CN107199841A - The hydraulic pressure independent suspension and its control method of a kind of horizontal automatic adjusument - Google Patents
The hydraulic pressure independent suspension and its control method of a kind of horizontal automatic adjusument Download PDFInfo
- Publication number
- CN107199841A CN107199841A CN201710536235.6A CN201710536235A CN107199841A CN 107199841 A CN107199841 A CN 107199841A CN 201710536235 A CN201710536235 A CN 201710536235A CN 107199841 A CN107199841 A CN 107199841A
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- oil
- valve
- way
- proportional reversing
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient 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
- B60G17/015—Resilient 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
- B60G17/016—Resilient 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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient 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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient 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
- B60G17/015—Resilient 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
- B60G17/019—Resilient 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 type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/414—Fluid actuator using electrohydraulic valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/16—Integrating means, i.e. integral control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to a kind of hydraulic pressure independent suspension of horizontal automatic adjusument, hydraulic system includes kinetic pump, safety valve, fuel tank, 3-position 4-way proportional reversing valve, hydraulic control one-way valve；Kinetic pump oil-out is divided into three tunnels, first via connection pressure gauge, and the second road connection safety valve is to ensure system pressure in the range of setting, the outlet on the 3rd tunnel is connected in parallel 4 3-position 4-way proportional reversing valves, 3-position 4-way proportional reversing valve is O-shaped Median Function, when in middle position, oil circuit cut-out；Hydraulic cylinder is set on four angles of vehicle frame, and the center on four sides is provided with horizon sensor；Control system is connected with horizon sensor, gear pump, 3-position 4-way proportional reversing valve signal.The horizontal automatic adjusument hydraulic pressure independent suspension of the present invention can cause the independent adjust automatically vehicle driving posture in real time of vehicle traveling four suspensions at uneven road surface, it is ensured that vehicle frame level, prevent vehicle roll, improve driving safety.
Description
Technical field
It is a kind of hydraulic pressure of horizontal automatic adjusument specifically the present invention relates to a kind of hydraulic self-adapting adjusting means
Independent suspension and its control method, belong to technical field of hydraulic.
Background technology
For a long time, China some areas are one because changeable, surface relief with a varied topography is big, more than irregular, slope sharp bend etc.
Serial objective reality, the mechanized equipment that causes largely to walk occurs that traveling is difficult, operating efficiency is low, of poor quality, safe in this area
The low not acclimatized phenomenon of property.Hinder this area's walking machine development major obstacle be existing suspension type bad adaptability,
Easily tumble, safety coefficient it is low, it is impossible to base area type rise and fall actively adapt to adjustment.
Date of publication is on July 3rd, 2013, and publication No. is CN103182916A Chinese patent literature, discloses one kind many
Axle vehicle hydro pneumatic suspension levelling device and method, this multiple-axle vehicle hydro pneumatic suspension levelling device can not realize that level is adaptively real
When regulation, it is necessary to operating personnel send leveling instruction after system just start adjustment work, be non-closed-loop control；Each wheel can not
Realize separately adjustable；Hydraulic cylinder speed is uncontrollable, causes the real-time accuracy that levelness is adjusted to have deficiency.Control method list
One, it is impossible to realize the unification of stability of control system, accuracy and rapidity.
How the hydraulic pressure independent suspension and its control method of a kind of horizontal automatic adjusument are provided, the ground of walking machine is improved
Shape adaptability, prevents machine from turning on one's side, improves climbing and get over the ridge with good in the poor area of mountain region, hills, road conditions by property
Ability, realizes horizontal automatic adjusument, becomes the technical barrier that this area is badly in need of solving.
The content of the invention
It is an object of the invention to provide a kind of hydraulic pressure independent suspension of horizontal automatic adjusument and its control method, row is improved
The landform adaptability of machinery is walked, prevents machine from turning on one's side by property with good in the poor area of mountain region, hills, road conditions, carries
Ridge ability is got in height climbing, realizes the closed-loop control of horizontal automatic adjusument, while obtaining higher degree of regulation.
