WO2002087909A1 - Active suspension comprising an electric actuator and shock absorber - Google Patents

Active suspension comprising an electric actuator and shock absorber

Info

Publication number
WO2002087909A1
WO2002087909A1 PCT/DE2002/001421 DE0201421W WO02087909A1 WO 2002087909 A1 WO2002087909 A1 WO 2002087909A1 DE 0201421 W DE0201421 W DE 0201421W WO 02087909 A1 WO02087909 A1 WO 02087909A1
Authority
WO
Grant status
Application
Patent type
Prior art keywords
active suspension
characterized
suspension according
actuator
electric
Prior art date
Application number
PCT/DE2002/001421
Other languages
German (de)
French (fr)
Inventor
Anton Paweletz
Hartmut Krueger
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0157Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/021Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00Springs
    • F16F1/02Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
    • F16F1/04Wound springs
    • F16F1/041Wound springs with means for modifying the spring characteristics
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10Type of spring
    • B60G2202/12Wound spring
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40Type of actuator
    • B60G2202/42Electric actuator
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/419Gears
    • B60G2204/4193Gears worm gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00Indexing codes relating to the regulated action or device
    • B60G2500/20Spring action or springs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00Indexing codes relating to the regulated action or device
    • B60G2500/30Height or ground clearance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18Automatic control means
    • B60G2600/182Active control means

Abstract

The invention relates to an active suspension, in which the actuator (17) and/or the shock absorber (25) are electrically actuated, in such a way that the operating behaviour of the inventive active suspension can be optimally adapted to different vehicle types. In addition, by feeding the electric energy generated by the electric shock absorber (25) back into the vehicle electric system (35), the energy consumption of the inventive active suspension can be reduced.

Description

Active suspension with an electric actuator and damper

State of the art

The invention relates to an active suspension for a wheel of a vehicle, wherein the wheel is coupled via a wheel suspension to a vehicle body, with an actuator for controlling the relative position of the wheel and the vehicle body and / or the force acting between the wheel and the vehicle body forces.

In connection with the invention, the following structure of a vehicle is assumed: The vehicle consists of a vehicle body to which a wheel suspension, the wheels are mounted. The suspension, in turn, consists of a wheel guide, such as. A rigid axle, wishbones o. Ä., As well as a suspension and

Damping. Suspension, Wheels and tires are part of the chassis of the vehicle.

In a passive suspension is the force which is transmitted between the wheel and the body, by the spring rate of the

Spring depending on the spring travel, the damping factor and the damper speed. In Great-production cars to date exclusively passive suspensions are used.

With active suspension, the force is transmitted between the wheel and the body is at least partially generated by the vehicle itself. In order to provide the desired force between the wheel and the vehicle body, an actuator is required.

There are known active chassis, which have hydraulic absorber with variable evaporation rate. A disadvantage of these systems is that a complete hydraulic system for the active suspension, consisting of a pump, store, pipes, control valves, operating cylinders, and others, is required. This hydraulic system increases the cost of the vehicle and its weight, which m beat down to increased fuel consumption. Moreover, the electrical control signals of the active suspension regulating controller to be implemented in a hydraulic control movement. This transition of electrical control signals to a hydraulic control movement requires a certain complexity. In addition, the introduced into the hydraulic system by the hydraulic pump energy can not be coupled out again, but is converted into heat. Finally, such active trolleys rolling and pitching movements of the vehicle body can suppress not without considerable loss of comfort.

From DE 198 38 669 AI, a vehicle is known, wherein the rolling motions occurring during cornering of the vehicle body are compensated by the fact that a pressure acting on the springs of the vehicle control motor increases the bias of the curve outer springs. Art and

Execution of the servomotor are not described in this publication.

