WO2002087909A1 - Active suspension comprising an electric actuator and shock absorber - Google Patents

Active suspension comprising an electric actuator and shock absorber Download PDF

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Publication number
WO2002087909A1
WO2002087909A1 PCT/DE2002/001421 DE0201421W WO02087909A1 WO 2002087909 A1 WO2002087909 A1 WO 2002087909A1 DE 0201421 W DE0201421 W DE 0201421W WO 02087909 A1 WO02087909 A1 WO 02087909A1
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WO
WIPO (PCT)
Prior art keywords
active suspension
suspension according
actuator
generator
wheel
Prior art date
Application number
PCT/DE2002/001421
Other languages
German (de)
French (fr)
Inventor
Anton Paweletz
Hartmut Krueger
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2002087909A1 publication Critical patent/WO2002087909A1/en

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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
    • B60G17/0152—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 action on a particular type of suspension unit
    • B60G17/0157—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 action on a particular type of suspension unit non-fluid unit, e.g. electric motor
    • 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
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
    • F16F1/04—Wound springs
    • F16F1/041—Wound springs with means for modifying the spring characteristics
    • 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
    • B60G2202/10—Type of spring
    • B60G2202/12—Wound spring
    • 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
    • B60G2202/42—Electric actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/419—Gears
    • B60G2204/4193—Gears worm gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • 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
    • B60G2600/18—Automatic control means
    • B60G2600/182—Active control means

Definitions

  • the invention relates to an active suspension for a wheel of a vehicle, the wheel being coupled to a vehicle body via a wheel guide, with an actuator for controlling the relative position of the wheel and the vehicle body and / or the forces acting between the wheel and the vehicle body.
  • the vehicle consists of a vehicle body to which the wheels are attached via a wheel suspension.
  • the wheel suspension in turn consists of a wheel guide, such as a rigid axle, wishbones or the like, as well as a suspension and one
  • Active undercarriages which have hydraulic steamers with a variable steaming rate.
  • a disadvantage of these systems is that a complete hydraulic system consisting of a pump, accumulators, lines, control valves, working cylinders and others is required for the active chassis.
  • This hydraulic system increases the cost of the vehicle and its weight, which is reflected in increased fuel consumption.
  • the electrical control signals of a control device regulating the active chassis must be converted into a hydraulic control movement. This transition from electrical control signals to a hydraulic control movement requires a certain amount of technical effort.
  • the energy introduced into the hydraulic system by the hydraulic pump cannot be coupled out again, but is converted into heat.
  • such active undercarriages cannot suppress roll and pitch movements of the vehicle body without a considerable loss of comfort.
  • an electromagnetic actuator which serves the distance to steer between vehicle body and wheels.
  • the electromagnetic actuator described in DE 42 04 302 AI hereinafter referred to as actuator, is constructed in the manner of a linear motor with permanent magnets and windings. When electrical current flows through the windings, the resulting magnetic field exerts a force on the permanent magnets and thus enables the distance between the vehicle body and the wheels to be controlled.
  • the disadvantage of this design is the low achievable actuating forces, or the high material and space requirements to achieve sufficiently high actuating forces.
  • the current requirement of this actuator is relatively high, since current must flow through the windings permanently in order to generate an actuating force.
  • Nodding movements of the vehicle body can be suppressed by increasing the preload of one or more springs without sacrificing comfort.
  • the invention is based on the object. To provide an active suspension for a wheel of a vehicle, which is simple in construction, requires little maintenance and can be implemented with less technical effort than the previously known active suspensions. In addition, the energy requirement should be minimized and a fail-safe function should be available. Fail-safe means that if z. B. the
  • a hydraulic system can be completely dispensed with by using an electric actuator. This saves considerable costs and the electrical actuator can also be controlled so that the dynamic behavior of the active suspension is improved.
  • Hydraulic system depends, for example, on the operating temperature of the hydraulic fluid, since its viscosity is temperature-dependent.
  • the operating behavior of the actuator can be optimally adapted to the requirements by storing a corresponding characteristic diagram or corresponding characteristic curves in a control device. This improves the operating behavior of the active suspension according to the invention compared to that of an active suspension with a hydraulic actuator.
  • an actuator according to the invention results in considerable savings in electrical energy, since the drive motor only has to be energized when an actuating movement is to be carried out.
  • the reason for this is the use of a gear with self-locking, such as. B. a worm gear.
  • a damper and / or a spring is provided in parallel or in series with the actuator, so that the actuator according to the invention does not transmit the entire forces acting between the vehicle body and the wheel. but is supported by the steamer and / or the spring.
  • the actuator can be dimensioned smaller and the vehicle remains ready to drive even if the actuator fails.
  • the steamer is an electric steamer with a generator, so that the steaming of the vibration-capable mechanical system, consisting of the vehicle body, spring, steamer and wheel, converts it into usable electrical energy, not m warmth.
  • the damping behavior of the steamer can be influenced within wide limits via a suitable control of the generator, so that the operating behavior of the active suspension according to the invention is further improved.
  • the electric steamer has a transmission, that the transmission converts a linear movement into a rotational movement and in particular is a Kugelgewmdespmdel, a rack-and-pinion gear transmission or a planetary roller spindle transmission, so that it is efficient
  • the linear approximation which is linear between the wheel and the vehicle body, is converted into a rotary movement.
  • the drive motor of the actuator and / or the generator of the electric steamer can be an asynchronous, synchronous, direct current, BLDC, transverse flow or a reductance scheme. It is also possible that the generator of the electric steamer is a linear generator.
  • a control device controls the actuator and / or the electric steamer as a function of the driving speed of the vehicle, the pitch rate, the rolling movement of the vehicle body and / or the loading condition, so that the active suspension depends on the current driving situation , always has optimal operating behavior.
  • the generator of the electric steamer can also be operated by a motor.
  • the electrical actuator can thereby be supported and the operating behavior of the active suspension according to the invention can be further improved.
  • control device can control the angular position of the rotor and stator field and / or the current amplitude of the generator.
  • Vehicle axle to be provided. If the active suspension is arranged on all wheels of a vehicle, the suppression of the pitching and rolling movements as well as an automatic level control can be integrated without additional effort.
  • the drive motor and / or the generator is coupled via a converter to an electrical system or an electrical memory, so that on the one hand the power supply to the active suspension according to the invention can take place from the existing vehicle electrical system and, on the other hand, the generator can feed the electrical energy generated by it into the vehicle electrical system.
  • FIG. 1 shows a schematic illustration of a first exemplary embodiment of an active suspension according to the invention
  • FIG. 2 shows a somewhat more detailed illustration of the first exemplary embodiment
  • Figure 3 is a schematic representation of a second exemplary embodiment of an active suspension according to the invention.
  • FIG. 4 is a somewhat more detailed representation of the second embodiment.
  • FIG. 1 shows a schematic illustration of a first exemplary embodiment of an active suspension according to the invention.
  • a vehicle body 1 is connected to a wheel 7 via an active suspension, designated in its entirety by 3, and a wheel guide 5.
  • the connection between vehicle body 1 and wheel guide 5 is shown in FIG. 1 not shown.
  • the wheel 7 moves in the direction of arrow 9 over an uneven road surface. This results in a linear relative movement indicated by a double arrow 13 between vehicle body 1 and wheel 7 and wheel guide 5.