The present invention takes following technical scheme：
A kind of hydraulic pressure independent suspension of horizontal automatic adjusument, including hydraulic system, vehicle frame, control system；Hydraulic system
Including kinetic pump, safety valve 3, fuel tank 4,3-position 4-way proportional reversing valve 8, hydraulic control one-way valve；The kinetic pump oil-out is divided into
Three tunnels, the first via connection pressure gauge 6, the second road connection safety valve 3 to ensure system pressure in the range of setting, the 3rd tunnel
Outlet is connected in parallel 4 hydraulic oil for being used to change each oil circuit and flows to the direction of motion 3-position 4-way for then controlling each hydraulic cylinder
Proportional reversing valve 8, described 3-position 4-way proportional reversing valve 8 is O-shaped Median Function, when in middle position, oil circuit cut-out, three
The oil-out of four-way proportional reversing valve 8 connects a pair of hydraulic control one-way valves 11,12 to form hydraulic lock, when 3-position 4-way proportional reversing valve
8 be in middle position when, described hydraulic lock can be with the position of locked hydraulic cylinder 21；The hydraulic cylinder is set on four angles of vehicle frame
21, the center on four sides is provided with horizon sensor；The control system and the horizon sensor, gear pump, three four
The logical signal of proportional reversing valve 8 connection.
Further, the hydraulic cylinder is double acting single-piston oil cylinder, and 4 hydraulic cylinders 21 are connected in parallel；4 described liquid
Cylinder pressure 21 is separately mounted to two crossbeams of suspension outermost and the position of two longeron connections, the rodless cavity side of hydraulic cylinder 21 peace
Equipped with flange 22, the connection that described flange 22 is used between suspension and hydraulic cylinder 21.
Further, described horizon sensor is used for the driving posture for detecting vehicle, when vehicle is due to Uneven road
When rolling, horizon sensor detects body sway and sends signal to control system, and control system is computed which draws
Individual wheel is in highest position, and on the basis of this wheel, from control system analog module through amplifier to specified
Three position four-way directional control valve sends instruction, then controls the action of hydraulic cylinder 21 to realize leveling.
Further, the maximal dilation amount of hydraulic cylinder 21 is 20cm.
Further, the described oil-out of safety valve 3 connection cooler 5, it is to avoid system high oil temperature.
Further, the 3rd tunnel connection oil filter 7 of the kinetic pump oil-out, the outlet of described oil filter 7 is in parallel
Connect 4 3-position 4-way proportional reversing valves 8.
Further, the oil-out of 3-position 4-way proportional reversing valve 8 is connected with one-way throttle valve 10, for controlling one direction system
System flow, the described oil-out of one-way throttle valve 10 connects a pair of hydraulic control one-way valves 11,12 to form hydraulic lock.
A kind of control method of the hydraulic pressure independent suspension of horizontal automatic adjusument, control system is detected according to horizon sensor
The different inclined degrees drawn, when detecting target adjustment amount more than 10cm, use the to use different PID control programs
One PID program is regulated the speed faster with realizing that system has, and when target adjustment amount is between 2-10cm, uses second
PID programs are to eliminate system static difference, but system has certain fluctuation, when target adjustment amount is less than 2cm, use the 3rd
PID programs realize accurate adjustment to prevent hyperharmonic system fluctuation.
The beneficial effects of the present invention are：
1) horizontal automatic adjusument hydraulic pressure independent suspension can make it that vehicle traveling four suspensions at uneven road surface are only
Found real-time adjust automatically vehicle driving posture, it is ensured that vehicle frame level, prevent vehicle roll, improve driving safety.
2) system uses segment level automatic adjusument PID control method, for different situations, chooses suitable ginseng
Number, is adjusted, system oscillation is small, leveling speed is fast, precision is high, realizes PID control system using different PID control programs
System stability, accuracy and the unification of rapidity three.
3) system realizes that level is adaptively adjusted using electrohydraulic proportion technology, fast response time, improves the traveling of vehicle
Ride comfort, intelligence degree is high.
4) latch functions are realized by fluid-control one-way valve group, good airproof performance, and locking precision is high；
5) horizontal automatic adjusument is real-time regulation, and PID closed-loop controls, degree of regulation is high, strong adaptability.