From DE 42 04 302 Al, an electromagnetic actuator is known, which serves to control the distance between the vehicle body and wheels. The electromagnetic actuator described in the DE 42 04 302 Al, hereinafter referred to as the actuator is constructed in the manner of a linear motor with permanent magnets and windings. When the windings are traversed by electric current, the resulting magnetic field exerts a force on the permanent magnet and thus allows control of the distance between the vehicle body and wheels. A disadvantage of this execution is the low achievable restoring forces, and the high material and space requirements for achieving a sufficiently high restoring forces. In addition, the power requirements of this actuator is relatively high, since the windings have to be continuously traversed by current, to generate a restoring force. With the above active anti-roll suspension can and

Pitching motion of the vehicle body can be suppressed by increasing the bias voltage of one or more springs without sacrificing comfort.

The invention is based on the object. provide an active suspension for a wheel of a vehicle, de has a simple design, requires little maintenance and can be implemented with less technical effort than the previously known active suspension systems. In addition, the energy needs should be minimized and a fail-safe function be present. Failsafe means that failures of z. as the

Power supply of the electric actuator, the vehicle can be operated safely. This object is erfmdungsgemaß with an active suspension for a wheel of a vehicle, wherein the wheel is coupled via a Radfuhrung to a vehicle body, with an electric actuator for controlling the relative position of the wheel and the vehicle body and / or the force acting between the wheel and the vehicle body forces, characterized solved that dder actuator comprises an electric drive motor and a transmission with self-locking.

Advantages of the Invention

By the use of an electric actuator can be completely dispensed with a hydraulic system. Characterized considerable costs can be saved and also, the electric actuator can be controlled so that the dynamic behavior of the active suspension is improved. The operational behavior of an active suspension with

Hydraulic system depends eg. On the operating temperature of the hydraulic fluid from because its viscosity is temperature. In contrast, an electric actuator, a control unit, the operating behavior of the actuator can be optimally adapted to the requirements by storing an appropriate map or relevant characteristics m. Thus, the operational behavior of the inventive active suspension relative to the active suspension system with a hydraulic actuator is improved.

Compared to the process known from the prior art electromagnetic actuator is obtained by the use of an inventive shaped actuator, a significant saving in electric power since the drive motor has to be energized only when an actuating movement to be executed. Causally this is the use of a gear with self-locking such. As a worm gear.

In various variants of the invention it is provided that a steamer and / or a spring is provided in parallel or in series with the actuator, so that the erfmdungsgemaße actuator not the entire acting between the vehicle body and the wheel forces transmitted uss, but from steamer and / or spring is supported. Thereby, the actuator can be made smaller and the vehicle is ready for driving in case of failure of the actuator.

In a further feature of the invention, the steamer is an electric steamer with a generator, so that the, spring, steamers and wheel, not m Warm, but is converted in further usable electrical energy by the damping of the schwmgungsfahigen mechanical system consisting of the vehicle body. This measure of the energy needs of the erf dungsgemaßen active suspension reduced. In addition, the Dampfungsverhalten of the steamer can be in wide limits enced bee via a suitable activation of the generator, so that the performance of the erf dungsgemaßen active suspension further improved.

In further embodiments of the invention it is provided that the electric steamer having a transmission that the transmission converts a linear movement into a rotational movement and in particular a Kugelgewmdespmdel, a rack-and-pinion gear or a planetary Rollensp del transmission, so that an efficient

occurs implementation of linear to a first approximation the relative movement between the wheel and the vehicle body in a rotational movement.

Depending on the requirements of the drive motor of the actuator and / or the generator of electric steamer may be an induction, synchronous, DC, BLDC, or Transversalfluss- Reduktanzmaschme. It is also possible that the generator of electric steamer en linear generator. In a further development of the inventive active suspension a control device controls the actuator and / or the electric steamer function of the driving speed of the vehicle, the pitching rate of the rolling motion of the vehicle body and / or the loading condition so that the active suspension, depending on the current driving situation, always has optimum performance.

To further improve the operational performance of the generator of electric steamer can also be operated by motor. Thereby, the electric actuator can be supported and the performance of the inventive active suspension can be further improved.

To control the generator, the control unit may control the angular position of rotor and stator and / or the current amplitude of the generator.

