (e13.1) leads to the equality | Fr | = X ₂ .

Thus, during stretching of said suspension, the opening of said tensile valve occurs when the modulus of the resistance force | Fr | and said setpoint X ₂ corresponding to the current cross-section of the rod (16).

As

- in the working section of the length of the rod (16), which corresponds to the compressed state of the said suspension, the said predetermined value X ₂ for each cross section of this rod is equal to the module for the deviation of the said elastic force from its static value corresponding to this longitudinal section of the rod,

- in the working section of the length of the rod (16), which corresponds to the stretched state of the said suspension, the said predetermined value X ₂ for each cross section of this rod is 1% of the static value of the elastic force referred to the longitudinal axis of the damper module,

- the total flow section of the aforementioned first and said second chokes corresponds to the angle of inclination of the aforementioned dependence of the modulus of the resistance force on the modulus of rate of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of disturbances of the said suspension,

- the bore of the said tensile valve in any phase of opening of this valve corresponds to the angle of inclination of the dependence of the module of resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to vibrational damping of disturbances said suspension

then the modulus of the mentioned resistance force changes in accordance with equations (e9.1) and (e9.2) for the case V <0, that is, the device in question provides the implementation of the proposed method during stretching of the suspension.

The second version of the device for implementing the proposed method is shown in figure 2.

Description of device design

The device is a two-pipe hydraulic telescopic damper. The rod seal and the rod guide sleeve in figure 2 are shown conditionally, since they are similar to those traditionally used in two-pipe hydraulic telescopic dampers and have no relation to the essence of the invention.

The device has the following design:

contains a working cylinder (1), the inner cavity of which is filled with liquid,

contains a rod (2), which is designed to absorb external load and is mounted coaxially with the working cylinder (1) with the possibility of translational (return) movement in the working cylinder (1) during compression (tension) of the damper,

contains a piston (3), which is mounted on the end of the rod (2) and divides the inner cavity of the working cylinder (1) into a compression chamber (4), the volume of which decreases when the damper is compressed, and into a tensile chamber (5), the volume of which decreases when stretched damper

contains a compression valve that has at least one inlet channel (6), which has an inlet on the side of the compression chamber (4), and an outlet on the side of the other damper chamber,

contains a tensile valve, which has at least one inlet channel (7), which is made in the piston (3) and has an inlet on the side of the tensile chamber (5), and an outlet on the side of the compression chamber (4),

contains a first locking element (8), which is part of said compression valve, overlaps said outlet opening of the inlet channel (6) and is mounted to move under the influence of said liquid flowing out of the compression chamber (4),

contains a second locking element (9), which is part of the said tensile valve, closes the outlet of the inlet channel (7) and is installed with the possibility of movement under the action of the said fluid flowing from the tensile chamber (5),

contains a first elastic element (10), the elastic force of which prevents the movement of the first locking element (8) under the action of said liquid flowing from the compression chamber (4), and which is part of the said compression valve,

contains a second elastic element (11), the elastic force of which prevents the second locking element (9) from moving under the action of said fluid flowing from the tensile chamber (5), and which is part of the said tensile valve,

contains the first support (12), which interacts with the first elastic element (10), is part of the compression valve and has a part of the inner surface, which is made conical,

contains a first guide element (13) along which the first support (12) has the possibility of reciprocating movement in the direction of the first elastic element (10),

contains a second support (14), which interacts with the second elastic element (11), is part of the said tensile valve and has a part of the inner surface, which is made conical,

contains a second guide element (15) along which the second support (14) has the ability to reciprocate in the direction of the second elastic element (11),

contains a compensation chamber (16), which is separated from the compression chamber (4) by a partition (17) and partially filled with said liquid,

contains a bypass valve that connects the compression chamber (4) with the tensile chamber (5) during compression of the damper and has a negligible resistance to the outflow of said liquid from the compression chamber (4),

the supply channel (6) of said compression valve is made in the partition (17) and has an outlet on the side of the compensation chamber (16),

contains the first rod (18), which is installed coaxially with the working cylinder (1) inside the first guide element (13) with the possibility of longitudinal movement and on the working section of its length, which is less than the maximum stroke of the rod (2), is made in the form of a body of revolution with a concave side surface

one end of the first rod (18) is located in the compression chamber (4), and the working section of the length of this rod is located in the compensation chamber (16),

contains a second rod (19), which is mounted coaxially with the working cylinder (1) inside the second guide element (15) with the possibility of longitudinal movement and on the working section of its length, which is less than the maximum stroke of the rod (2), is made in the form of a body of revolution with a concave side surface

contains at least the first and second holes made in the first guide element (13) and whose axes are perpendicular to the longitudinal axis of the first rod (18),

contains at least the third and fourth holes made in the second guide element (15) and whose axes are perpendicular to the longitudinal axis of the second rod (19),

contains at least first (20) and second (21) identical balls mounted respectively in said first and second holes with the possibility of reciprocating rolling along the axis of these holes and each of which interacts with one side of the side surface of the first rod (18 ), and on the opposite side interacts with the conical inner surface of the first support (12),

contains at least a third (22) and a fourth (23) identical balls mounted respectively in said third and fourth holes with the possibility of reciprocating rolling along the axis of these holes and each of which interacts with one side with the side surface of the second rod (19 ), and the opposite side interacts with the conical inner surface of the second support (14),

contains a third support (24), which is connected to the end face of the first rod (18) located in the compression chamber (4),

comprises a fourth support (25), which is connected to the end face of the second rod (19) facing the compression chamber (4),

contains a first spring (26), which is installed between the third support (24) and the fourth support (25),

