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    • 5. 发明授权
    • Vehicle active suspension system incorporating acceleration detecting
means
    • 具有加速度检测装置的车辆主动悬架系统
    • US4712807A
    • 1987-12-15
    • US826320
    • 1986-02-05
    • Ryuichi Kurosawa
    • Ryuichi Kurosawa
    • B60G17/016B60G17/018B60G17/00
    • B60G17/018B60G17/016B60G17/0162B60G2204/81B60G2400/104B60G2400/106B60G2400/51B60G2400/60B60G2400/841B60G2500/40B60G2600/182B60G2800/012B60G2800/014B60G2800/18B60G2800/24
    • A vehicle, which has a body and a plurality of wheels, has a suspension system which includes: an actuator for each wheel, each of which supports the body from one of wheels and is controllable to provide a variable force between the body and the wheel; a sensor for detecting acceleration of the body and for producing a signal representative thereof, a sensor for each wheel for detecting load acting between the body and the wheel and for producing a signal representative thereof; and a controller for inputting the signals representative of the acceleration of the body and the load on each wheel, for calculating based thereupon fluctations in load acting between the wheels and the body, for controlling the actuators to increase or decrease forces provided thereby between the body and the wheels, and for operating by feedback action by comparing the actual fluctuation in the force between the respective wheel and the body as sensed by the load sensor for the wheel with the calculated value therefor, and for bringing the difference between the two values to be zero. Optionally, the acceleration sensor can include either a means for sensing lateral acceleration or a means for sensing roll angle acceleration or both of these; and in the latter case this control means can utilize for control either the lateral acceleration information or the roll angle information, depending on whether the signs of these accelerations are opposite or are the same, respectively.
    • 具有主体和多个车轮的车辆具有悬挂系统,该悬架系统包括:用于每个车轮的致动器,每个车轮的一个从车轮中的一个支撑车身并且可控制以在车身和车轮之间提供可变的力 ; 传感器,用于检测身体的加速度并产生代表其的信号;传感器,用于检测在身体和车轮之间作用的负载并用于产生代表其的信号; 以及控制器,用于输入表示每个车轮上的身体的加速度和负载的信号,以便基于作用在车轮和车身之间的负载的波动来计算,用于控制致动器增加或减少在车身之间提供的力 并且通过将由车轮的负载传感器感测到的相应的车轮和车身之间的力的实际波动与其计算值进行比较,并且通过反馈动作进行操作,并且将两个值之间的差值 为零。 可选地,加速度传感器可以包括用于感测横向加速度的装置或用于感测侧倾角加速度的装置或这两者的装置; 并且在后一种情况下,该控制装置可以分别用于控制横向加速度信息或侧倾角信息,这取决于这些加速度的符号是相反的还是相同的。
    • 10. 发明公开
    • Apparatus for controlling steering of wheels of a vehicle
    • Steuervorrichtungfürdas Lenken derRädereines Fahrzeugs。
    • EP0278366A1
    • 1988-08-17
    • EP88101474.0
    • 1988-02-02
    • KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO
    • Masahiko, MizunoYasushi, Amano Nagakute-ryo 412Eiichi, YasudaShunichi, DoiYasutaka, HayashiHiroyuki, Yamaguchi Nagakute-ryo 701
    • B62D6/00B62D7/14
    • B62D7/159B60G2400/841B62D5/061B62D6/00
    • An apparatus for controlling steering of wheels of a vehicle comprises a control means, a driving means, and an actuator means. The control means comprises a feed forward signal operating means, a feed back signal operating means for generating signals for variables representing vehicle behaviors and output from a vehicle ' behavior sensor, and a control signal operating means for calculating a difference or sum of the signals output ,from the feed forward and feedback signal operating means. The feed forward signal operating means comprises Ia steering angle signal circuit, a steering angular velocity signal operating circuit, a steering angle signal operating circuit having a first coefficient circuit for multiplying a steering angle signal with a coefficient, and an adder for adding the outputs from the steering angle signal circuit, the steering angle signal operating circuit, and the steering angular velocity operating circuit. A behavior correction capacity against a side wind or disturbance is very high, and a steering system can be controlled to shorten the response time for changes in vehicle behaviors with respect to a steering input, thereby providing optimal steering. The control means further comprises a gain changing means to supply optimal coefficients to the feed forward and feedback signal operating means.
    • 用于控制车辆的车轮转向的装置包括控制装置,驱动装置和致动装置。 控制装置包括前馈信号操作装置,用于产生表示车辆行为的变量和来自车辆行为传感器的输出的信号的反馈信号操作装置,以及用于计算从车辆行为传感器输出的信号的差值或和的控制信号操作装置 前馈和反馈信号操作装置。 前馈信号操作装置包括转向角信号电路,转向角速度信号操作电路,具有用于将转向角信号与系数相乘的第一系数电路的转向角信号操作电路,以及用于将来自 转向角信号电路,转向角信号操作电路和转向角速度运算电路。 针对侧风或干扰的行为校正能力非常高,并且可以控制转向系统以缩短相对于转向输入的车辆行为变化的响应时间,从而提供最佳转向。 控制装置还包括增益改变装置,用于向前馈和反馈信号操作装置提供最佳系数。