  • the forces acting between vehicle body 1 and wheel 7 or wheel suspension 5 are transmitted via a spring and a hydraulic damper.
  • an electrical actuator 17 is arranged in series with a spring 15.
  • the length of the actuator 17 can be changed in the direction of the double arrow 19. This also increases the pretension of the spring 15 and thus also the forces acting between the vehicle body 1 and wheel suspension 5 or wheel 7.
  • the electric actuator 17 has a drive motor 21 and a gear 23. The structure and mode of operation of the electrical actuator 17 according to the first exemplary embodiment are explained in detail below with reference to FIG. 2.
  • An electric steamer 25 is provided in parallel with the electric actuator 17 and the spring 15.
  • the electric steamer 25 essentially consists of a transmission 27 and a generator 29.
  • the transmission 27 sets the
  • the drive motor 21 of the actuator 17 is also supplied with electrical energy from the vehicle electrical system 35 via the converter 33.
  • Both the electric actuator 17 and the electric steamer 25 are controlled from a control unit 37 via signal lines 39.
  • the electrical actuator 17 is arranged on the wheel guide 5.
  • the electric actuator 17 essentially consists of a drive motor 21 and a worm gear 23.
  • the worm gear in turn consists of a worm 41, which is arranged on the output shaft 42 of the drive motor 21, and a worm wheel 45.
  • the gear 23 is in FIG. 2 in partial longitudinal section shown.
  • the worm wheel 45 is rotatably mounted in a bearing block 47 and has an internal thread 49.
  • a threaded piece 51 which is connected to a spring plate 53, is screwed into the internal thread 49.
  • the threaded piece 51 is secured against rotation (not shown), so that the distance between the spring plate 53 and the wheel guide 5 changes when the worm wheel 45 with the internal thread 49 is rotated via the drive motor 21 and the worm 43.
  • the worm gear is designed to be self-locking so that the vehicle remains roadworthy even if the electric actuator 17 should fail.
  • the drive motor 21 can only be activated if the distance between the spring plate 53 and the wheel guide 5 is to be changed. Otherwise, the drive motor 21 can be de-energized.
  • Electric actuator 17 and spring 15 are connected in series in this exemplary embodiment.
  • An electric steamer 25 is integrated in the spring 15, the structure and mode of operation of which are explained below.
  • Spring plates 53 and a Kugelgewmde nut 57 are rotatably connected to one another via a sleeve 55.
  • a Gewmdespmdel 59 is screwed into the Kugelgewmde nut 57.
  • the power transmission between Kugelgewmde nut 57 and Gewmdespmdel 59 takes place via balls 61 which rotate in a known manner in the Kugelgewmde nut 57. Since the sleeve 55 is non-rotatably connected to the spring plate 53 or the wheel guide 5, any change in the distance between Kugelgewmde nut 57 and
  • the gear 25 designed as a ball screw gear converts the linear movement indicated by the double arrow 13 (see FIG. 1) into a rotary movement of the Gewmdespmdel 59.
  • the Gewmdespmdel 59 is coupled to a rotor 62 of the generator 29.
  • the rotor 62 is rotatably mounted in a housing 63 of the generator 29. Together with a stator (not shown in FIG. 2), a rotary movement of the rotor 62 generates electrical energy in the generator 29 and, as on
  • the gear 25 designed as a ball screw according to FIG. 2 has no self-locking, but can do both
  • FIG. 3 shows a second exemplary embodiment an active suspension 3 according to the invention.
  • an active suspension 3 according to the invention.
  • the electric actuator 17 on the one hand and the spring 15 and electric steamer 25 on the other hand are connected in series. Between electrical actuator 17 and spring 15 and electrical
  • An intermediate piece 65 is arranged in the steamer 25 and couples the components mentioned to one another.
  • the actuator 17 directly influences the electric steamer 25.
  • the actuating movement of the electric actuator 17 can be supported by the steamer 25 by suitably controlling the generator 29 of the electric steamer 25. It is also conceivable, for example, that the generator 29 is also operated by a motor, so that the actuating forces of the electrical actuator 17 and the electric steamer 25 add up.
  • FIG. 4 shows the second exemplary embodiment according to FIG. 3 in longitudinal section in somewhat more detail.
  • the spring 15 lies directly on the
  • the gear 27, as in the first exemplary embodiment, is designed as a ball screw with ball screw nut 57, threaded spindle 59, balls 61.
  • the construction of the generator 29 with a rotor 62 and a housing 63 also corresponds to the construction described in FIG.
  • the drive motor 21 of the electric actuator 17 is in the Housing 63 integrated.
  • the gear 23 of the electric actuator 17 is designed as a roller screw gear.
  • the rotor 62 of the drive motor 21 is connected via a coupling 67 to a roller screw spindle 69 mounted in the intermediate piece 65.
  • a roller thread nut 71 is connected to the vehicle body 1 via a rubber element 73.
  • a plurality of thread rolls 75 are arranged between the roll thread spindle 69 and the roll thread nut 71.
  • the threaded rollers 75 are fixed on axes 77 and transmit the rotary movement of the roller threaded spindle 69 to the roller threaded nut 71.
  • the roller threaded nut 71 consequently performs a linear movement in the direction of the longitudinal axis of the roller threaded spindle 69 and thus changes the distance between the vehicle body 1 and the wheel guide 5th
  • the electric actuator can alternatively be arranged on the vehicle body 1 or the wheel suspension 5 (not shown).
  • Both the electric actuator 17 and the electric steamer 25 are controlled by the control device 37, which can also take over the entire vehicle stability control.
  • the control of the electric actuator 17 by the control device 37 and / or the electric steamer 25 takes place, inter alia, as a function of the vehicle load, the relative position of the vehicle body 1 and the wheel guide 5 to one another and the time derivatives of the changes in the relative position.
  • an active suspension 3 according to the invention is provided on each wheel of the vehicle, level control, suppression of the rolling and pitching movements of the vehicle and increased driving comfort in conjunction with increased driving safety can be realized. It is because of the completely electrical design active suspension 3 according to the invention, the behavior of the active suspension 3 according to the invention can be optimally adapted to a wide variety of driving conditions and different vehicle types. In addition, the maintenance effort is reduced and the service life of the chassis is increased, among other things because of the lower stresses.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention relates to an active suspension, in which the actuator (17) and/or the shock absorber (25) are electrically actuated, in such a way that the operating behaviour of the inventive active suspension can be optimally adapted to different vehicle types. In addition, by feeding the electric energy generated by the electric shock absorber (25) back into the vehicle electric system (35), the energy consumption of the inventive active suspension can be reduced.

Description

Aktive Federung mit elektrischem Aktuator und DämpferActive suspension with electrical actuator and damper
Stand der TechnikState of the art
Die Erfindung betrifft eine aktive Federung für ein Rad eines Fahrzeugs, wobei das Rad über eine Radführung mit einem Fahrzeugaufbau gekoppelt ist, mit einem Aktuator zur Steuerung der relativen Lage von Rad und Fahrzeugaufbau und/oder der zwischen Rad und Fahrzeugaufbau wirkenden Kräfte .The invention relates to an active suspension for a wheel of a vehicle, the wheel being coupled to a vehicle body via a wheel guide, with an actuator for controlling the relative position of the wheel and the vehicle body and / or the forces acting between the wheel and the vehicle body.