6) four angular positions of four wheels of correspondence are each separately adjustable, and degree of regulation is high；
7) safety valve off-load is relied on, reliability is high；
8) one-way throttle valve group is used for the movement velocity for controlling hydraulic cylinder, and hypervelocity, safety are avoided during especially declining
Property it is high, degree of regulation is high.
Brief description of the drawings
Fig. 1 is the schematic diagram of the hydraulic system of the hydraulic pressure independent suspension of horizontal automatic adjusument of the invention.
Fig. 2 is the mounting structure schematic diagram of the hydraulic pressure independent suspension of horizontal automatic adjusument of the invention.
Fig. 3 is electrical-liquid control figure.
Fig. 4 is PID control schematic diagram.
Fig. 5 is segment level Adaptive PID Control flow chart.
In figure, 1- Diesel engines, 2- gear pumps, 3- safety valves, 4- fuel tanks, 5- coolers, 6- hydralic pressure gauges, 7- oil strains
Device, 8- 3-position 4-way proportional reversing valves, 9,10- one-way throttle valves, 11,12- hydraulic control one-way valves, 21- hydraulic cylinders, 22- flanges,
23- crossbeam horizon sensors, 24- longeron horizon sensors, 25- longeron 26- crossbeams.
Embodiment
The present invention is further described with specific embodiment below in conjunction with the accompanying drawings.
Referring to Fig. 1, Diesel engine is the power source of whole hydraulic system, and dynamical element is gear pump, described gear
Pump out hydraulic fluid port and be divided into three tunnels, hydralic pressure gauge 6 is connected all the way, for showing system pressure, connection safety valve 3 is to ensure system pressure all the way
Power is in the range of setting, and when hydraulic cylinder does not work, safety valve 3 plays a part of off-load, and the described oil-out of safety valve 3 connects
Connect cooler 5, it is to avoid system high oil temperature, another road connects oil filter 7, to avoid proportioning valve from being reduced the longevity by oil contamination
Life, the outlet of described oil filter is connected in parallel 4 3-position 4-way proportional reversing valves 8, and it is used for the hydraulic pressure for changing each oil circuit
Oil flow direction then controls the direction of motion of each hydraulic cylinder, and when electromagnet is powered on the left of proportional reversing valve, hydraulic cylinder rodless cavity enters
Oil, protruding, when electromagnet is powered on the right side of proportional reversing valve, hydraulic cylinder rod chamber oil-feed is inwardly indented, described three
Four-way proportional reversing valve is O-shaped Median Function, when in middle position, and oil circuit cut-out, 3-position 4-way proportional reversing valve oil-out connects
One-way throttle valve is connected to, for controlling one direction flow system flow, described one-way throttle valve oil-out connects a pair of fluid-control one-ways
Valve is to form hydraulic lock, and when reversal valve is in middle position, described hydraulic lock can be double with locked oil cylinder position, described oil cylinder
Single-piston oil cylinder is acted on, quantity is 4, and 4 hydraulic cylinders are connected in parallel, it is ensured that the rapidity of each hydraulic cylinder response.
Referring to Fig. 2, two crossbeams 26 and two longerons 25 that four hydraulic cylinders 21 are separately mounted to vehicle frame outermost are connected
Position, the rodless cavity side of hydraulic cylinder 21 is provided with flange 22, the company that described flange 22 is used between vehicle frame and hydraulic cylinder 21
Connect, described crossbeam 26 and the centre position of longeron 25 are separately installed with four horizon sensors, and horizon sensor is used to detect
The driving posture of vehicle.
Referring to Fig. 3, when vehicle is rolled due to pavement roughness, horizon sensor detect body sway and to
Programmable logic controller (PLC) PLC sends signal, and PLC is computed drawing which wheel is in highest position, and using this wheel as
Benchmark, through amplifier sends instruction to specified 3-position 4-way proportional reversing valve from PLC analog module, then controls hydraulic pressure
Leveling is realized in cylinder action.
Referring to Fig. 4, control system is provided with three kinds of PID programs according to the scope of desired value, the different ratio by setting
Gain P, integral constant I and derivative constant D size are to realize different regulating effects.It is more than when detecting target adjustment amount
During 10cm, regulated the speed faster using first PID1 program with realizing that system has, when target adjustment amount be in 2-10cm it
Between when, using second PID2 program to eliminate system static difference, but there is certain fluctuation in system, when target adjustment amount is less than
During 2cm, using the 3rd PID3 program to prevent hyperharmonic system fluctuation, accurate adjustment is realized.