contains a second spring (27), which is installed between the third support (24) and (through intermediate parts) a partition (17) and whose stiffness refers to the stiffness of the first spring (26), as the maximum stroke of the rod (2) relates to the length of the working section of the first rod (18),

contains a third spring (28), which is installed between the fourth support (25) and the piston (3) and whose rigidity relates to the stiffness of the first spring (26), as the maximum stroke of the rod (2) relates to the length of the working section of the second rod (19),

each value of the said suspension deflection corresponds to a cross section of the first rod (18) on the working section of its length,

each value of the said suspension deflection corresponds to a cross section of the second rod (19) on the working section of its length,

on the working section of the length of the first rod (18), the diameter in each cross section of this rod corresponds to equation (e3),

on the working section of the length of the second rod (19), the diameter in each cross section of this rod corresponds to equation (e4),

on the working section of the length of the first rod (18), which corresponds to the stretched state of the suspension, the set value X ₁ mentioned in equation (e3) for each cross section of this rod is equal to the deviation modulus of said elastic force referred to the longitudinal axis of the damper and the corresponding cross section of the rod from its static value,

in the working section of the length of the second rod (19), which corresponds to the compressed state of the suspension, the set value X ₂ mentioned in equation (e4) for each cross section of this rod is equal to the deviation modulus of said elastic force referred to the longitudinal axis of the damper and the corresponding cross section of the rod from its static value,

in the working section of the length of the first rod (18), which corresponds to the compressed state of the suspension, the set value X ₁ mentioned in equation (e3) for each cross section of this rod is 1% of the static value of the elastic force referred to the longitudinal axis of the damper module,

on the working section of the length of the second rod (19), which corresponds to the stretched state of the suspension, the set value X ₂ mentioned in equation (e4) for each cross section of this rod is 1% of the static value of the elastic force referred to the longitudinal axis of the damper module,

the bore of the said compression valve in any phase of its opening corresponds to the angle of inclination of the aforementioned dependence of the modulus of resistance force on the modulus of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension ,

the bore of the said tensile valve in any phase of its opening corresponds to the angle of inclination of the aforementioned dependence of the modulus of the resistance force on the modulus of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension ,

contains a rod guide sleeve (29),

contains a throttle that connects the tensile chamber (5) with the compensation chamber (16) and is formed by the gap between the rod (2) with the inner surface of the guide sleeve (29),

the cross-section of said throttle corresponds to the angle of inclination of the said dependence of the module of resistance force on the module of the rate of change of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of disturbances of the said suspension,

contains a feed channel (30) of said bypass valve, which is made in the piston (3) and has an inlet on the side of the compression chamber (4), and an outlet on the side of the tensile chamber (5),

said bypass valve is mounted on the piston (3) from the side of the tensile chamber (5) and closes its outlet element of the inlet channel (30) with its locking element,

contains a feed channel (31), which is made in the partition (17) and has an inlet on the side of the compensation chamber (16), and an outlet on the side of the compression chamber (4),

contains an inlet valve that is mounted on the partition (17), closes the outlet opening of the inlet channel (31) with its locking element and has a negligible resistance to the flow of said liquid from the compensation chamber (16) into the compression chamber (4).

Device Description

During the translational (return) movement of the rod (2) in the working cylinder (1), the springs (26), (27), and (28) are compressed (stretched). In this case, the third support (24) approaches (moves away) with respect to the partition (17), and the fourth support (25) approaches (moves away) with respect to the piston (3).

The displacement of the third support (24) and the first rod (18) connected with it relative to the balls (20) and (21) is equal to the product of the displacement of the rod (2) by the ratio of the stiffness of the first spring (26) to the stiffness of the second spring (27). Since the length of the working section of the first rod (18) is equal to the product of the maximum stroke of the rod (2) by the ratio of the stiffness of the first spring (26) to the stiffness of the second spring (27), then each position of the rod (2) in the working cylinder (1) corresponds to one transverse the cross section of the first rod (18), with which the balls (20) and (21) interact.

The amount of movement of the fourth support (25) and the second rod (19) connected with it relative to the balls (22) and (23) is equal to the product of the movement of the rod (2) by the ratio of the stiffness of the first spring (26) to the stiffness of the third spring (28). Since the length of the working section of the second rod (19) is equal to the product of the maximum stroke of the rod (2) by the ratio of the stiffness of the first spring (26) to the stiffness of the third spring (28), then each position of the rod (2) in the working cylinder (1) corresponds to one transverse section of the second rod (19), with which the balls (22) and (23) interact.

As the diameter of the cross section of the first rod (18) increases during the movement of the rod (2), the balls (20) and (21) roll out from the damper axis and squeeze the first support (12) along the first guide element (13) in the direction of the first elastic element (10) ) In this case, the first elastic element (10) is compressed and its elastic force increases, which presses the first locking element (8) against the partition (17). This leads to an increase in the overpressure of said liquid in the compression chamber (4), at which the first locking element (8) opens the outlet of the inlet channel (6) of the compression valve during compression of the damper.

When the diameter of the cross section of the first rod (18) decreases during the movement of the rod (2), the balls (20) and (21) are rolled back to the damper axis under the action of the first support (12), which moves along the first guide element (13) in the direction from the first elastic element (10) under the action of its elastic force. In this case, the first elastic element (10) is stretched and its elastic force decreases, which presses the first locking element (8) against the partition (17). This leads to a decrease in the overpressure of said liquid in the compression chamber (4), at which the first locking element (8) opens the outlet of the inlet channel (6) of the compression valve during compression of the damper.

During the expansion of the damper, the outlet of the supply channel (6) is constantly closed due to the excess pressure of the liquid in the compensation chamber (16) and the elastic force of the first elastic element (10), which press the first locking element (8) to the partition (17).