Im Zusammenhang mit der Erfindung wird folgende Struktur eines Fahrzeugs vorausgesetzt: Das Fahrzeug besteht aus einem Fahrzeugaufbau an welchem über eine Radaufhängung die Räder befestigt sind. Die Radaufhängung wiederum besteht aus einer Radführung, wie bspw. einer Starrachse, Dreieckslenkern o. ä., sowie einer Federung und einerIn connection with the invention, the following structure of a vehicle is assumed: The vehicle consists of a vehicle body to which the wheels are attached via a wheel suspension. The wheel suspension in turn consists of a wheel guide, such as a rigid axle, wishbones or the like, as well as a suspension and one
Dämpfung. Radaufhängung, Räder und Reifen sind Teil des Fahrwerks des Fahrzeugs.Damping. Suspension, wheels and tires are part of the vehicle's chassis.
Bei einer passiven Federung ist die Kraft, welche zwischen Rad und Aufbau übertragen wird, von der Federrate derIn the case of passive suspension, the force that is transmitted between the wheel and the body is dependent on the spring rate
Feder, vom Federweg, vom Dämpfungsfaktor und von der Dämpfergeschwindigkeit abhängig. In Groß-Serienfahrzeugen kommen bislang auschließlich passive Federungen zum Einsatz .Depending on the spring, the travel, the damping factor and the damper speed. So far, only passive suspensions have been used in large series vehicles.
Bei einer aktiven Federung wird die Kraft, welche zwischen Rad und Aufbau übertragen wird, zumindest teilweise vom Fahrzeug selbst erzeugt. Um die gewünschte Kraft zwischen Rad und Fahrzeugaufbau bereitstellen zu können, ist ein Aktuator erforderlich.With active suspension, the force that is transmitted between the wheel and the body is at least partially transferred from the Vehicle generated itself. In order to be able to provide the desired force between the wheel and the vehicle body, an actuator is required.
Es sind aktive Fahrwerke bekannt, welche hydraulische Dampfer mit veränderbarer Dampfungsrate aufweisen. Nachteilig an diesen Systemen ist, dass für das aktive Fahrwerk ein komplettes hydraulisches System, bestehend aus Pumpe, Speichern, Leitungen, Regelventilen, Arbeitszylindern und andere mehr, erforderlich ist. Dieses hydraulische System erhöht die Kosten des Fahrzeugs und dessen Gewicht, was sich m einem erhöhten Kraftstoffverbrauch niederschlagt. Außerdem müssen die elektrischen Steuersignale eines das aktive Fahrwerk regelnden Steuergeräts in eine hydraulische Steuerbewegung umgesetzt werden. Dieser Übergang von elektrischen Steuersignalen auf eine hydraulische Steuerbewegung erfordert einen gewissen technischen Aufwand. Außerdem kann die in das Hydrauliksystem durch die Hydraulikpumpe eingebrachte Energie nicht wieder ausgekoppelt werden, sondern wird in Warme umgewandelt. Schließlich können solche aktiven Fahrwerke Wank- und Nickbewegungen der Fahrzeugaufbaus nicht ohne erhebliche Komforteinbußen unterdrucken.Active undercarriages are known which have hydraulic steamers with a variable steaming rate. A disadvantage of these systems is that a complete hydraulic system consisting of a pump, accumulators, lines, control valves, working cylinders and others is required for the active chassis. This hydraulic system increases the cost of the vehicle and its weight, which is reflected in increased fuel consumption. In addition, the electrical control signals of a control device regulating the active chassis must be converted into a hydraulic control movement. This transition from electrical control signals to a hydraulic control movement requires a certain amount of technical effort. In addition, the energy introduced into the hydraulic system by the hydraulic pump cannot be coupled out again, but is converted into heat. Finally, such active undercarriages cannot suppress roll and pitch movements of the vehicle body without a considerable loss of comfort.
Aus der DE 198 38 669 AI ist ein Fahrzeug bekannt, bei dem die bei einer Kurvenfahrt auftretenden Wankbewegungen des Fahrzeugaufbaus dadurch kompensiert werden, dass ein auf die Federn des Fahrzeugs wirkender Stellmotor die Vorspannung der kurvenaußeren Federn erhöht. Art undFrom DE 198 38 669 AI a vehicle is known in which the roll movements of the vehicle body which occur when cornering are compensated for by the fact that a servomotor acting on the springs of the vehicle increases the pretension of the springs on the outside of the curve. Type and
Ausfuhrung des Stellmotors werden in dieser Druckschrift nicht beschrieben.Execution of the servomotor are not described in this document.
Aus der DE 42 04 302 AI ist ein elektromagnetisches Stellglied gekannt, welches dazu dient, den Abstand zwischen Fahrzeugaufbau und Radern zu steuern. Das in der DE 42 04 302 AI beschriebene elektromagnetische Stellglied, nachfolgend als Aktuator bezeichnet, ist in der Art eines Linearmotors mit Permanentmagneten und Wicklungen aufgebaut. Wenn die Wicklungen von elektrischem Strom durchflössen werden, übt das dabei entstehende Magnetfeld eine Kraft auf die Permanentmagneten aus und ermöglicht somit die Steuerung des Abstands zwischen Fahrzeugaufbau und Radern. Nachteilig an dieser Ausfuhrung sind die geringen erzielbaren Stellkrafte, bzw. der hohe Material- und Platzbedarf zur Erzielung ausreichend hoher Stellkrafte. Außerdem ist der Strombedarf dieses Aktuators relativ hoch, da die Wicklungen permanent von Strom durchflössen werden müssen, um eine Stellkraft zu erzeugen. Mit den o. g. aktiven Federungen können Wank- undFrom DE 42 04 302 AI an electromagnetic actuator is known, which serves the distance to steer between vehicle body and wheels. The electromagnetic actuator described in DE 42 04 302 AI, hereinafter referred to as actuator, is constructed in the manner of a linear motor with permanent magnets and windings. When electrical current flows through the windings, the resulting magnetic field exerts a force on the permanent magnets and thus enables the distance between the vehicle body and the wheels to be controlled. The disadvantage of this design is the low achievable actuating forces, or the high material and space requirements to achieve sufficiently high actuating forces. In addition, the current requirement of this actuator is relatively high, since current must flow through the windings permanently in order to generate an actuating force. With the above active suspensions, roll and
Nickbewegungen des Fahrzeugaufbaus durch Erhöhung der Vorspannung einzelner oder mehrerer Federn ohne Komforteinbußen unterdruckt werden.Nodding movements of the vehicle body can be suppressed by increasing the preload of one or more springs without sacrificing comfort.
Der Erfindung liegt die Aufgabe zu Grunde, . eine aktive Federung für ein Rad eines Fahrzeugs bereitzustellen, d e einfach aufgebaut ist, wartungsarm ist und mit geringerem technischen Aufwand als die vorbekannten aktiven Federungen realisierbar ist. Außerdem soll der Energiebedarf minimiert und eine fail-safe-Funktion vorhanden sein. Fail-safe bedeutet, dass bei Ausfalle von z. B. derThe invention is based on the object. To provide an active suspension for a wheel of a vehicle, which is simple in construction, requires little maintenance and can be implemented with less technical effort than the previously known active suspensions. In addition, the energy requirement should be minimized and a fail-safe function should be available. Fail-safe means that if z. B. the
Spannungsversorgung des elektrischen Aktuators das Fahrzeug weiter sicher betrieben werden kann. Diese Aufgabe wird erfmdungsgemaß bei einer aktiven Federung für ein Rad eines Fahrzeugs, wobei das Rad über eine Radfuhrung mit einem Fahrzeugaufbau gekoppelt ist, mit einem elektrischen Aktuator zur Steuerung der relativen Lage von Rad und Fahrzeugaufbau und/oder der zwischen Rad und Fahrzeugaufbau wirkenden Kräfte, dadurch gelost, dass dder Aktuator einen elektrischen Antriebsmotor und ein Getriebe mit Selbsthemmung aufweist.Power supply of the electric actuator, the vehicle can continue to be operated safely. This object is achieved according to the invention in the case of an active suspension for a wheel of a vehicle, the wheel being coupled to a vehicle body via a wheel guide, with an electric actuator for controlling the relative position of the wheel and the vehicle body and / or the forces acting between the wheel and the vehicle body, in that the actuator has an electric drive motor and a Gears with self-locking.