Referring to Fig. 5, horizon sensor monitors vehicle driving posture in real time, when detecting vehicle run-off the straight, sensor
Signal is passed to by PLC by data wire, PLC determines which wheel is in highest position by calculating, and using this wheel as
Benchmark, calculates the target adjustment amount of its excess-three hydraulic pressure independent suspension, when target adjustment amount is more than 10cm, uses PID1 journeys
Sequence is adjusted, and when target adjustment amount is in 2-10cm, is adjusted using PID2 programs, when target adjustment amount is less than 2cm
When, it is adjusted using PID3 programs.Segment level Adaptive PID Control, realizes stability of control system, accuracy and fast
The unification of speed three.
Above is the preferred embodiments of the present invention, those of ordinary skill in the art can also carry out various changes on this basis
Change or improve, on the premise of the total design of the present invention is not departed from, these conversion or improvement should all belong to application claims guarantor
Within the scope of shield.
Claims (8)
1. a kind of hydraulic pressure independent suspension of horizontal automatic adjusument, it is characterised in that：
Including hydraulic system, vehicle frame, control system；
Hydraulic system includes kinetic pump, safety valve (3), fuel tank (4), 3-position 4-way proportional reversing valve (8), hydraulic control one-way valve；Institute
State kinetic pump oil-out and be divided into three tunnels, first via connection pressure gauge (6), the second road connection safety valve (3) is to ensure system pressure
In the range of setting, the outlet on the 3rd tunnel is connected in parallel 4 hydraulic oil for being used to change each oil circuit and flows to then control respectively
The direction of motion 3-position 4-way proportional reversing valve (8) of hydraulic cylinder, the 3-position 4-way proportional reversing valve (8) is O-shaped Median Function,
When in middle position, oil circuit cut-out, 3-position 4-way proportional reversing valve (8) oil-out connect a pair of hydraulic control one-way valves (11,12) with
Hydraulic lock is formed, when 3-position 4-way proportional reversing valve (8) is in middle position, described hydraulic lock can be with locked hydraulic cylinder (21)
Position；
The hydraulic cylinder (21) is set on four angles of vehicle frame, and the center on four sides is provided with horizon sensor；
The control system is connected with the horizon sensor, gear pump, 3-position 4-way proportional reversing valve (8) signal.
2. the hydraulic pressure independent suspension of horizontal automatic adjusument as claimed in claim 1, it is characterised in that：The hydraulic cylinder is double
Single-piston oil cylinder is acted on, 4 hydraulic cylinders (21) are connected in parallel；4 described hydraulic cylinders (21) are separately mounted to suspension outermost
Two crossbeams and the connection of two longerons position, hydraulic cylinder (21) rodless cavity side is provided with flange (22), described flange
(22) connection being used between suspension and hydraulic cylinder (21).
3. the hydraulic pressure independent suspension of horizontal automatic adjusument as claimed in claim 1, it is characterised in that：Described horizontal sensor
Device is used for the driving posture for detecting vehicle, and when vehicle is rolled due to Uneven road, horizon sensor detects vehicle body
Tilt and send signal to control system, control system is computed showing which wheel is in highest position, and with this wheel
On the basis of, through amplifier instruction is sent to specified three position four-way directional control valve from the analog module of control system, then controlled
Leveling is realized in hydraulic cylinder (21) action.
4. the hydraulic pressure independent suspension of horizontal automatic adjusument as claimed in claim 1, it is characterised in that：Hydraulic cylinder (21) is most
Big stroke is 20cm.
5. the hydraulic pressure independent suspension of horizontal automatic adjusument as claimed in claim 1, it is characterised in that：Described safety valve
(3) oil-out connection cooler (5), it is to avoid system high oil temperature.