With increasing cross-sectional diameter of the second rod (19) during the movement of the rod (2), the balls (22) and (23) roll out from the damper axis and squeeze the second support (14) along the second guide element (15) in the direction of the second elastic element (11 ) In this case, the second elastic element (11) is compressed and its elastic force increases, which presses the second locking element (9) against the piston (3). This leads to an increase in the overpressure of said liquid in the tensile chamber (5), at which the second locking element (9) opens the outlet of the inlet channel (7) of the tensile valve while stretching the damper.

When the diameter of the cross section of the second rod (19) decreases during the movement of the rod (2), the balls (22) and (23) are rolled back to the damper axis under the action of the second support (14), which moves along the second guide element (15) in the direction from the second elastic element (11) under the action of its elastic force. In this case, the second elastic element (11) is stretched and its elastic force decreases, which presses the second locking element (9) against the piston (3). This leads to a decrease in the overpressure of said liquid in the tensile chamber (5), at which the second locking element (9) opens the outlet of the inlet channel (7) of the tensile valve while stretching the damper.

During compression of the damper, the outlet of the supply channel (7) is constantly closed due to the excess pressure of the liquid in the compression chamber (4) and the elastic force of the second elastic element (11), which press the second locking element (9) to the piston (3).

During compression of the damper, said fluid flows from the compression chamber (4) into the compression chamber (5) through said bypass valve, which has a negligible resistance to this outflow. The volume of said liquid equal to the volume of the rod (2) pushed into the working cylinder (1) flows into the compensation chamber (16) from the expansion chamber (5) through the said throttle and from the compression chamber (4) through the said compression valve (if this valve is open )

During the expansion of the damper, said liquid flows from the expansion chamber (5) into the compression chamber (4) through said expansion valve (if this valve is open) and through said throttle into the compensation chamber (16). The volume of said liquid, equal to the volume of the rod (2) extended from the working cylinder (1), comes from the compensation chamber (16) through the said inlet valve, which exerts negligible resistance to this flow, into the compression chamber (4),

The modulus of the drag force created by the damper during compression of the damper is described by equation (e16).

Where

Fr is the resistance force;

S ₁ - the cross-sectional area of the rod (2);

P ₁ is the overpressure of said liquid in the working cylinder (1).

The excess pressure of said liquid in the working cylinder (1) at the moment of opening said compression valve is described by equation (e17).

Where

P ₁ is the overpressure of said fluid in the working cylinder (1);

With ₁ - the stiffness of the first elastic element (10);

Le ₁ is the deflection of the first elastic element (10);

Sk ₁ - the area of the outlet of the inlet channel (6) of the compression valve.

The deflection of the first elastic element (10) is described by equation (e18).

Where

Le ₁ is the deflection of the first elastic element (10);

D ₁ - the diameter of the first rod (18) in a given cross section of this rod;

Dn ₁ is the maximum diameter of the first rod (18), corresponding to the undeformed state of the first elastic element (10);

α ₁ is the angle between the longitudinal axis of the first rod (18) and the inner conical surface of the first support (12).

Subsequent substitution of equation (e18) into equation (e17) and equation (e17) into equation (e16) brings equation (e16) to the form (e16.1).

Substitution of equation (e3), which determines the value of D ₁ , into equation (e16.1) leads to the equality | Fr | = X ₁ .

Thus, during compression of said suspension, the opening of said compression valve occurs when the resistance modulus | Fr | and said setpoint X ₁ corresponding to the current cross section of the first rod (18).

As

- in the working section of the length of the first rod (18), which corresponds to the stretched state of the said suspension, the said predetermined value X ₁ for each cross section of this rod is equal to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper and the corresponding cross section of the rod ,

- in the working section of the length of the first rod (18), which corresponds to the compressed state of the said suspension, said predetermined value X ₁ for each cross section of this rod is 1% of the static value of the elastic force referred to the longitudinal axis of the damper module,

- the bore of the said inductor corresponds to the angle of inclination of the dependence of the modulus of the resistance force on the modulus of the rate of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of the perturbations of the suspension,

- the bore of the said compression valve in any phase of opening of this valve corresponds to the angle of inclination of the aforementioned dependence of the module of resistance force on the module of the rate of change of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to vibrational damping of disturbances said suspension

then the modulus of the mentioned resistance force changes in accordance with equations (e9.1) and (e9.2) for the case V> 0, that is, the device in question provides the implementation of the proposed method during compression of the said suspension.

The modulus of the drag force created by the damper during the stretching of the damper is described by equation (e19).

Where

Fr is the resistance force;

S ₂ - the difference between the cross-sectional area of the working cylinder (1) and the cross-sectional area of the rod (2);

P ₅₄ is the excess pressure of said liquid in the expansion chamber (5) with respect to the pressure of this liquid in the compression chamber (4).

The excess pressure of said liquid in the expansion chamber (5) with respect to the pressure of this liquid in the compression chamber (4) at the moment of opening the said expansion valve is described by equation (e20).

Where

P ₅₄ is the excess pressure of said liquid in the expansion chamber (5) with respect to the pressure of this liquid in the compression chamber (4);

C ₂ is the stiffness of the second elastic element (11);

Le ₂ is the deflection of the second elastic element (11);

Sk ₂ - the area of the outlet of the inlet channel (7) of the tensile valve.

The deflection of the second elastic element (11) is described by equation (e21).

Where

Le ₂ is the deflection of the second elastic element (11);

D ₂ - the diameter of the second rod (19) in this cross section of this rod;

Dn ₂ is the maximum diameter of the second rod (19), corresponding to the undeformed state of the second elastic element (11);

α ₂ is the angle between the longitudinal axis of the second rod (19) and the inner conical surface of the second support (14).