Vorteile der ErfindungAdvantages of the invention
Durch die Verwendung eines elektrischen Aktuators kann auf ein Hydrauliksystem vollständig verzichtet werden. Dadurch werden erhebliche Kosten eingespart und außerdem kann der elektrische Aktuator so angesteuert werden, dass das dynamische Verhalten der aktiven Federung verbessert wird. Das Betriebsverhalten eines aktiven Fahrwerks mitA hydraulic system can be completely dispensed with by using an electric actuator. This saves considerable costs and the electrical actuator can also be controlled so that the dynamic behavior of the active suspension is improved. The operating behavior of an active chassis with
Hydrauliksystem hangt bspw. von der Betriebstemperatur des Hydraulikfluids ab, da dessen Viskosität temperaturabhangig ist. Bei einem elektrischen Aktuator hingegen, kann durch Abspeichern eines entsprechenden Kennfeldes oder entsprechender Kennlinien m einem Steuergerat das Betriebsverhalten des Aktuators optimal an die Erfordernisse angepasst werden. Dadurch verbessert sich das Betriebsverhalten der erfmdungsgemaßen aktiven Federung gegenüber dem einer aktiven Federung mit hydraulischem Aktuator.Hydraulic system depends, for example, on the operating temperature of the hydraulic fluid, since its viscosity is temperature-dependent. In contrast, in the case of an electrical actuator, the operating behavior of the actuator can be optimally adapted to the requirements by storing a corresponding characteristic diagram or corresponding characteristic curves in a control device. This improves the operating behavior of the active suspension according to the invention compared to that of an active suspension with a hydraulic actuator.
Gegenüber dem aus dem Stand der Technik bekannten elektromagnetischen Aktuator ergibt sich durch die Verwendung eines erfmdungsgemaßen Aktuators eine erheblich Einsparung an elektrischer Energie, da der Antriebsmotor nur dann bestromt werden muß, wenn eine Stellbewegung ausgeführt werden soll. Ursachlich hierfür ist die Verwendung eines Getriebes mit Selbsthemmung, wie z. B. eines Schneckengetriebes.Compared to the electromagnetic actuator known from the prior art, the use of an actuator according to the invention results in considerable savings in electrical energy, since the drive motor only has to be energized when an actuating movement is to be carried out. The reason for this is the use of a gear with self-locking, such as. B. a worm gear.
Bei verschiedenen Varianten der Erfindung ist vorgesehen, dass parallel oder im Reihe mit dem Aktuator ein Dampfer und/oder eine Feder vorgesehen ist, so dass der erfmdungsgemaße Aktuator nicht die gesamten zwischen Fahrzeugaufbau und Rad wirkenden Kräfte übertragen uss, sondern von Dampfer und/oder der Feder unterstutzt wird. Dadurch kann der Aktuator kleiner dimensioniert werden und das Fahrzeug bleibt auch bei Ausfall des Aktuators fahrbereit .In various variants of the invention it is provided that a damper and / or a spring is provided in parallel or in series with the actuator, so that the actuator according to the invention does not transmit the entire forces acting between the vehicle body and the wheel. but is supported by the steamer and / or the spring. As a result, the actuator can be dimensioned smaller and the vehicle remains ready to drive even if the actuator fails.
In weiterer Ergänzung der Erfindung ist der Dampfer ein elektrischer Dampfer mit einem Generator, so dass die durch die Dampfung des schwmgungsfahigen mechanischen Systems, bestehend aus Fahrzeugaufbau, Feder, Dampfer und Rad, nicht m Warme, sondern in weiter nutzbare elektrische Energie umgewandelt wird. Durch diese Maßnahme verringert sich der Energiebedarf der erf dungsgemaßen aktiven Federung. Außerdem kann über eine geeignete Ansteuerung des Generators das Dampfungsverhalten des Dampfers in weiten Grenzen bee flusst werden, so dass sich das Betriebsverhalten der erf dungsgemaßen aktiven Federung weiter verbessert.In a further addition to the invention, the steamer is an electric steamer with a generator, so that the steaming of the vibration-capable mechanical system, consisting of the vehicle body, spring, steamer and wheel, converts it into usable electrical energy, not m warmth. This measure reduces the energy requirement of the active suspension according to the invention. In addition, the damping behavior of the steamer can be influenced within wide limits via a suitable control of the generator, so that the operating behavior of the active suspension according to the invention is further improved.
Bei weiteren Ausgestaltungen der Erfindung ist vorgesehen, dass der elektrische Dampfer ein Getriebe aufweist, dass das Getriebe eine Linearbewegung in eine Rotationsbewegung umwandelt und insbesondere eine Kugelgewmdespmdel, ein Zahnstangen-Zahnradgetriebe oder ein Planeten- Rollensp del-Getriebe ist, so dass eine effizienteIn further refinements of the invention, it is provided that the electric steamer has a transmission, that the transmission converts a linear movement into a rotational movement and in particular is a Kugelgewmdespmdel, a rack-and-pinion gear transmission or a planetary roller spindle transmission, so that it is efficient
Umsetzung der in erster Näherung linearen Relativbewegung zwischen Rad und Fahrzeugaufbau in eine Drehbewegung erfolgt .The linear approximation, which is linear between the wheel and the vehicle body, is converted into a rotary movement.
Je nach Bedarf kann der Antriebsmotor des Aktuators und/oder der Generator des elektrischen Dampfers eine Asynchron-, Synchron-, Gleichstrom-, BLDC-, Transversalfluss- oder eine Reduktanzmaschme sein. Es ist auch möglich, dass der Generator des elektrischen Dampfers e n Lineargenerator ist. In weiterer Fortbildung der erfmdungsgemaßen aktiven Federung steuert ein Steuergerat den Aktuator und/oder den elektrischen Dampfer in Abhängigkeit der Fahrgeschwindigkeit des Fahrzeugs, der Nickrate, der Wankbewegung des Fahrzeugaufbaus und/oder des Beladungszustands an, so dass die aktive Federung, abhangig von der momentanen Fahrsituation, immer ein optimales Betriebsverhalten aufweist.Depending on requirements, the drive motor of the actuator and / or the generator of the electric steamer can be an asynchronous, synchronous, direct current, BLDC, transverse flow or a reductance scheme. It is also possible that the generator of the electric steamer is a linear generator. In a further development of the active suspension according to the invention, a control device controls the actuator and / or the electric steamer as a function of the driving speed of the vehicle, the pitch rate, the rolling movement of the vehicle body and / or the loading condition, so that the active suspension depends on the current driving situation , always has optimal operating behavior.