To further improve the inventive shaped equipped with an active suspension vehicle may be provided which erfmdungsgemaße active suspension on all wheels of the vehicle, but at least on the wheels of a

Provide vehicle axle. When the active suspension is arranged on all wheels of a vehicle, the suppression of the pitch and roll as well as an automatic level control without additional effort can be integrated.

In a further feature of the invention the drive motor and / or the generator via a transformer with an electrical power supply or an electrical storage is coupled, so that one hand, the power supply of the erf dungsgemaßen active suspension can be carried out from the already existing electrical system and on the other hand, the generator of him can feed the electrical system electric energy generated m.

Further advantages and advantageous embodiments of the invention are the following drawing, seen from the description and the claims.

drawing

Show it:

Figure 1 is a schematic representation of a first exemplary embodiment of an active suspension erf dungsgemaßen,

Figure 2 is a somewhat more detailed representation of the first exemplary embodiment,

Figure 3 is a schematic representation of a second exemplary embodiment of an active suspension and erf dungsgemaßen

Figure 4 is a slightly more detailed illustration of the second exemplary embodiment.

DESCRIPTION OF THE EXEMPLARY

1 shows a schematic representation of a first exemplary embodiment of an active suspension erf dungsgemaßen. A vehicle body 1 is connected via a designated in its entirety with 3 active suspension and a Radfuhrung 5 with a wheel. 7 The connection between the vehicle body 1 and m is 5 Radfuhrung Figure 1 is not shown. The wheel 7 s ch moves in the direction of arrow 9 over an uneven road surface. This results in a direction indicated by a double arrow 13 linear relative movement between the vehicle body 1 and the wheel 7 and Radfuhrung 5. In a conventional suspension acting between the vehicle body 1 and the wheel 7 and wheel suspension 5 forces are transmitted via a spring and a hydraulic liner.

When erf dungsgemaßen active suspension according to Figure 1 in series with a spring 15, an electric actuator 17 is arranged. The length of the actuator 17 can be changed in the direction of the double arrow 19th Thereby the bias of the spring 15 and thus also the forces acting between the vehicle body 1 and suspension 5, 7 and wheel forces increases. The electric actuator 17 comprises a drive motor 21 and a gear 23rd Design and operation of the electric actuator 17 according to the first exemplary embodiment will be explained in detail below with reference to FIG. 2

Parallel to the electric actuator 17 and the spring 15, an electrical steamer 25 is provided. The electrical steamer 25 essentially consists of a gearbox 27 and a generator 29. The transmission 27 converts the

Linear movement in the direction of the double arrow 13 into a rotational movement, indicated by circular double arrow 31 in order. This rotational movement is of the generator 29 into electrical energy. the electric power generated by the generator via a transformer m is a 33

Onboard power supply 35 or an unillustrated electric storage coupled. The drive motor 21 of the actuator 17 is also supplied from the vehicle electrical system 35 via the inverter 33 with electric power. are controlled both electrical actuator 17 and electrical steamer 25 of a control unit 37 via signal lines. 39

With reference to the Figure 2 structure and operation of the electric actuator 17 and the electrical steamer 25 are explained below. Identical components are provided with the same reference numerals and it is the concerning Figure 1 applies accordingly.

In Figure 2, the electric actuator 17 is arranged at the Radfuhrung. 5 The electric actuator 17 essentially consists of a drive motor 21 and a worm gear 23. The worm gear in turn consists of a screw 41, which is arranged on the output shaft 42 of the drive motor 21 and a worm gear 45. The gear 23 is m 2 in partial cross-section shown.

The worm wheel 45 is rotatably supported m a bearing block 47 and has an internal thread 49. In the internal thread 49 a thread 51 is screwed stucco, which is connected to a spring plate 53rd The thread stucco 51 is secured against rotation (not shown), so that the distance of the spring plate 53 and Radfuhrung 5 changes, when the worm 43, the worm wheel 45 is offset with internal thread 49 on the rotation drive motor 21 and. The worm gear is self-locking auszufuhren, so that the vehicle remains fahrtuchtig when the electric actuator fails 17th Furthermore, ow only be driven because of the self-locking of the drive of the worm gear of the drive motor 21, when the distance between spring plate 53 and Radfuhrung 5 is to be changed. Otherwise, the drive motor 21 may be de-energized.

