Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Vehicle subsystem or accessory control
Patent
1997-09-25
1999-07-06
Louis-Jacques, Jacques H.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Vehicle subsystem or accessory control
701 38, 280 5514, 280 5515, G06F 1700
Patent
active
059192402
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The invention concerns a device for controlling a suspension such as a hydropneumatic suspension, and, more specifically, an active hydropneumatic suspension for automotive vehicles. The invention also concerns a vehicle of any kind equipped with this device.
BACKGROUND OF THE INVENTION
Patent No. FR-A-2625711 describes an active hydropneumatic suspension for automotive vehicles, comprising an hydraulic jack linked to each of the wheels and equipped with a main chamber connected by means of a shock absorber to a main hydropneumatic accumulator, as well as three height regulators, which are linked respectively to each of the front jacks and to the two jacks on the rear axle. Each regulator is connected, first, to a pressurized fluid source by means of a compensating hydropneumatic accumulator and to an outflow tank or reservoir, and, secondly, to the main chamber(s) of the associated jack or jacks.
These height regulators are actuators, such as hydraulic slide valves or solenoid valves, capable of sending fluid into a line incorporating the main chamber of the associated jack, or of removing liquid therefrom so as to correct for height variations of the vehicle body. This arrangement provides a suspension which not only reacts conventionally to normal road irregularities, but can also compensate for vertical spring movement of the suspension components when the latter undergo expansion or compression stress for a long period, with the result that the vehicle preserves stability and position-retention in relation to the average ground contour, in particular during rolling when turning or pitching when accelerating and braking.
Spring movement of the body is corrected by taking into account body height and various parameters representative of the dynamic state of the vehicle. However, this motion is controlled hydromechanically. Correction always occurs at the same rate, and, depending on the case, it may occur too slowly or too rapidly to ensure proper vehicle stability.
SUMMARY OF THE INVENTION
The invention is intended to eliminate this difficulty by proposing a device for controlling an active hydropneumatic suspension equipping an automotive vehicle, this device making it possible to provide for excellent stability of this vehicle, whatever the circumstances or driving style of the operator.
More specifically, the invention concerns a device for controlling a suspension, such as a hydropneumatic suspension, of an automotive vehicle, comprising multiple independent lines, each of which is connected to an actuator capable of feeding liquid into this line or of removing it therefrom, in accordance with a predetermined law of control and as a function of the position of the body and of the temporal variations of the body position, this law taking into account at least the following variables: speed of spring motion of the body, acceleration of the spring motion of the body, and the temporal derivative of this acceleration, this law being represented by the formula: acceleration, and
These constants may be calculated at the outset when the system is installed, or they may be modified during use if it appears that modification can improve the correction.
In the present description, the expression "actuator-control vector" designates a vector whose components are parameters characterizing the flow of fluid for each of the respective actuators.
The term "body-position vector" is a vector whose components are parameters representative of the position of the body in space, and the components of the vectors X', .gamma., and .gamma.' are the first, second, and third time-related derivatives, respectively, of the components of vector X.
In the case of an architecture such as the one described in Patent No. FR-A-2625711 mentioned above, or the architecture to be described below as an example, the matrices A, B, C, D may be diagonal matrices in order to simplify the law of control.
Control of the actuators is effected in terms of pressure, or preferably, flow rate.
The terms of the matrice
REFERENCES:
patent: 4747615 (1988-05-01), Yamamoto
patent: 5072392 (1991-12-01), Taniguchi
patent: 5087072 (1992-02-01), Kawarasaki
patent: 5097916 (1992-03-01), Brandstadter
patent: 5475593 (1995-12-01), Townend
patent: 5701245 (1997-12-01), Ogawa et al.
Ney Yves
Tranzer Alain
Arthur Gertrude
Automobiles Citroen
Automobiles Peugeot
Louis-Jacques Jacques H.
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