Zur weiteren Verbesserung des Betriebsverhaltens kann der Generator des elektrischen Dampfers auch motorisch betrieben werden. Dadurch kann der elektrische Aktuator unterstutzt werden und das Betriebsverhalten der erfmdungsgemaßen aktiven Federung kann weiter verbessert werden.To further improve the operating behavior, the generator of the electric steamer can also be operated by a motor. The electrical actuator can thereby be supported and the operating behavior of the active suspension according to the invention can be further improved.
Zur Steuerung des Generators kann das Steuergerat die Winkellage von Rotor- und Statorfeld und/oder die Stromamplitude des Generators steuern.To control the generator, the control device can control the angular position of the rotor and stator field and / or the current amplitude of the generator.
Zur weiteren Verbesserung des mit einer erfmdungsgemaßen aktiven Federung ausgestatteten Fahrzeugs kann vorgesehen sein, die erfmdungsgemaße aktive Federung an allen Radern des Fahrzeugs, mindestens jedoch an den Radern einerTo further improve the vehicle equipped with an active suspension according to the invention, provision can be made for the active suspension according to the invention on all the wheels of the vehicle, but at least on the wheels of one
Fahrzeugachse, vorzusehen. Wenn die aktive Federung an allen Radern eines Fahrzeugs angeordnet ist, können die Unterdrückung der Nick- und Wankbewegungen sowie eine automatische Niveauregulierung ohne zusätzlichen Aufwand integriert werden.Vehicle axle to be provided. If the active suspension is arranged on all wheels of a vehicle, the suppression of the pitching and rolling movements as well as an automatic level control can be integrated without additional effort.
In weiterer Ergänzung der Erfindung ist der Antriebsmotor und/oder der Generator über einen Umformer mit einem elektrischen Bordnetz oder einem elektrischen Speicher gekoppelt, so dass einerseits die Stromversorgung der erf dungsgemaßen aktiven Federung aus dem ohnehin vorhandenen Bordnetz erfolgen kann und andererseits der Generator die von ihm erzeugte elektrische Energie m das Bordnetz einspeisen kann.In a further addition to the invention, the drive motor and / or the generator is coupled via a converter to an electrical system or an electrical memory, so that on the one hand the power supply to the active suspension according to the invention can take place from the existing vehicle electrical system and, on the other hand, the generator can feed the electrical energy generated by it into the vehicle electrical system.
Weitere Vorteile und vorteilhafte Ausgestaltungen der Erfindung sind der nachfolgenden Zeichnung, deren Beschreibung und den Patentansprüchen entnehmbar.Further advantages and advantageous embodiments of the invention can be found in the following drawing, its description and the patent claims.
Zeichnungdrawing
Es zeigen:Show it:
Figur 1 eine schematische Darstellung eines ersten Ausfuhrungsbeispiels einer erf dungsgemaßen aktiven Federung,FIG. 1 shows a schematic illustration of a first exemplary embodiment of an active suspension according to the invention,
Figur 2 eine etwas detailliertere Darstellung des ersten Ausfuhrungsbeispiels,FIG. 2 shows a somewhat more detailed illustration of the first exemplary embodiment,
Figur 3 eine schematische Darstellung eines zweiten Ausfuhrungsbeispiels einer erf dungsgemaßen aktiven Federung undFigure 3 is a schematic representation of a second exemplary embodiment of an active suspension according to the invention and
Figur 4 eine etwas detailliertere Darstellung des zweiten Ausfuhrungsbeispiels.Figure 4 is a somewhat more detailed representation of the second embodiment.
Beschreibung der AusfuhrungsbeispieleDescription of the exemplary embodiments
Figur 1 zeigt eine schematische Darstellung eines ersten Ausfuhrungsbeispiels einer erf dungsgemaßen aktiven Federung. Ein Fahrzeugaufbau 1 ist über eine in ihrer Gesamtheit mit 3 bezeichneten aktiven Federung und eine Radfuhrung 5 mit einem Rad 7 verbunden. Die Verbindung zwischen Fahrzeugaufbau 1 und Radfuhrung 5 ist m Figur 1 nicht dargestellt. Das Rad 7 bewegt s ch in Richtung des Pfeils 9 über eine unebene Fahrbahn. Dadurch entsteht eine durch einen Doppelpfeil 13 angedeutete lineare Relativbewegung zwischen Fahrzeugaufbau 1 und Rad 7 sowie Radfuhrung 5. Bei einer konventionellen Federung werden die zwischen Fahrzeugaufbau 1 und Rad 7 bzw. Radaufhängung 5 wirkenden Kräfte über eine Feder und einen hydraulischen Dampfer übertragen.FIG. 1 shows a schematic illustration of a first exemplary embodiment of an active suspension according to the invention. A vehicle body 1 is connected to a wheel 7 via an active suspension, designated in its entirety by 3, and a wheel guide 5. The connection between vehicle body 1 and wheel guide 5 is shown in FIG. 1 not shown. The wheel 7 moves in the direction of arrow 9 over an uneven road surface. This results in a linear relative movement indicated by a double arrow 13 between vehicle body 1 and wheel 7 and wheel guide 5. In a conventional suspension, the forces acting between vehicle body 1 and wheel 7 or wheel suspension 5 are transmitted via a spring and a hydraulic damper.
Bei der erf dungsgemaßen aktiven Federung gemäß Figur 1 ist in Reihe zu einer Feder 15 ein elektrischer Aktuator 17 angeordnet. Die Lange des Aktuators 17 kann in Richtung des Doppelpfeils 19 verändert werden. Dadurch erhöht sich auch die Vorspannung der Feder 15 und somit auch die zwischen Fahrzeugaufbau 1 und Radaufhängung 5, bzw. Rad 7 wirkenden Kräfte. Der elektrische Aktuator 17 weist einen Antriebsmotor 21 sowie ein Getriebe 23 auf. Aufbau und Wirkungsweise des elektrischen Aktuators 17 gemäß erstem Ausfuhrungsbeispiel werden an Hand der Figur 2 nachfolgend detailliert erläutert.1, an electrical actuator 17 is arranged in series with a spring 15. The length of the actuator 17 can be changed in the direction of the double arrow 19. This also increases the pretension of the spring 15 and thus also the forces acting between the vehicle body 1 and wheel suspension 5 or wheel 7. The electric actuator 17 has a drive motor 21 and a gear 23. The structure and mode of operation of the electrical actuator 17 according to the first exemplary embodiment are explained in detail below with reference to FIG. 2.
Parallel zu dem elektrischen Aktuator 17 und der Feder 15 ist ein elektrischer Dampfer 25 vorgesehen. Der elektrische Dampfer 25 besteht im Wesentlichen aus einem Getriebe 27 sowie einem Generator 29. Das Getriebe 27 setzt dieAn electric steamer 25 is provided in parallel with the electric actuator 17 and the spring 15. The electric steamer 25 essentially consists of a transmission 27 and a generator 29. The transmission 27 sets the
Linearbewegung in Richtung des Doppelpfeils 13 in eine Drehbewegung, angedeutet durch den kreisförmigen Doppelpfeil 31, um. Diese Drehbewegung setzt der Generator 29 in elektrische Energie um. Über einen Umformer 33 wird die vom Generator erzeugte elektrische Energie m einLinear movement in the direction of the double arrow 13 into a rotary movement, indicated by the circular double arrow 31. The generator 29 converts this rotary movement into electrical energy. The electrical energy m generated by the generator is input via a converter 33
Bordnetz 35 oder einen nicht dargestellten elektrischen Speicher eingekoppelt. Der Antriebsmotor 21 des Aktuators 17 wird ebenfalls vom Bordnetz 35 über den Umformer 33 mit elektrischer Energie versorgt. Angesteuert werden sowohl elektrischer Aktuator 17 als auch elektrischer Dampfer 25 von einem Steuergerat 37 über Signalleitungen 39.On-board electrical system 35 or an electrical storage, not shown, is coupled in. The drive motor 21 of the actuator 17 is also supplied with electrical energy from the vehicle electrical system 35 via the converter 33. Both the electric actuator 17 and the electric steamer 25 are controlled from a control unit 37 via signal lines 39.
