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1. 发明授权

US5519612A Active suspension system with adaptive actuator gain adjustment 失效
标题翻译：主动悬架系统具有自适应执行器增益调节
公开(公告)号：US5519612A
公开(公告)日：1996-05-21
申请号：US990389
申请日：1992-12-14
申请人： Michael K. Liubakka , James R. Winkelman
发明人： Michael K. Liubakka , James R. Winkelman
IPC分类号： B60G17/0165 , B60G17/018 , B60K31/04 , G05B13/04 , B60K11/00
CPC分类号： B60G17/0165 , B60G17/0182 , B60K31/047 , G05B13/042 , B60G2400/102 , B60G2400/252 , B60G2400/82 , B60G2500/22 , B60G2600/60 , B60G2600/70 , B60G2600/76 , B60G2800/916 , B60W2510/0604
摘要： An active suspension system uses a closed-loop feedback controller to with tunable feedback gains to produce a control signal which minimizes a cost function formed by the weighted sum of system outputs including body acceleration and wheel displacement error. The feedback gains are adaptively varied by incremental amounts which are calculated based on the "pseudo-sensitivities" of those gains to system outputs, the pseudo-sensitivities being generated by a fixed-gain model of the suspension system and being combined using weighting factors which insure convergence in accordance with the predetermined cost function. The adaptive control provides long-term compensation for varying road conditions, variations from vehicle-to-vehicle, and changes in vehicle performance.
摘要翻译：主动悬挂系统使用闭环反馈控制器来利用可调谐的反馈增益来产生控制信号，该控制信号使包括车身加速度和车轮位移误差在内的系统输出的加权和形成的成本函数最小化。反馈增益由基于系统输出的这些增益的“伪灵敏度”计算的增量量自适应地变化，伪灵敏度由悬挂系统的固定增益模型产生，并使用加权因子根据预定的成本函数确保收敛。自适应控制为不同的道路条件，车辆对车辆的变化以及车辆性能的变化提供长期的补偿。

2. 发明授权

US5402341A Method and apparatus for four wheel steering control utilizing tire characteristics 失效
标题翻译：利用轮胎特性的四轮转向控制方法和装置
公开(公告)号：US5402341A
公开(公告)日：1995-03-28
申请号：US866771
申请日：1992-04-06
申请人： Michael K. Liubakka , Lenard J. Duchnowski , Thomas G. Reichenbach
发明人： Michael K. Liubakka , Lenard J. Duchnowski , Thomas G. Reichenbach
IPC分类号： B62D7/15 , B62D5/04
CPC分类号： B62D7/159
摘要： A method and system is provided for improving vehicle handling during vehicle operation in the nonlinear region of the front tires for use with a vehicle (10) having manually operable front steerable wheels (12) and electronically controlled rear steerable wheels (14). The method includes the step of calculating a desired rear steer angle based on vehicle parameters, such as vehicle speed and front wheel angle. Preferably, the method also includes the steps of determining if the vehicle is operating in the nonlinear region of the front tires, calculating a handling term if the vehicle is operating in the nonlinear region of the front tires and modifying the desired rear steer angle based on the handling term. The rear steerable wheels are then steered toward the modified desired rear steer angle.
摘要翻译：提供了一种方法和系统，用于改进在前轮胎的非线性区域中的车辆操作期间的车辆处理，该前轮胎与具有手动操作的前导向轮（12）和电子控制的后可转向轮（14）的车辆（10）一起使用。该方法包括基于诸如车辆速度和前轮角度的车辆参数来计算期望的后转向角度的步骤。优选地，该方法还包括以下步骤：确定车辆是否在前轮胎的非线性区域中操作，如果车辆在前轮胎的非线性区域中操作并且基于以下方式修改期望的后转向角度，则计算处理项：处理期限。然后，后转向轮转向改进的所需后转向角。