6. the hydraulic pressure independent suspension of horizontal automatic adjusument as claimed in claim 1, it is characterised in that：The kinetic pump is fuel-displaced
The 3rd tunnel connection oil filter (7) of mouth, the outlet of described oil filter (7) is connected in parallel 4 3-position 4-way proportional reversing valves
(8)。
7. the hydraulic pressure independent suspension of horizontal automatic adjusument as claimed in claim 1, it is characterised in that：3-position 4-way ratio is changed
One-way throttle valve (10) is connected with to valve (8) oil-out, for controlling one direction flow system flow, described one-way throttle valve (10)
Oil-out connects a pair of hydraulic control one-way valves (11,12) to form hydraulic lock.
8. a kind of control method of the hydraulic pressure independent suspension of the horizontal automatic adjusument described in claim 1, it is characterised in that：
Control system detects that the different inclined degrees drawn, to use different PID control programs, work as inspection according to horizon sensor
When measuring target adjustment amount more than 10cm, regulated the speed faster using first PID program with realizing that system has, when target is adjusted
When whole amount is between 2-10cm, using second PID program to eliminate system static difference, but there is certain fluctuation in system, when
When target adjustment amount is less than 2cm, using the 3rd PID program to prevent hyperharmonic system fluctuation, accurate adjustment is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710536235.6A CN107199841B (en) | 2017-07-04 | 2017-07-04 | Hydraulic independent suspension with horizontal self-adaptive adjustment and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710536235.6A CN107199841B (en) | 2017-07-04 | 2017-07-04 | Hydraulic independent suspension with horizontal self-adaptive adjustment and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107199841A true CN107199841A (en) | 2017-09-26 |
| CN107199841B CN107199841B (en) | 2023-06-16 |
Family
ID=59910661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710536235.6A Active CN107199841B (en) | 2017-07-04 | 2017-07-04 | Hydraulic independent suspension with horizontal self-adaptive adjustment and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107199841B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108167584A (en) * | 2018-01-02 | 2018-06-15 | 京东方科技集团股份有限公司 | Support leveling device and its control method |
| CN108468678A (en) * | 2018-05-21 | 2018-08-31 | 岭南师范学院 | A kind of hydraulic control system of agricultural machinery vehicle body self-balancing |
| CN108944327A (en) * | 2018-07-25 | 2018-12-07 | 农业部南京农业机械化研究所 | A kind of bilayer suitable for Hills can automatically adjust suspension |
| CN110588271A (en) * | 2019-09-27 | 2019-12-20 | 卧龙电气(上海)中央研究院有限公司 | Automobile, chassis and self-adaptive suspension system thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102295248A (en) * | 2010-06-25 | 2011-12-28 | 上海梅山钢铁股份有限公司 | Hydraulic elevating leveling device and control and use method for the same |
| CN203009432U (en) * | 2012-12-28 | 2013-06-19 | 中联重科股份有限公司 | Flow control type combination valve, support leg hydraulic control system and engineering machinery |
| CN103182916A (en) * | 2011-12-28 | 2013-07-03 | 长春孔辉汽车科技有限公司 | Leveling device and method for hydro-pneumatic suspension of multi-axle vehicle |
| CN203321924U (en) * | 2013-07-04 | 2013-12-04 | 郑州新大方重工科技有限公司 | Hydraulic device for controlling stretching, pressure reserving and floating of oil cylinder |
| CN203381464U (en) * | 2013-08-14 | 2014-01-08 | 重庆大江工业有限责任公司 | Hydro-pneumatic spring adjusting device of wheeled armored vehicle |
| CN206983657U (en) * | 2017-07-04 | 2018-02-09 | 农业部南京农业机械化研究所 | A kind of hydraulic pressure independent suspension of horizontal automatic adjusument |
-
2017
- 2017-07-04 CN CN201710536235.6A patent/CN107199841B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102295248A (en) * | 2010-06-25 | 2011-12-28 | 上海梅山钢铁股份有限公司 | Hydraulic elevating leveling device and control and use method for the same |
| CN103182916A (en) * | 2011-12-28 | 2013-07-03 | 长春孔辉汽车科技有限公司 | Leveling device and method for hydro-pneumatic suspension of multi-axle vehicle |
| CN203009432U (en) * | 2012-12-28 | 2013-06-19 | 中联重科股份有限公司 | Flow control type combination valve, support leg hydraulic control system and engineering machinery |