An Hand der Figur 2 werden nachfolgend Aufbau und Funktionsweise des elektrischen Aktuators 17 sowie des elektrischen Dampfers 25 erläutert. Gleiche Bauteile werden mit den gleichen Bezugszeichen versehen und es gilt das betreffend Figur 1 Gesagte entsprechend.The structure and mode of operation of the electric actuator 17 and of the electric steamer 25 are explained below with reference to FIG. The same components are provided with the same reference numerals and what has been said regarding FIG. 1 applies accordingly.
In Figur 2 ist der elektrische Aktuator 17 an der Radfuhrung 5 angeordnet. Der elektrische Aktuator 17 besteht im Wesentlichen aus einem Antriebsmotor 21 und einem Schneckengetriebe 23. Das Schneckengetriebe wiederum besteht aus einer Schnecke 41, welche auf der Ausgangswelle 42 des Antriebsmotor 21 angeordnet ist, und einem Schneckenrad 45. Das Getriebe 23 ist m Figur 2 im Teillangsschnitt dargestellt.In Figure 2, the electrical actuator 17 is arranged on the wheel guide 5. The electric actuator 17 essentially consists of a drive motor 21 and a worm gear 23. The worm gear in turn consists of a worm 41, which is arranged on the output shaft 42 of the drive motor 21, and a worm wheel 45. The gear 23 is in FIG. 2 in partial longitudinal section shown.
Das Schneckenrad 45 ist drehbar m einem Lagerbock 47 gelagert und weist ein Innengewinde 49 auf. In das Innengewinde 49 ist ein Gewindestuck 51 eingeschraubt, welches mit einem Federteller 53 verbunden ist. Das Gewindestuck 51 ist gegen Verdrehen gesichert (nicht dargestellt) , so dass sich der Abstand von Federteller 53 und Radfuhrung 5 ändert, wenn über den Antriebsmotor 21 und die Schnecke 43 das Schneckenrad 45 mit Innengewinde 49 Drehung versetzt wird. Das Schneckengetriebe ist selbsthemmend auszufuhren, so dass das Fahrzeug auch fahrtuchtig bleibt, wenn der elektrische Aktuator 17 ausfallen sollte. Außerdem uss wegen der Selbsthemmung des Antriebs des Schneckengetriebes der Antriebsmotor 21 nur dann angesteuert werden, wenn der Abstand zwischen Federteller 53 und Radfuhrung 5 geändert werden soll. Andernfalls kann der Antriebsmotor 21 stromlos sein.The worm wheel 45 is rotatably mounted in a bearing block 47 and has an internal thread 49. A threaded piece 51, which is connected to a spring plate 53, is screwed into the internal thread 49. The threaded piece 51 is secured against rotation (not shown), so that the distance between the spring plate 53 and the wheel guide 5 changes when the worm wheel 45 with the internal thread 49 is rotated via the drive motor 21 and the worm 43. The worm gear is designed to be self-locking so that the vehicle remains roadworthy even if the electric actuator 17 should fail. In addition, because of the self-locking of the drive of the worm gear, the drive motor 21 can only be activated if the distance between the spring plate 53 and the wheel guide 5 is to be changed. Otherwise, the drive motor 21 can be de-energized.
Durch die Änderung des Abstands zwischen Federteller 53 und Radfuhrung 5 wird die Vorspannung der Feder 15 geändert. Elektrischer Aktuator 17 und Feder 15 sind bei diesem Ausfuhrungsbeispiel Reihe geschaltet.By changing the distance between the spring plate 53 and Wheel guide 5, the bias of the spring 15 is changed. Electric actuator 17 and spring 15 are connected in series in this exemplary embodiment.
In der Feder 15 ist ein elektrischer Dampfer 25 integriert, dessen Aufbau und Funktionsweise nachfolgend erläutert werden. Über eine Hülse 55 sind Federteller 53 und eine Kugelgewmde-Mutter 57 drehfest miteinander verbunden. In die Kugelgewmde-Mutter 57 ist eine Gewmdespmdel 59 eingedreht. Die Kraftübertragung zwischen Kugelgewmde- Mutter 57 und Gewmdespmdel 59 erfolgt über Kugeln 61 die an sich bekannter Weise in der Kugelgewmde-Mutter 57 umlaufen. Da die Hülse 55 drehfest mit dem Federteller 53 oder der Radfuhrung 5 verbunden ist, fuhrt jede Änderung des Abstands zwischen Kugelgewmde-Mutter 57 undAn electric steamer 25 is integrated in the spring 15, the structure and mode of operation of which are explained below. Spring plates 53 and a Kugelgewmde nut 57 are rotatably connected to one another via a sleeve 55. A Gewmdespmdel 59 is screwed into the Kugelgewmde nut 57. The power transmission between Kugelgewmde nut 57 and Gewmdespmdel 59 takes place via balls 61 which rotate in a known manner in the Kugelgewmde nut 57. Since the sleeve 55 is non-rotatably connected to the spring plate 53 or the wheel guide 5, any change in the distance between Kugelgewmde nut 57 and
Fahrzeugaufbau 1 zu einer Drehbewegung der Gewmdespmdel 59. Das als Kugelgewindegetriebe ausgeführte Getriebe 25 setzt die durch den Doppelpfeil 13 angedeutete Linearbewegung (siehe Figur 1) in eine rotatoπsche Bewegung der Gewmdespmdel 59 um. Die Gewmdespmdel 59 ist m t einem Rotor 62 des Generators 29 gekoppelt. Der Rotor 62 ist in einem Gehäuse 63 des Generators 29 drehbar gelagert. Zusammen mit einem in Figur 2 nicht dargestellten Stator wird durch eine Drehbewegung des Rotors 62 elektrische Energie im Generator 29 erzeugt und, wie anVehicle body 1 for a rotary movement of the Gewemdespmdel 59. The gear 25 designed as a ball screw gear converts the linear movement indicated by the double arrow 13 (see FIG. 1) into a rotary movement of the Gewmdespmdel 59. The Gewmdespmdel 59 is coupled to a rotor 62 of the generator 29. The rotor 62 is rotatably mounted in a housing 63 of the generator 29. Together with a stator (not shown in FIG. 2), a rotary movement of the rotor 62 generates electrical energy in the generator 29 and, as on
Hand der Figur 1 erläutert, über einen Umformer 33 in ein Bordnetz 35 eingespeist.1 explained, fed into a vehicle electrical system 35 via a converter 33.