Subsequent substitution of equation (e21) into equation (e20) and equation (e20) into equation (e19) brings equation (e19) to the form (e19.1).

Substitution of equation (e4), which determines the value of D ₂ , into equation (e19.1) leads to the equality | Fr | = X ₂ .

Thus, during stretching of said suspension, the opening of said tensile valve occurs when the modulus of the resistance force | Fr | and said predetermined value X ₂ corresponding to the current cross-section of the second rod (19).

As

- in the working section of the length of the second rod (19), which corresponds to the compressed state of the said suspension, the said predetermined value of X ₂ for each cross section of this rod is equal to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper and the corresponding cross section of the rod ,

- in the working section of the length of the second rod (19), which corresponds to the stretched state of the said suspension, said predetermined value X ₂ for each cross section of this rod is 1% of the static value of the elastic force referred to the longitudinal axis of the damper module,

- the bore of the said inductor corresponds to the angle of inclination of the dependence of the modulus of the resistance force on the modulus of the rate of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of the perturbations of the suspension,

- the bore of the said tensile valve in any phase of the opening of this valve corresponds to the angle of inclination of the dependence of the modulus of resistance force on the modulus of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to vibrational damping of disturbances said suspension

then the modulus of the mentioned resistance force changes in accordance with equations (e9.1) and (e9.2) for the case V <0, that is, the device in question provides the implementation of the proposed method during stretching of the said suspension.

The ability to achieve the claimed technical result when using the proposed method for the case of damping vibrations of an electromagnetic oscillatory system is also confirmed by the above analysis of the reactions of a mechanical oscillatory system. This statement is based on the fact that the processes of development of oscillations in a mechanical and electromagnetic oscillatory system obey general laws. This obviously follows from a comparison of equations (e5), (e7.1) and (e7.2) describing a mechanical oscillatory system with equations (e20), (e21.1) and (e21.2) describing an electromagnetic oscillating system.

Equation (e20) is equivalent to equation (e5).

Where

U _L is the difference of electric potentials acting on the inductance of the electromagnetic circuit (equivalent to the resulting force acting on the sprung mass);

U _cst is the static value of the difference of electric potentials on the electric capacitance of the electromagnetic circuit (equivalent to the static value of the elastic force);

U _cd is the deviation of the difference of electric potentials on the electric capacitance of the electromagnetic circuit from a static value, positive values for a charge greater than a static charge, negative values for a charge less than a static charge (equivalent to the deviation of the elastic force from a static value);

U _r - the difference of electric potentials on the active resistance of the electromagnetic circuit (equivalent to the resistance force);

U ₀ is the external constant difference of electric potentials applied to the electromagnetic circuit (equivalent to the weight of the sprung mass).

Equations (e21.1) and (e21.2) are equivalent to equations (e7.1) and (e7.2).

Where

U _r - the difference of electric potentials on the active resistance of the electromagnetic circuit (equivalent to the resistance force);

R ₁ - the slope of the dependence of the module of the resistance force on the module of the rate of change of charge of the electric capacitance (the value of the active electrical resistance of the electromagnetic circuit), corresponding to the condition:

R ₁ > 2 × (L / C) ^0.5 , where L is the magnitude of the inductance of the electromagnetic circuit, C is the magnitude of the electrical capacitance of the electromagnetic circuit;

I is the current rate of change in the charge of the electric capacitance (the strength of the electric current in the electromagnetic circuit), positive values with increasing charge, negative values with decreasing;

X is the current reference value;

R ₂ - the slope of the dependence of the module of the resistance force on the module of the rate of change of charge of the electric capacitance (the magnitude of the active electrical resistance of the electromagnetic circuit), corresponding to the condition:

0.0001 × 2 × (L / C) ^0.5 <R ₂ <0.3 × 2 × (L / C) ^0.5 , where L is the magnitude of the inductance of the electromagnetic circuit, C is the value of the electric capacitance of the electromagnetic circuit.

The proposed method of damping the vibrations of an electromagnetic oscillatory system, which is an electromagnetic oscillatory circuit, can be implemented using a device that regulates the magnitude of the current active resistance of the circuit depending on the magnitude of the current deviation of the charge of the electric capacitance of the circuit from a static value according to the algorithm specified in the proposed method. An example of such a device may be a device consisting of:

- the first digital voltage meter (electric potential difference);

- a second digital voltage meter (electric potential difference);

- digital control unit;

- a resistive matrix of the type "R-2R", which changes its active resistance depending on the digital control code applied to it.

The resistive matrix is included in the electromagnetic oscillating circuit as its active electrical resistance. The measuring input of the first digital voltage meter is connected to the electric capacitance of the circuit and measures the potential difference on it. The measuring input of the second digital voltage meter is connected to a resistive matrix and measures the potential difference on it. The outputs of both digital meters are connected to the inputs of the control unit. The output of the control unit is connected to the control input of the resistive matrix.

The device operates as follows. The first and second voltage meters measure the current potential differences on the electrical capacitance of the circuit and the resistive matrix. The control unit performs the following operations:

- determines the static value of the potential difference on the electric capacitance by calculating the constant term of expansion in the Fourier series of the dependence of the potential difference on the electric capacitance of the circuit on time;

- determines the modulus of the current deviation of the potential difference on the electrical capacitance of the circuit from a static value;

- determines the current direction of change of the module of the deviation of the potential difference on the electric capacitance of the circuit from the static value (increase or decrease) by comparing two consecutive time values of this module;

- compares the current module of the potential difference on the active resistance of the circuit with the module of the current deviation of the potential difference on the electric capacitance from the static value and, taking into account the current direction of change of the module of the deviation of the potential difference on the capacitance from the static value and the values of the inductance and electric capacitance of the circuit stored in the memory, calculates the required current value of the active resistance of the circuit according to the algorithm of the proposed method embedded in its memory;

- issues the corresponding control code to the control input of the resistive matrix.