By changing the distance between spring plate 53 and Radfuhrung 5, the bias of the spring 15 is changed. Electric actuator 17 and spring 15 are connected in this exemplary series.

In the spring 15, an electrical steamer 25 is integrated, the structure and operation are explained below. A sleeve 55 spring plate 53 and a Kugelgewmde-nut 57 are rotationally connected with each other. In the Kugelgewmde-nut 57 a Gewmdespmdel 59 is screwed. The power transmission between Kugelgewmde- nut 57 and Gewmdespmdel 59 via balls 61 which circulate a known manner in the Kugelgewmde nut 57th Since the sleeve 55 rotationally fixed to the spring plate 53 or the Radfuhrung 5 is connected, leads of any change of the distance between nut 57 and Kugelgewmde

The vehicle body 1 to a rotational movement of the Gewmdespmdel 59. The transmission 25 is designed as a ball screw gear sets the direction indicated by the double arrow 13 linear movement (see Figure 1) into a movement of the rotatoπsche Gewmdespmdel to 59. The Gewmdespmdel 59 is coupled to a rotor 62 of the generator 29 mt. The rotor 62 is rotatably supported in a housing 63 of the generator 29th Together with a not shown in Figure 2 the stator is generated by a rotation of the rotor 62 in the electric power generator 29 and, on

Figure 1 illustrates the hand, is fed via a converter 33 in a vehicle power supply 35th

The transmission is designed as a ball screw 25 according to FIG 2 has no self-locking, but may both m

implement directions linear movements between Kugelgewmde-nut 57 and the vehicle body 1 into a rotary movement of the Gewmdespmdel 59th

With reference to FIG 3 a second exemplary embodiment of an inventive active suspension 3 is illustrated. Subsequently, only the essential differences from the exemplary embodiment according to Figures 1 and 2 are explained and otherwise referred to concerning the first exemplary embodiment has been said.

In the second exemplary embodiment of the electrical actuator 17 and spring 15 on the one hand and electrical steamer 25 are on the other hand connected in series. Between the electrical actuator 17 and spring 15 and electric

Steamer 25 is arranged an intermediate member 65, which connects the components mentioned to each other. In this exemplary embodiment, the actuator 17 affects the electrical steamer 25 directly. On the other hand, by suitably driving the generator 29 of electric steamer 25, the adjusting movement of the electric actuator can be 17 supported from the steamer 25th It is, for example, also conceivable that the generator 29 is also operated motor, so that adding the restoring forces of electric actuator 17 and electric steamer 25th

In Figure 4, the second exemplary embodiment according to Figure 3 is shown in somewhat more detail in longitudinal section. In this exemplary embodiment, the spring 15 is located on the

Radfuhrung 5 and the sleeve 55 supported directly from against the Radfuhrung fifth The gear 27 is, as explained also in the first exemplary embodiment, as a ball screw with Kugelgewmde-nut 57, screw shaft 59, balls 61st Also, the structure of the generator 29 having a rotor 62 and a casing 63 corresponds to the structure described in FIG. 2

In the exemplary embodiment according to Figure 4 of the driving motor 21 of the electric actuator 17 is integrated into the housing 63rd The gear 23 of the electric actuator 17 is configured as a roller screw drives. The rotor 62 of the drive motor 21 is connected via a coupling 67 to a shaft mounted in the intermediate member 65 threaded roller spindle 69th A Rollengewinde- nut 71 is connected via a rubber member 73 to the vehicle body. 1 Between the roller screw 69 and the roller screw nut 71 a plurality of threaded rollers 75 are arranged. The threaded rollers 75 are fixed on axes 77 and transmit the rotary movement of the roller screw 69 to the roller screw nut 71. The roller screw nut 71 leads consequently a linear movement in the direction of the longitudinal axis of the Rollengewindespmdel 69 and thus changes the distance between the vehicle body 1 and Radfuhrung 5th

The electrical actuator may alternatively on the vehicle body 1 or the wheel suspension 5 (not shown) are arranged.