Das als Kugelgewinde ausgeführte Getriebe 25 gemäß Figur 2 weist keine Selbsthemmung auf, sondern kann m beideThe gear 25 designed as a ball screw according to FIG. 2 has no self-locking, but can do both
Richtungen Linearbewegungen zwischen Kugelgewmde-Mutter 57 und Fahrzeugaufbau 1 in eine Drehbewegung der Gewmdespmdel 59 umsetzen.Convert the linear movements between the ball nut 57 and the vehicle body 1 into a rotary movement of the Gewmdespmdel 59.
An Hand der Figur 3 wird ein zweites Ausfuhrungsbeispiel einer erfindungsgemaßen aktiven Federung 3 dargestellt. Nachfolgend werden nur die wesentlichen Unterschiede zu dem Ausfuhrungsbeispiel gemäß Figur 1 und 2 erläutert und ansonsten auf das betreffend des ersten Ausfuhrungsbeispiels Gesagte verwiesen.3 shows a second exemplary embodiment an active suspension 3 according to the invention. In the following, only the essential differences from the exemplary embodiment according to FIGS. 1 and 2 are explained and otherwise reference is made to what has been said regarding the first exemplary embodiment.
Bei dem zweiten Ausfuhrungsbeispiel sind der elektrische Aktuator 17 einerseits sowie Feder 15 und elektrischer Dampfer 25 andererseits in Reihe geschaltet. Zwischen elektrischem Aktuator 17 sowie Feder 15 und elektrischemIn the second exemplary embodiment, the electric actuator 17 on the one hand and the spring 15 and electric steamer 25 on the other hand are connected in series. Between electrical actuator 17 and spring 15 and electrical
Dampfer 25 ist ein Zwischenstuck 65 angeordnet, welches die genannten Bauteile miteinander koppelt. Bei diesem Ausfuhrungsbeispiel beeinflusst der Aktuator 17 den elektrischen Dampfer 25 unmittelbar. Andererseits kann, durch geeignetes Ansteuern des Generators 29 des elektrischen Dampfers 25 die Stellbewegung des elektrischen Aktuators 17 vom Dampfer 25 unterstutzt werden. Es ist bspw. auch denkbar, dass der Generator 29 auch motorisch betrieben wird, so dass sich die Stellkrafte von elektrischem Aktuator 17 und elektrischem Dampfer 25 addieren .An intermediate piece 65 is arranged in the steamer 25 and couples the components mentioned to one another. In this exemplary embodiment, the actuator 17 directly influences the electric steamer 25. On the other hand, the actuating movement of the electric actuator 17 can be supported by the steamer 25 by suitably controlling the generator 29 of the electric steamer 25. It is also conceivable, for example, that the generator 29 is also operated by a motor, so that the actuating forces of the electrical actuator 17 and the electric steamer 25 add up.
In Figur 4 ist das zweite Ausfuhrungsbeispiel gemäß Figur 3 im Längsschnitt etwas detaillierter dargestellt. Bei diesem Ausfuhrungsbeispiel liegt die Feder 15 direkt auf derFIG. 4 shows the second exemplary embodiment according to FIG. 3 in longitudinal section in somewhat more detail. In this exemplary embodiment, the spring 15 lies directly on the
Radfuhrung 5 auf und auch die Hülse 55 stutzt sich direkt gegen die Radfuhrung 5 ab. Das Getriebe 27 ist, wie auch beim ersten Ausfuhrungsbeispiel, als Kugelgewinde mit Kugelgewmde-Mutter 57, Gewindespindel 59, Kugeln 61 ausgeführt. Auch der Aufbau des Generators 29 mit einem Rotor 62 und einem Gehäuse 63 entspricht dem in Figur 2 beschriebenen Aufbau.Wheel guide 5 and the sleeve 55 is supported directly against the wheel guide 5. The gear 27, as in the first exemplary embodiment, is designed as a ball screw with ball screw nut 57, threaded spindle 59, balls 61. The construction of the generator 29 with a rotor 62 and a housing 63 also corresponds to the construction described in FIG.
Bei dem Ausfuhrungsbeispiel gemäß Figur 4 ist der Antriebsmotor 21 des elektrischen Aktuators 17 in das Gehause 63 integriert. Das Getriebe 23 des elektrischen Aktuators 17 ist als Rollengewindegetriebe ausgebildet. Der Rotor 62 des Antriebsmotors 21 ist über eine Kupplung 67 mit einer in dem Zwischenstuck 65 gelagerten Rollengewindespindel 69 verbunden. Eine Rollengewinde- Mutter 71 ist über ein Gummielement 73 mit dem Fahrzeugaufbau 1 verbunden. Zwischen der Rollengewindespindel 69 und der Rollengewinde-Mutter 71 sind mehrere Gewinderollen 75 angeordnet. Die Gewinderollen 75 sind auf Achsen 77 fixiert und übertragen die Drehbewegung der Rollengewindespindel 69 auf die Rollengewinde-Mutter 71. Die Rollengewinde-Mutter 71 fuhrt infolgedessen eine lineare Bewegung in Richtung der Langsachse der Rollengewindespmdel 69 aus und ändert somit den Abstand zwischen Fahrzeugaufbau 1 und Radfuhrung 5.4, the drive motor 21 of the electric actuator 17 is in the Housing 63 integrated. The gear 23 of the electric actuator 17 is designed as a roller screw gear. The rotor 62 of the drive motor 21 is connected via a coupling 67 to a roller screw spindle 69 mounted in the intermediate piece 65. A roller thread nut 71 is connected to the vehicle body 1 via a rubber element 73. A plurality of thread rolls 75 are arranged between the roll thread spindle 69 and the roll thread nut 71. The threaded rollers 75 are fixed on axes 77 and transmit the rotary movement of the roller threaded spindle 69 to the roller threaded nut 71. The roller threaded nut 71 consequently performs a linear movement in the direction of the longitudinal axis of the roller threaded spindle 69 and thus changes the distance between the vehicle body 1 and the wheel guide 5th
Der elektrische Aktuator kann alternativ am Fahrzeugaufbau 1 oder der Radaufhängung 5 (nicht dargestellt) angeordnet werden .The electric actuator can alternatively be arranged on the vehicle body 1 or the wheel suspension 5 (not shown).
Angesteuert werden sowohl elektrischer Aktuator 17 als auch elektrischer Dampfer 25 von dem Steuergerat 37, welches auch die gesamte Fahrzeug-Stabilitatsregelung übernehmen kann. Die Ansteuerung des elektrischen Aktuators 17 vom Steuergerat 37 und/oder des elektrischen Dampfers 25 erfolgt unter anderem in Abhängigkeit von der Fahrzeugbelastung, relativer Lage von Fahrzeugaufbau 1 und Radfuhrung 5 zueinander sowie der zeitlichen Ableitungen der Änderungen der relativen Lage. Wenn an jedem Rad des Fahrzeugs eine erfindungsgemaße aktive Federung 3 vorgesehen ist, können eine Niveauregulierung, eine Unterdrückung der Wank- und Nickbewegungen des Fahrzeugs sowie ein gesteigerter Fahrkomfort in Verbindung mit erhöhter Fahrsicherheit realisiert werden. Dabei ist wegen der vollständig elektrischen Ausfuhrung der erfindungsgemaßen aktiven Federung 3 das Verhalten der erfmdungsgemaßen aktiven Federung 3 optimal an verschiedenste Fahrzustande und verschiedene Fahrzeugtypen adaptierbar. Außerdem verringert sich der Wartungsaufwand und die Lebensdauer des Fahrwerks wird, unter anderem wegen der geringeren Beanspruchungen, erhöht.Both the electric actuator 17 and the electric steamer 25 are controlled by the control device 37, which can also take over the entire vehicle stability control. The control of the electric actuator 17 by the control device 37 and / or the electric steamer 25 takes place, inter alia, as a function of the vehicle load, the relative position of the vehicle body 1 and the wheel guide 5 to one another and the time derivatives of the changes in the relative position. If an active suspension 3 according to the invention is provided on each wheel of the vehicle, level control, suppression of the rolling and pitching movements of the vehicle and increased driving comfort in conjunction with increased driving safety can be realized. It is because of the completely electrical design active suspension 3 according to the invention, the behavior of the active suspension 3 according to the invention can be optimally adapted to a wide variety of driving conditions and different vehicle types. In addition, the maintenance effort is reduced and the service life of the chassis is increased, among other things because of the lower stresses.