The resistive matrix changes its current active electrical resistance in accordance with the code received from the control unit.

Experimental confirmation of the possibility of achieving the claimed technical effect

The possibility of achieving the claimed technical effect is confirmed by the results of comparative sea trials of a VAZ-2110 passenger car equipped with serial dampers (suspension struts), and the same car equipped with experimental dampers. Experimental dampers were the first version of the device for implementing the proposed method.

The tests were carried out on road surfaces of different quality. Comparative races were carried out by a professional test driver on the same sections of roads with the maximum repetition of the regime and trajectory.

Figure 3-6 shows time diagrams of the dynamic stress changes in the body element, to which the front right MacPherson-type suspension strut is fixed. The dynamic stress in this element of the body is directly proportional to the resulting force acting on the car body, and fluctuations in the force pressing the wheel against the road (since the suspension strut is rigidly connected to the wheel). A zero value of dynamic stress corresponds to a state of static equilibrium, positive values correspond to an excess of force acting on the body and the force pressing the wheel against the road, compared with a static state, and negative values correspond to a lack of force acting on the body and the force pressing the wheel to road compared to static state.

As can be seen from the presented time diagrams, when using a serial sample, there were significant fluctuations in dynamic stress, which varied greatly depending on the quality of the road surface, and at the 16th second of the time diagram of the serial sample shown in Fig. 4, a pronounced suspension breakdown was recorded. When using the present invention, the dynamic voltage slightly differed from zero and had small maximum deviations almost regardless of the quality of the road surface and driving mode. Accordingly, the resulting force acting on the car body tended to zero, and the force pressing the wheel to the road tended to its static value.

Comparative controllability tests were also performed. The maximum speed of the “rearrangement” maneuver (a sharp change in the lane) with serial dampers was 82 km / h, and with experimental dampers it was 88 km / h. The maximum turning speed with a radius of 25 meters with serial dampers was 62 km / h, and with experimental dampers it was 65 km / h.

In addition, during the operation of a VAZ-2110 car equipped with experimental dampers at a mileage of about 20 thousand kilometers (approximately 60% of the mileage in urban conditions and 40% of mileage in the conditions of suburban roads) a 15% decrease in average operating fuel consumption was recorded.

Claims (17)