are controlled both electrical actuator 17 and electrical steamer 25 of the control unit 37, which can also take over the entire vehicle-Stabilitatsregelung. The actuation of the electric actuator 17 from the control unit 37 and / or the electrical steamer 25 is carried out, among other things in dependence on the vehicle load, the relative location of the vehicle body 1 and Radfuhrung 5 to each other as well as the time derivatives of the changes in the relative position. When an inventive active suspension 3 is provided on each wheel of the vehicle, a level control, a suppression of the rolling and pitching movements of the vehicle as well as an increased driving comfort in connection with increased driving safety can be realized. Here, because of the complete electrical execution of the inventive active suspension 3, the behavior of the inventive active suspension 3 is optimally adapted to the most varied driving condition and various types of vehicles. In addition, the maintenance and the durability of the suspensions is reduced, partly because of the lower stress, increased.

Samtliche may, both individually and be essential to the invention m any combination.

Claims

Claims
1. Active suspension for em wheel of a vehicle, said wheel (7) is connected via a Radfuhrung (5) having a vehicle body (1) coupled with an electric actuator for controlling the relative position of the wheel (7) and the vehicle body (1) and / or between the wheel (7) and the vehicle body (1) forces, characterized in that the actuator (17), an electric drive motor (21) and em gear (23) with self-locking.
2. Active suspension according to claim 1, characterized in that, in parallel or in series with the actuator (17) em steamer (25) is provided.
3. Active suspension according to claim 1 or 2, characterized in that, in parallel or in series with the actuator (17) a spring (15) is provided.
4. Active suspension according to one of the preceding claims, characterized in that the gear is a
Worm gear (23) or de-em Rollengew gear (71,
5. Active suspension according to claim any one of claims 2 bs 4, characterized in that the steamer e is electric steamer (25) with a generator (29).
6. Active suspension according to claim 5, characterized in that the electric steamer (25) has a gear (27).
7. Active suspension according to claim 6, characterized in that the transmission (27) has a Lmearbewegung m converts a rotational movement.
8. Active suspension according to claim 7, characterized in that the transmission is a Kugelgewmdespmdel (27, 29, 31), em rack-and-pinion gear or a planetary Rollensp is del transmission.
9. Active suspension according to one of the preceding claims, characterized in that the drive motor
(21) and / or the generator (29) is an asynchronous, synchronous, DC, BLDC, Transversalfluss- or a reluctance machine.
10. Active suspension according to one of claims 5 to 9, characterized in that the generator is em Lmear- generator.
11. Active suspension according to one of the preceding claims, characterized in that control unit em
(37) for controlling the actuator (17) is provided.
12. Active suspension according to claim 11, characterized in that the control unit (37) the actuator (17) and / or the electric steamer (25) m function of the driving speed of the vehicle, the pitching rate of the rolling motion of the vehicle body (1) and / or the loading state drives.
13. Active suspension according to one of claims 5 to 12, characterized in that the generator (29) can also be operated by motor.
14. Active suspension according to one of claims 5 to 13, characterized in that the control unit (37) controls the angular position of rotor and stator and / or control the current amplitude of the generator (29).
15. Active suspension according to one of the preceding claims, characterized in that the active suspension
(3) on all wheels (7), at least provided on the wheels of a vehicle axle.
16. Active suspension according to one of the preceding claims, characterized in that the drive motor (21) and / or the generator (29) via a converter (33) with an electric grid (35) or an electric energy storage coupled.
PCT/DE2002/001421 2001-04-25 2002-04-17 Active suspension comprising an electric actuator and shock absorber WO2002087909A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE10120102.8 2001-04-25
DE2001120102 DE10120102A1 (en) 2001-04-25 2001-04-25 Active suspension with an electric actuator and damper

Publications (1)

Publication Number Publication Date
WO2002087909A1 true true WO2002087909A1 (en) 2002-11-07

Family

ID=7682568

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (2)

Country Link
DE (1) DE10120102A1 (en)
WO (1) WO2002087909A1 (en)

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