Samtliche Merkmale können sowohl einzeln als auch m beliebiger Kombination miteinander erfindungswesentlich sein. All features can be essential to the invention both individually and in any combination with one another.

Claims

Anspruche Expectations
1. Aktive Federung für em Rad eines Fahrzeugs, wobei das Rad (7) über eine Radfuhrung (5) mit einem Fahrzeugaufbau (1) gekoppelt ist, mit einem elektrischen Aktuator zur Steuerung der relativen Lage von Rad (7) und Fahrzeugaufbau (1) und/oder der zwischen Rad (7) und Fahrzeugaufbau (1) wirkenden Kräfte, dadurch gekennzeichnet, dass der Aktuator (17) einen elektrischen Antriebsmotor (21) und em Getriebe (23) mit Selbsthemmung aufweist.1. Active suspension for a wheel of a vehicle, the wheel (7) being coupled to a vehicle body (1) via a wheel guide (5), with an electric actuator for controlling the relative position of the wheel (7) and vehicle body (1) and / or the forces acting between the wheel (7) and the vehicle body (1), characterized in that the actuator (17) has an electric drive motor (21) and a gear (23) with self-locking.
2. Aktive Federung nach Anspruch 1, dadurch gekennzeichnet, dass parallel oder in Reihe mit dem Aktuator (17) em Dampfer (25) vorgesehen ist.2. Active suspension according to claim 1, characterized in that a damper (25) is provided in parallel or in series with the actuator (17).
3. Aktive Federung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass parallel oder in Reihe mit dem Aktuator (17) eine Feder (15) vorgesehen ist.3. Active suspension according to claim 1 or 2, characterized in that a spring (15) is provided in parallel or in series with the actuator (17).
4. Aktive Federung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Getriebe ein4. Active suspension according to one of the preceding claims, characterized in that the transmission
Schneckengetriebe (23) oder em Rollengew de-Getriebe (71,
Figure imgf000015_0001
Worm gear (23) or roller screw gear (71,
Figure imgf000015_0001
5. Aktive Federung nach Anspruch einem der Ansprüche 2 b s 4, dadurch gekennzeichnet, dass der Dampfer e elektrischer Dampfer (25) mit einem Generator (29) ist.5. Active suspension according to one of claims 2 to 4, characterized in that the steamer e electric steamer (25) with a generator (29).
6. Aktive Federung nach Anspruch 5, dadurch gekennzeichnet, dass der elektrische Dampfer (25) ein Getriebe (27) aufweist.6. Active suspension according to claim 5, characterized in that the electric steamer (25) has a transmission (27).
7. Aktive Federung nach Anspruch 6, dadurch gekennzeichnet, dass das Getriebe (27) eine Lmearbewegung m eine Rotationsbewegung umwandelt.7. Active suspension according to claim 6, characterized in that the gear (27) converts a linear movement m to a rotational movement.
8. Aktive Federung nach Anspruch 7, dadurch gekennzeichnet, dass das Getriebe eine Kugelgewmdespmdel (27, 29, 31), em Zahnstangen-Zahnradgetriebe oder eine Planeten-Rollensp del-Getriebe ist .8. Active suspension according to claim 7, characterized in that the gear is a Kugelgewmdespmdel (27, 29, 31), rack and pinion gear em or a planetary roller sp del gear.
9. Aktive Federung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Antriebsmotor9. Active suspension according to one of the preceding claims, characterized in that the drive motor
(21) und/oder der Generator (29) eine Asynchron-, Synchron- , Gleichstrom-, BLDC-, Transversalfluss- oder eine Reluktanzmaschine ist.(21) and / or the generator (29) is an asynchronous, synchronous, direct current, BLDC, transverse flux or a reluctance machine.
10. Aktive Federung nach einem der Ansprüche 5 bis 9, dadurch gekennzeichnet, dass der Generator em Lmear- Generator ist.10. Active suspension according to one of claims 5 to 9, characterized in that the generator is an Lmear generator.
11. Aktive Federung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass em Steuergerat11. Active suspension according to one of the preceding claims, characterized in that em control device
(37) zur Steuerung des Aktuators (17) vorgesehen ist.(37) is provided for controlling the actuator (17).
12. Aktive Federung nach Anspruch 11, dadurch gekennzeichnet, dass das Steuergerat (37) den Aktuator (17) und/oder den elektrischen Dampfer (25) m Abhängigkeit der Fahrgeschwindigkeit des Fahrzeugs, der Nickrate, der Wankbewegung des Fahrzeugaufbaus (1) und/oder des Beladungszustands ansteuert. 12. Active suspension according to claim 11, characterized in that the control device (37) the actuator (17) and / or the electric steamer (25) depending on the driving speed of the vehicle, the pitch rate, the rolling movement of the vehicle body (1) and / or the loading status.
13. Aktive Federung nach einem der Ansprüche 5 bis 12, dadurch gekennzeichnet, dass der Generator (29) auch motorisch betrieben werden kann.13. Active suspension according to one of claims 5 to 12, characterized in that the generator (29) can also be operated by a motor.
14. Aktive Federung nach einem der Ansprüche 5 bis 13, dadurch gekennzeichnet, dass das Steuergerat (37) die Winkellage von Rotor- und Statorfeld und/oder Steuerung der Stromamplitude des Generators (29) steuert.14. Active suspension according to one of claims 5 to 13, characterized in that the control device (37) controls the angular position of the rotor and stator field and / or control of the current amplitude of the generator (29).
15. Aktive Federung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die aktive Federung15. Active suspension according to one of the preceding claims, characterized in that the active suspension
(3) an allen Radern (7), mindestens jedoch an den Radern einer Fahrzeugachse vorgesehen ist.(3) is provided on all wheels (7), but at least on the wheels of a vehicle axle.
16. Aktive Federung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Antriebsmotor (21) und/oder der Generator (29) über einen Umformer (33) mit einem elektrischen Netz (35) oder einem elektrischen Energie-Speicher gekoppelt ist. 16. Active suspension according to one of the preceding claims, characterized in that the drive motor (21) and / or the generator (29) is coupled via a converter (33) to an electrical network (35) or an electrical energy store.
PCT/DE2002/001421 2001-04-25 2002-04-17 Active suspension comprising an electric actuator and shock absorber WO2002087909A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2001120102 DE10120102A1 (en) 2001-04-25 2001-04-25 Active chassis with electric actuator and damper
DE10120102.8 2001-04-25

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