1. The method of damping oscillations of an oscillatory system containing at least one first element, which has an inertial property, at least one second element, which, changing its state under the action of an external force with respect to this element, stores the potential energy and therefore creates a potential force acting on other elements of the oscillatory system associated with this element, and at least one third element, which in the process of energy circulation between the first and second electrons removes energy from the oscillatory system by means of its expenditure on performing work outside the oscillatory system and creates a resistance force, the module of which has a direct dependence on the modulus of the rate of change of the state of the said second element, and which slows down this change, at which
reduce (increase) the angle of inclination of the said dependence of the module of the resistance force on the module of the rate of change of the state of the said second element, if the current module of the said resistance force is greater (less) than the specified value,
changing said predetermined value depending on the current state of said second element, at least in part of the maximum interval for changing its state values,
characterized in that
while decreasing the module, the deviation of the current state of the said second element from the static state sets the current said setpoint, which is directly proportional to the modulus of the current deviation of the potential force of the said second element from its static value reduced to the vector of the said resistance force. 2. The method according to claim 1, characterized in that
during the reduction of the module, the deviation of the current state of the second element from the static state sets the current mentioned set value equal to the vector of the said resistance force modulus of the current deviation of the potential force of the second element from its static value. 3. The method according to claim 1 or 2, characterized in that
setting the inclination angle of said dependence of the modulus of resistance force on the modulus of the rate of change of state of said second element, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of perturbations of said oscillatory system, if the current module of said resistance force is equal to or less than the current said setpoint
establish the angle of inclination of the said dependence of the modulus of resistance force on the modulus of the rate of change of state of the said second element, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the said oscillatory system, if the current module of the said force resistance is greater than the current setpoint value mentioned. 4. The method according to claim 3, characterized in that
during the increase in the module, the deviation of the current state of the second element from the static state sets the predetermined value of not more than 10% of the static modulus of the static magnitude of the said potential element of the said second element reduced to the vector of said resistance. 5. The method according to claim 4, characterized in that
changing the current said set value in direct proportion to the module of the current deviation of the said potential force of the second element from its static value, at least in part of the maximum interval of values of the deviation of the state of the second element from the static state during an increase in the module of this deviation. 6. The method according to claim 5, characterized in that
damping the vibrations of the mechanical oscillatory system, which is the suspension of the vehicle, in which said first element of the oscillating system is the sprung mass of the vehicle, said second element of the oscillating system is the elastic element of said suspension, which connects said sprung mass of the vehicle with its unsprung mass, through which said suspension perceives external disturbances by said state said second element of the oscillating system is the deflection of said elastic element, and said potential force of this element is the elastic force of the elastic element, said third element of the oscillating system is a damper that binds said sprung and unsprung masses of the vehicle, and which during a deflection of said elastic element creates a resistance force that slows down the change in this deflection, and whose module is directly dependent on the module I rate of change of this deflection,
establish and change the angle of inclination of said dependence of the modulus of resistance force of said damper on the modulus of the rate of change of said deflection of said elastic element,
set and change said setpoint depending on the current deviation of said elastic force of said elastic element from its static value. 7. A device for damping vibrations of a vehicle suspension, which contains at least one elastic element that creates an elastic force acting on the sprung mass and unsprung mass of the vehicle connected by this elastic element, and is a hydraulic telescopic damper, which during changes in the deflection of the said suspension creates a resistance force, the module of which depends on the module of the rate of change of the said deflection, and which contains
a working cylinder, the inner cavity of which is filled with liquid,
the rod, which is designed to absorb external load and mounted coaxially with the said working cylinder with the possibility of translational (return) movement in the said working cylinder during compression (tension) of the damper,
an internal cavity of said rod, which communicates with an internal cavity of said working cylinder,
a piston which is fixed at the end of said rod and divides the internal cavity of said working cylinder into a compression chamber, the volume of which decreases when the damper is compressed, and into a tensile chamber, the volume of which decreases when the damper is stretched,
a compression valve that has at least one inlet channel that is formed in said piston and has an inlet on the side of said compression chamber, and an outlet on the side of said tensile chamber,
a tensile valve, which has at least one inlet channel that is formed in said piston and has an inlet on the side of said tensile chamber, and an outlet on the side of said compression chamber,
the first locking element, which is part of said compression valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said liquid flowing out of said compression chamber,
the second locking element, which is part of said tensile valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said fluid flowing out of said tensile chamber,
a first elastic element, the elastic force of which prevents the movement of said first locking element under the action of said liquid flowing out of said compression chamber, and which is part of said compression valve,
a second elastic element, the elastic force of which prevents the movement of said second locking element under the action of said fluid flowing from said tensile chamber, and which is part of said tensile valve,
the first support, which interacts with said first elastic element, is part of said compression valve and has a part of the inner surface which is conical,
a first guide element along which said first support is capable of reciprocating movement in the direction of said first elastic element,
the second support, which interacts with said second elastic element, is part of said tensile valve and has a part of the inner surface, which is made conical,
a second guide element along which said second support is capable of reciprocating movement in the direction of said second elastic element,
the rod, which is fixed at the bottom of said compression chamber, slides into said inner cavity of said rod when the damper is compressed, has a four-sided variable cross-section in the working section of its length, which is equal to the maximum stroke of the said rod,
a first hole made in said first guide element from the side of the first side surface of said rod, and whose axis is perpendicular to the longitudinal axis of this rod,
a second hole made in said first guide element from the side of the second side surface of said rod, which is opposite to said first side surface of this rod, and whose axis is perpendicular to the longitudinal axis of this rod,
a third hole made in said second guide element from the side of the third lateral surface of said rod and whose axis is perpendicular to the longitudinal axis of this rod,
a fourth hole made in said second guide element on the side of the fourth lateral surface of said rod, which is opposite to said third lateral surface of this rod, and whose axis is perpendicular to the longitudinal axis of this rod,
the first emphasis is cylindrical in shape, which is mounted in said first hole with the possibility of reciprocating movement along the axis of this hole and with one end thereof interacts with said first side surface of the rod, and with its opposite end interacts with the conical inner surface of said first support,
a second stop, which is identical to the first stop, is installed in said second hole with the possibility of reciprocating movement along the axis of this hole and interacts with one of its second side surface of the rod, and interacts with its opposite end with the conical inner surface of the first support,
a third cylindrical stop which is mounted in said third hole with the possibility of reciprocating movement along the axis of this hole and with one end thereof interacts with said third lateral surface of the rod, and interacts with its opposite end face with the conical inner surface of said second support,
a fourth stop, which is identical to the third stop, is installed in said fourth hole with the possibility of reciprocating movement along the axis of this hole and interacts with its fourth end face with the fourth lateral surface of the rod, and interacts with its opposite end with the conical inner surface of the second support,
a first choke that couples said compression chamber to said tensile chamber and which is formed by a gap between a side surface of said first stop and a surface of said first hole,
a second throttle that connects said compression chamber to said tensile chamber and which is formed by a gap between a side surface of said second stop and a surface of said second hole,
characterized in that
each value of the said deflection of the suspension corresponds to a cross section of the said rod on the working section of its length,
on the working section of the length of said rod, the distance between said first and said second side surfaces of this rod in each cross section of this rod corresponds to the equation
L ₁ = Ln ₁ + 2 · tgα ₁ · (X ₁ / S ₁ ) · Sk ₁ / C ₁ ,
where L ₁ is the distance between said first and said second side surfaces of said rod in each cross section of this rod;
Ln ₁ is the maximum distance between said first and said second side surfaces of said rod, corresponding to an undeformed state of said first elastic element;
α ₁ is the angle between the longitudinal axis of said rod and the conical inner surface of said first support;
X ₁ - corresponding to each cross-section of the said rod, the set value of the module of the mentioned resistance force, at which the said compression valve opens;
S ₁ is the cross-sectional area of the said working cylinder;
Sk ₁ is the area of said outlet opening of the supply channel of said compression valve;
C ₁ is the stiffness of said first elastic element,
on the working section of the length of the said rod, which corresponds to the stretched state of the said suspension, the specified target value X ₁ for each cross section of this rod is directly proportional to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper,
in the working section of the length of said rod, the distance between said third and said fourth side surfaces of this rod in each cross section of this rod corresponds to the equation
L ₂ = Ln ₂ + 2 · tgα ₂ · (X ₂ / S ₂ ) · Sk ₂ / C ₂ ,
where L ₂ is the distance between said third and said fourth side surfaces of said rod in each cross section of this rod;
Ln ₂ is the maximum distance between said third and said fourth side surfaces of said rod, corresponding to an undeformed state of said second elastic element;
α ₂ is the angle between the longitudinal axis of said rod and the conical inner surface of said second support;
X ₂ - corresponding to each cross-section of the said rod, the set value of the module of the mentioned resistance force, at which the said tensile valve opens;
S ₂ is the difference between the cross-sectional area of said working cylinder and the cross-sectional area of said rod;
Sk ₂ is the area of said outlet opening of the inlet channel of said tensile valve;
C ₂ - the stiffness of the said second elastic element,
on the working section of the length of the said rod, which corresponds to the compressed state of the said suspension, the specified target value X ₂ for each cross section of this rod is directly proportional to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper and the corresponding cross section of the rod. 8. The device according to claim 7, characterized in that
on the working section of the length of the said rod, which corresponds to the stretched state of the said suspension, said predetermined value X ₁ for each cross section of this rod is equal to the module for the deviation of the said elastic force from its static value corresponding to this longitudinal section of the rod,
on the working section of the length of the said rod, which corresponds to the compressed state of the said suspension, the said predetermined value X ₂ for each cross section of this rod is equal to the module for the deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper and the corresponding cross section of the rod. 9. The device according to claim 7 or 8, characterized in that
the bore of the said compression valve corresponds to the angle of inclination of the dependence of the module of the resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension,
the bore of the said tensile valve corresponds to the angle of inclination of the dependence of the modulus of the resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension,
the total bore of the said first and second chokes corresponds to the slope of the said dependence of the modulus of the resistance force on the modulus of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of disturbances of the said suspension. 10. The device according to claim 9, characterized in that
on the working section of the length of said rod, which corresponds to the compressed state of said suspension, said predetermined value X ₁ for each cross section of this rod is not more than 10% of the static value of said elastic force brought to the longitudinal axis of the damper,
on the working section of the length of the said rod, which corresponds to the stretched state of the said suspension, the said predetermined value of X ₂ for each cross section of this rod is not more than 10% of the static value of the elastic force referred to the longitudinal axis of the damper. 11. The device according to claim 10, characterized in that
at least on a part of the working section of the length of said rod that corresponds to the compressed state of said suspension, said set value X ₁ for each cross section of this rod is directly proportional to the modulus of deviation of said elastic force from its corresponding to the longitudinal axis of the damper and the corresponding cross section of the rod static value
at most, on the part of the working section of the length of the said rod, which corresponds to the stretched state of the said suspension, the said predetermined value X ₂ for each cross section of this rod is directly proportional to the modulus of deviation of the said elastic force from its corresponding longitudinal cross section of the rod and its corresponding cross section static value. 12. A device for damping vibrations of a vehicle suspension, which contains at least one elastic element, which creates an elastic force acting on the sprung mass and unsprung mass of the vehicle connected by this elastic element, and is a hydraulic telescopic damper, which during changes in the deflection of the said suspension creates a resistance force, the module of which depends on the module of the rate of change of the said deflection, and which contains
a working cylinder, the inner cavity of which is filled with liquid,
the rod, which is designed to absorb external load and mounted coaxially with the said working cylinder with the possibility of translational (return) movement in the said working cylinder during compression (tension) of the damper,
a piston which is fixed at the end of said rod and divides the internal cavity of said working cylinder into a compression chamber, the volume of which decreases when the damper is compressed, and into a tensile chamber, the volume of which decreases when the damper is stretched,
a compression valve that has at least one inlet channel that has an inlet on the side of said compression chamber, and an outlet on the side of another chamber of said damper,
a tensile valve, which has at least one inlet channel that is formed in said piston and has an inlet on the side of said tensile chamber, and an outlet on the side of said compression chamber,
the first locking element, which is part of said compression valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said liquid flowing out of said compression chamber,
the second locking element, which is part of said tensile valve, overlaps said outlet opening of the supply channel of this valve and is mounted to move under the influence of said fluid flowing out of said tensile chamber,
a first elastic element, the elastic force of which prevents the movement of said first locking element under the action of said liquid flowing out of said compression chamber, and which is part of said compression valve,
a second elastic element, the elastic force of which prevents the movement of said second locking element under the action of said fluid flowing from said tensile chamber, and which is part of said tensile valve,
the first support, which interacts with said first elastic element, is part of said compression valve and has a part of the inner surface which is conical,
a first guide element along which said first support is capable of reciprocating movement in the direction of said first elastic element,
the second support, which interacts with said second elastic element, is part of said tensile valve and has a part of the inner surface, which is made conical,