3. 发明授权

US5904222A Variable assist power steering using vehicle speed and steering pressure 失效
标题翻译：可变辅助动力转向使用车速和转向压力
公开(公告)号：US5904222A
公开(公告)日：1999-05-18
申请号：US743869
申请日：1996-11-06
申请人： Michael K. Liubakka , Timothy G. Offerle , Paul Sisko
发明人： Michael K. Liubakka , Timothy G. Offerle , Paul Sisko
IPC分类号： B62D6/00 , B62D5/07 , B62D6/02 , B62D101/00 , B62D111/00 , B62D123/00 , B62D5/06
CPC分类号： B62D6/02
摘要： A variable assist power steering system (10) uses both vehicle speed and steering valve inlet pressure to vary the steering assist provided. A system controller (30) receives speed and pressure data from sensors (24, 26) and produces a control signal for an actuator (28) that shunts fluid flow from the pump (22) to the steering valve (20) thereby affecting steering valve pressure which controls the rack piston (16) which changes the angle of the front vehicle wheels used for steering. The controller (30) employs a calibration table (32) with entries representing actuator current, vehicle speed and inlet pressure wherein the speed and pressure fall into ranges defined by equally spaced speed points and equally or unequally spaced pressure points. Having pressure points spaced with a distance between any two sequential points a power of two in sensor counts allows manageable bilinear interpolation of current versus speed and pressure without complicated divide operators.
摘要翻译：可变辅助动力转向系统（10）使用车速和转向阀入口压力来改变提供的转向辅助。系统控制器（30）从传感器（24,26）接收速度和压力数据，并产生用于将流体从泵（22）流向转向阀（20）的致动器（28）的控制信号，从而影响转向阀控制齿条活塞（16）的压力，其改变用于转向的前车轮的角度。控制器（30）采用具有表示致动器电流，车速和入口压力的条目的校准表（32），其中速度和压力落入由等间隔的速度点和相等或不等间隔的压力点所限定的范围内。将压力点与任何两个连续点之间的距离间隔开，传感器计数中的两个功率允许当前对速度和压力的可管理双线性插值，而无需复杂的除法运算符。

4. 发明授权

US5483448A Adaptive vehicle suspension system with mechanism for varying controller gains in response to changing road roughness conditions 失效
标题翻译：自适应车辆悬架系统，具有响应于变化的道路粗糙度条件改变控制器增益的机构
公开(公告)号：US5483448A
公开(公告)日：1996-01-09
申请号：US26369
申请日：1993-03-04
申请人： Michael K. Liubakka , James R. Winkelman
发明人： Michael K. Liubakka , James R. Winkelman
IPC分类号： B60G17/015 , B60G17/0165 , B60G17/018 , G05B13/04 , B60G25/00 , G05B13/02
CPC分类号： B60G17/0165 , B60G17/0182 , B60K31/047 , G05B13/042 , B60G2400/102 , B60G2400/252 , B60G2400/82 , B60G2500/22 , B60G2600/60 , B60G2600/70 , B60G2600/76 , B60G2800/916 , B60W2510/0604
摘要： An active suspension system uses a closed-loop feedback controller with tunable feedback gains to produce a control signal which minimizes a cost function formed by the weighted sum of system outputs including body acceleration and wheel displacement error. The feedback gains are adaptively varied by incremental amounts which are calculated based on the "pseudo-sensitivities" of those gains to system outputs, the pseudo-sensitivities being generated by a fixed-gain model of the suspension system and being combined using weighting factors which insure convergence in accordance with the predetermined cost function. The weighting factors are combined with the pseudo-sensitivities in a manner in which the trade-off between body acceleration, wheel displacement error and the control signal is altered with varying magnitudes of road inputs to continually minimize the cost function for varying road inputs. The adaptive control provides long-term compensation for varying road conditions, variations from vehicle-to-vehicle, and changes in vehicle performance.
摘要翻译：主动悬架系统使用具有可调谐反馈增益的闭环反馈控制器来产生控制信号，该控制信号使由系统输出的加权和包括身体加速度和车轮位移误差所形成的成本函数最小化。反馈增益由基于系统输出的这些增益的“伪灵敏度”计算的增量量自适应地变化，伪灵敏度由悬挂系统的固定增益模型产生，并使用加权因子根据预定的成本函数确保收敛。加权因子与伪灵敏度结合，其中以车辆加速度，车轮位移误差和控制信号之间的权衡随着道路输入的不同大小而改变，以不断地最小化用于变化道路输入的成本函数的方式。自适应控制为不同的道路条件，车辆对车辆的变化以及车辆性能的变化提供长期的补偿。

5. 发明授权

US5235512A Self-tuning speed control for a vehicle 失效
标题翻译：自适应车速控制
公开(公告)号：US5235512A
公开(公告)日：1993-08-10
申请号：US720102
申请日：1991-06-24
申请人： James R. Winkelman , Michael K. Liubakka
发明人： James R. Winkelman , Michael K. Liubakka
IPC分类号： B60G17/0165 , B60G17/018 , B60K31/04 , G05B13/04
CPC分类号： B60G17/0165 , B60G17/0182 , B60K31/047 , G05B13/042 , B60G2400/102 , B60G2400/252 , B60G2400/82 , B60G2500/22 , B60G2600/60 , B60G2600/70 , B60G2600/76 , B60G2800/916 , B60W2510/0604
摘要： A self-tuning speed control system is disclosed. The gain of the system controller is tuned to provide optimal performance based upon a sensitivity point analysis and gradient optimization of a prescribed cost index.

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