Boots – shoes – and leggings
Patent
1993-01-27
1996-01-30
Teska, Kevin J.
Boots, shoes, and leggings
280707, 280840, 180 41, B60G 17015, B60G 1126
Patent
active
054885620
DESCRIPTION:
BRIEF SUMMARY
PRIOR ART
The invention is based on a system according to the category of the main claim.
The development of an electronically controlled chassis involves among others the problem of improving the travel comfort. Viewed as a measure of the travel comfort may be the vertical movement of the vehicle body, described for instance by the heave, roll and pitch movement. Information on the momentary motive state of the vehicle is obtained by suitable sensors, for instance acceleration sensors mounted at suitable points of the vehicle body.
For damping the body movements, a strategy called "continuous skyhook damping" has been in existence for a number of years. The pertaining control algorithm can be formulated for both active (Active Damping in Road Vehicle Suspension Systems, Vehicle System Dynamics, 12(1983), pp. 291-316; Passive and Active Control of Road Vehicle Heave and Pitch Motion, 10th IFAC World Congr. 1987, Munich) and semiactive (Semi-Active Heave and Pitch Control for Ground Vehicles, Vehicle System Dynamics, 11(1982), pp. 31-42) chassis control systems. In these chassis control systems the continuous skyhook damping is used in its so-called "local" variant. Here, the vehicle body movements are determined at the attachment points of the actuators which, in turn, are so controlled that a force is applied which counteracts the respective body movements. Such locally acting chassis control system is unable to specifically influence certain motive components of the vehicle body, such as heave, roll and pitch movements.
While with active systems the application of a control force counteracting the vehicle body movements is extensively possible, semiactive systems merely allow the adjustment of the damper characteristic. Known from EP, A,0 197 316 and the German patent application P 39 30 555.4 are semiactive systems which in their effect approximate an active system, although they hardly require (as compared to active systems) energy for adjustment of the damper tuning.
The problem underlying the present inventional system is to influence, in the framework of influencing the vehicle body movements, individual motive components or shares independently of one another and, as the case may be, to different extents. These components include for instance the heave, roll and pitch movements, but also the vertical movement of the vehicle body at the front and rear axles.
This problem is solved by the features characterized in claim 1.
ADVANTAGE OF THE INVENTION
The object of the present invention is the so-called "modal" variant of the skyhook damping. It possesses essentially two advantages over the local variant:
According to the invention, signals are determined which represent the vertical movement of the vehicle body at selected points. Basing on these signals, the heave, roll and pitch movements are inferred to begin with. These movements are then weighted, and at that, in such a manner that--depending on the tuning of the weighting--the eigenoscillation forms of the vehicle body can be influenced individually. The weighting can be performed, e.g., under allowance for the state of travel, such as braking, accelerating and steering.
Basing on the weighted heave, roll and pitch movements, activation signals are finally determined for the actuators, which with appropriate action ensure that the desired effect will occur, i.e., that the individual shares of the body movement will be damped independently of one another and, as the case may be, to different extents.
Furthermore, the roll or sway moment distribution can be adjusted between the axles of the vehicle.
Favorable embodiments of the invention are characterized in the subclaims.
DRAWINGS
An embodiment of the invention is illustrated in the drawings and more fully explained in the following description.
FIGS. 1a and 1b depict the known two-body model (quater car model) which approximates the vertical dynamics of a wheel unit (of a real vehicle). FIG. 2 illustrates the essential elements of the inventional system in the framework of the following e
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International Search Report, Oct. 2, 1992.
Kallenbach Rainer
Kunz Dieter
Landesfeind Klaus
Otterbein Stefan
Nguyen Tan
Robert & Bosch GmbH
Teska Kevin J.
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