a second guide element along which said second support is capable of reciprocating movement in the direction of said second elastic element,
characterized in that
contains a compensation chamber, which is separated from said compression chamber by a partition and partially filled with said liquid,
comprises a bypass valve that couples said compression chamber to said tensile chamber during compression of the damper and has a negligible resistance to the outflow of said liquid from said compression chamber,
said feed channel of said compression valve is made in said partition and has an outlet on the side of said compensation chamber,
comprises a first rod, which is mounted coaxially with said working cylinder inside said first guide element with the possibility of longitudinal movement and at a working section of its length, which is less than the maximum stroke of said rod, made in the form of a body of revolution with a concave or convex side surface,
one end of said first rod is located in said compression chamber, and a working length portion of this rod is located in said compensation chamber,
contains a second rod, which is mounted coaxially with the said working cylinder inside the said second guide element with the possibility of longitudinal movement and on the working section of its length, which is less than the maximum stroke of the said rod, made in the form of a body of revolution with a concave or convex side surface,
contains at least first and second holes made in said first guide element, and whose axes are perpendicular to the longitudinal axis of said first rod,
contains at least a third and a fourth hole made in said second guide element, and whose axes are perpendicular to the longitudinal axis of said second rod,
contains at least first and second identical balls mounted respectively in said first and second holes with the possibility of reciprocating rolling along the axis of these holes, and each of which interacts with one side of the side surface of said first rod, and interacts with the opposite side the conical inner surface of said first support,
contains at least third and fourth identical balls mounted respectively in said third and fourth holes with the possibility of reciprocating rolling along the axis of these holes, and each of which interacts with one side of the side surface of said second rod, and interacts with the opposite side the conical inner surface of said second support,
comprises a third support which is connected to an end face of said first rod located in said compression chamber,
comprises a fourth support, which is connected to the end face of said second rod facing the said compression chamber,
comprises a first spring which is installed between said third support and said fourth support,
contains a second spring that is installed between said third support and said partition, and the rigidity of which relates to the rigidity of said first spring, as the maximum stroke of said rod relates to the length of the working section of said first rod,
contains a third spring, which is installed between said fourth support and said piston, and the rigidity of which relates to the rigidity of said first spring, as the maximum stroke of said rod relates to the length of the working section of said second rod. 13. The device according to p. 12, characterized in that
each value of said deflection of the suspension corresponds to a cross section of said first rod in the working section of its length,
each value of the said deflection of the suspension corresponds to a cross section of the said second rod on the working section of its length,
on the working section of the length of said first rod, the diameter in each cross section of this rod corresponds to the equation
D ₁ = Dn ₁ + 2 · tgα ₁ · (X ₁ / S ₁ ) · Sk ₁ / C ₁ ,
where D ₁ is the diameter of the said first rod in each cross section of this rod;
Dn ₁ is the maximum diameter of said first rod corresponding to an undeformed state of said first elastic element;
α ₁ is the angle between the longitudinal axis of said first rod and the conical inner surface of said first support;
X ₁ - corresponding to each cross-section of said first rod, a predetermined module value of said resistance force, at which said said compression valve is opened;
S ₁ is the cross-sectional area of said rod;
Sk ₁ is the area of said outlet opening of the supply channel of said compression valve;
C ₁ is the stiffness of said first elastic element,
on the working section of the length of said first rod, which corresponds to the stretched state of said suspension, said set value X ₁ for each cross section of this rod is directly proportional to the modulus of deviation of said elastic force from its static value corresponding to the longitudinal axis of the damper,
on the working section of the length of the said second rod, the diameter in each cross section of this rod corresponds to the equation
D ₂ = Dn ₂ + 2 · tgα ₂ · (X ₂ / S ₂ ) · Sk ₂ / C ₂ ,
where D ₂ is the diameter of said second rod in each cross section of this rod;
Dn ₂ is the maximum diameter of said second rod corresponding to an undeformed state of said second elastic element;
α ₂ is the angle between the longitudinal axis of said second rod and the conical inner surface of said second support;
X ₂ - corresponding to each cross-section of the said second rod, the set value of the module of the mentioned resistance force, at which the said tensile valve opens;
S ₂ is the difference between the cross-sectional area of said working cylinder and the cross-sectional area of said rod;
Sk ₂ is the area of said outlet opening of the inlet channel of said tensile valve;
C ₂ - the stiffness of the said second elastic element,
on the working section of the length of the said second rod, which corresponds to the compressed state of the suspension, the specified target value X ₂ for each cross section of this rod is directly proportional to the module for the deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper and the corresponding cross section of the rod. 14. The device according to item 13, wherein
on the working section of the length of said first rod, which corresponds to the stretched state of said suspension, said predetermined value X ₁ for each cross section of this rod is equal to the modulus of deviation of the said elastic force from its static value corresponding to this longitudinal section of the rod,
on the working section of the length of the said second rod, which corresponds to the compressed state of the suspension, the said predetermined value X ₂ for each cross section of this rod is equal to the modulus of deviation of the said elastic force from its static value corresponding to the longitudinal axis of the damper and the corresponding cross section of the rod. 15. The device according to item 13 or 14, characterized in that
the bore of the said compression valve corresponds to the angle of inclination of the dependence of the module of the resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension,
the bore of the said tensile valve corresponds to the angle of inclination of the dependence of the modulus of the resistance force on the module of the rate of deflection, the tangent of which is less than 30% and more than 0.01% of the tangent of the maximum angle of inclination of this dependence, which corresponds to the vibrational attenuation of disturbances of the suspension,
contains at least one throttle that connects said inner cavity of said working cylinder with said compensation chamber,
the bore of the said inductor corresponds to the angle of inclination of the dependence of the modulus of the resistance force on the modulus of deflection, the tangent of which is greater than the tangent of the minimum angle of inclination of this dependence, which corresponds to the aperiodic damping of the perturbations of the suspension. 16. The device according to p. 15, characterized in that
on the working section of the length of said first rod, which corresponds to the compressed state of said suspension, said predetermined value X ₁ for each cross section of this rod is not more than 10% of the static value of said elastic force brought to the longitudinal axis of the damper,
on the working section of the length of the said second rod, which corresponds to the stretched state of the said suspension, said predetermined value of X ₂ for each cross section of this rod is not more than 10% of the static value of the said elastic force brought to the longitudinal axis of the damper. 17. The device according to clause 16, characterized in that
at least on a part of the working portion of the length of said first rod, which corresponds to the compressed state of said suspension, said predetermined value X ₁ for each cross section of this rod is directly proportional to the modulus of deviation of said elastic force from the longitudinal axis of the damper and corresponding to this cross section of the rod its static value
at least, on a part of the working section of the length of the second rod, which corresponds to the stretched state of the suspension, the specified target value X ₂ for each cross section of this rod is directly proportional to the modulus of deviation of the said elastic force from the longitudinal axis of the damper and the corresponding cross section of the rod its static value.

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