| CN203321924U (en) * | 2013-07-04 | 2013-12-04 | 郑州新大方重工科技有限公司 | Hydraulic device for controlling stretching, pressure reserving and floating of oil cylinder |
| CN203381464U (en) * | 2013-08-14 | 2014-01-08 | 重庆大江工业有限责任公司 | Hydro-pneumatic spring adjusting device of wheeled armored vehicle |
| CN206983657U (en) * | 2017-07-04 | 2018-02-09 | 农业部南京农业机械化研究所 | A kind of hydraulic pressure independent suspension of horizontal automatic adjusument |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108167584A (en) * | 2018-01-02 | 2018-06-15 | 京东方科技集团股份有限公司 | Support leveling device and its control method |
| CN108167584B (en) * | 2018-01-02 | 2020-04-14 | 京东方科技集团股份有限公司 | Support leveling device and control method thereof |
| CN108468678A (en) * | 2018-05-21 | 2018-08-31 | 岭南师范学院 | A kind of hydraulic control system of agricultural machinery vehicle body self-balancing |
| CN108944327A (en) * | 2018-07-25 | 2018-12-07 | 农业部南京农业机械化研究所 | A kind of bilayer suitable for Hills can automatically adjust suspension |
| CN108944327B (en) * | 2018-07-25 | 2023-11-10 | 农业部南京农业机械化研究所 | Double-layer automatic adjustable suspension suitable for hilly and mountain areas |
| CN110588271A (en) * | 2019-09-27 | 2019-12-20 | 卧龙电气(上海)中央研究院有限公司 | Automobile, chassis and self-adaptive suspension system thereof |
| CN110588271B (en) * | 2019-09-27 | 2021-06-29 | 卧龙电气(上海)中央研究院有限公司 | Automobile, chassis and self-adaptive suspension system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107199841B (en) | 2023-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206983657U (en) | A kind of hydraulic pressure independent suspension of horizontal automatic adjusument | |
| CN107199841A (en) | The hydraulic pressure independent suspension and its control method of a kind of horizontal automatic adjusument | |
| US10625796B2 (en) | Auto-leveling drive axle device for wheeled tractor, and leveling method | |
| KR102331677B1 (en) | Inertia adjustment active suspension system and control method based on vehicle attitude deviation | |
| CN108944327B (en) | Double-layer automatic adjustable suspension suitable for hilly and mountain areas | |
| US6131919A (en) | Method of automatically adjusting a body of a tractor to a horizontal position and apparatus for performing the same | |
| CN106427451A (en) | Leveling system and leveling method for agricultural power chassis | |
| CN105745379A (en) | Blade control device, work vehicle, and blade control method | |
| CN102320228B (en) | Method for adjusting vehicle position by adopting descending process | |
| CN105518222A (en) | Working machine control device, working machine, and method for controlling working machine | |
| CN100522670C (en) | Hydraulic pressure automatic leveling method and leveling system for ladle car | |
| CN109533059A (en) | A kind of hilly and mountainous land crawler tractor hillside fields adaptive suspension system | |
| CN103547499A (en) | Vibration damping device for railway vehicle | |
| US8641320B2 (en) | Front drive of a road paver and a method for controlling the front drive | |
| CN108422825B (en) | Pre-detection active leveling system and method for agricultural vehicle operation platform | |
| CN204938803U (en) | A kind of hydraulic crawler crane supporting leg leveling device | |
| CN104206063A (en) | Automatic leveling system for operating machine and control method of automatic leveling system | |
| CN102975586A (en) | Hydraulic four-point leveling method with accuracy less than 1 minute | |
| US11974515B2 (en) | Agricultural machine with system for calculating a terrain relief and method for operating an agricultural machine | |
| CN105774460A (en) | Work procedure for vehicle posture adjusting system | |
| CN208842171U (en) | A kind of bilayer suitable for Hills can automatically adjust suspension | |
| CN108843635A (en) | A kind of hydraulic transmission control system and control method of Hills tractor | |
| CN107825929B (en) | Multi-axis beam transporting vehicle hydraulic suspension automatic leveling monitoring system | |
| CN114342646A (en) | Profiling detection and self-adaptive adjustment system for header ground clearance | |
| DE202013103503U1 (en) | System for reducing the rolling and pitching of a moving vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |