DE19758541C2 - Active suspension e.g. for automobile - Google Patents
Active suspension e.g. for automobileInfo
- Publication number
- DE19758541C2 DE19758541C2 DE19758541A DE19758541A DE19758541C2 DE 19758541 C2 DE19758541 C2 DE 19758541C2 DE 19758541 A DE19758541 A DE 19758541A DE 19758541 A DE19758541 A DE 19758541A DE 19758541 C2 DE19758541 C2 DE 19758541C2
- Authority
- DE
- Germany
- Prior art keywords
- suspension
- piston
- liquid
- cylinder
- active
- 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.)
- Expired - Fee Related
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 11
- 239000007788 liquid Substances 0.000 claims abstract description 6
- 239000000203 mixture Substances 0.000 claims abstract description 5
- 238000010438 heat treatment Methods 0.000 claims description 2
- 239000011344 liquid material Substances 0.000 claims 1
- 239000000126 substance Substances 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 4
- 239000006096 absorbing agent Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000009833 condensation Methods 0.000 description 2
- 230000005494 condensation Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000009834 vaporization Methods 0.000 description 1
- 230000008016 vaporization Effects 0.000 description 1
- 239000002918 waste heat Substances 0.000 description 1
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
- B60G17/002—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 by temperature regulation of the suspension unit, e.g. heat operated systems
-
- 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
-
- 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
- B60G2202/413—Hydraulic actuator
-
- 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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/102—Acceleration; Deceleration vertical
-
- 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
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- 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
- B60G2400/60—Load
-
- 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
- B60G2400/70—Temperature of vehicle part or in the vehicle
- B60G2400/71—Temperature of vehicle part or in the vehicle of suspension unit
-
- 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
- B60G2400/70—Temperature of vehicle part or in the vehicle
- B60G2400/71—Temperature of vehicle part or in the vehicle of suspension unit
- B60G2400/712—Temperature of vehicle part or in the vehicle of suspension unit of spring
- B60G2400/7122—Fluid spring
-
- 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
-
- 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
- B60G2600/14—Differentiating means, i.e. differential control
-
- 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
-
- 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
- B60G2600/17—Proportional control, i.e. gain control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Gegenstand der Erfindung ist ein thermohydraulisches System zur Erzeugung einer Kraft, die als Stellgröße einer Stellungsregelung zur aktiven Federung eines Fahrwerks dient.The invention relates to a thermohydraulic system for generating a force, which serves as the manipulated variable of a position control for the active suspension of a chassis.
Zur Aufbaufederung eines Landfahrzeugs, insbesondere eines Automobils, werden fast ausnahmslos die passiven Komponenten Stahlfedern und Stoßdämpfer verwendet. In eini gen Fällen erscheinen Fahrzeuge mit Gasdruckfedern im Zusammenwirken mit Hydraulik- oder Pneumatiksystem auf dem Markt.For the suspension of a land vehicle, especially an automobile, almost The passive components steel springs and shock absorbers are used without exception. In some In some cases, vehicles with gas pressure springs appear in conjunction with hydraulic or pneumatic system on the market.
In der Literatur, z. B. Thomas Fuhrmann: "Das denkende Fahrwerk" in mot Technik Heft 4/1984 S. 46-48; Wolfgang Schramm, Klaus Landesfeind und Rainer Kallenbach: Aktive Fahrwerksregelung, "Ein Hochleistungskonzept zur aktiven Fahrwerkregelung mit reduziertem Energiebedarf" in ATZ Automobiltechnische Zeitschrift 94 (1992) 7/8 S. 392-403; Darenberg, Gall und Acker: Chancen und Probleme aktiver Kraftfahrzeugregelungen, VDI-Bericht Nr. 515, Düsseldorf 1984 S. 187-194; W. Klinkner: VDI-Bericht Nr. 778, Düsseldorf. wird eine Vielzahl von aktiven Systemen zur Aufbaufederung präsentiert, die Skala reicht von der Gasdruckfeder mit Zusatzfunktionen bis zu hochaktiven Syste men, die die Steuerung eines Differentialkolbens durch einen Sensor für einlaufende Fahr bahnunebenheiten enthalten, sowie einem Systementwurf für eine aktive Niveau- bzw. Stellungsregelung (EP 0 255 720), die ebenfalls Rad und Aufbau mit einem Differential kolben verbindet. In the literature, e.g. B. Thomas Fuhrmann: "The Thinking Chassis" in mot Technik Issue 4/1984 pp. 46-48; Wolfgang Schramm, Klaus Landesfeind and Rainer Kallenbach: Active chassis control, "A high-performance concept for active chassis control with reduced energy consumption" in ATZ Automobiltechnische Zeitschrift 94 (1992) 7/8 pp. 392-403; Darenberg, Gall and Acker: Opportunities and problems of active motor vehicle regulations, VDI report No. 515, Düsseldorf 1984 pp. 187-194; W. Klinkner: VDI report No. 778, Düsseldorf. a variety of active systems for body suspension is presented, the scale ranges from the gas pressure spring with additional functions to highly active systems men, the control of a differential piston by a sensor for incoming driving bumps included, as well as a system design for an active level or Position control (EP 0 255 720), which also wheel and body with a differential piston connects.
Die Mängel der konventionellen Systeme sind ihre Unflexibilität gegenüber den unter schiedlichen Anforderungen durch Fahrkomfort und Fahrsicherheit bei den zu betrachten den Fahrsituationen. Dies wird bei starkem Einfluß der Zuladung besonders deutlich. Die Systeme mit Gasdruckfedern können etwas, jedoch nicht entscheidend flexibler sein und bezahlen dies mit wesentlich höherem Aufwand.The shortcomings of conventional systems are their inflexibility compared to those below different requirements due to driving comfort and driving safety the driving situations. This becomes particularly clear when the load is heavily influenced. The systems with gas pressure springs can be somewhat, but not significantly more flexible and pay for this with much more effort.
Die hochaktiven Systeme mit Fahrbahnsensor und Differentialkolbensteuerung liegen an oder jenseits der Grenzen der Machbarkeit.The highly active systems with roadway sensor and differential piston control are on or beyond the limits of feasibility.
Der Systementwurf der Stellungsregelung (EP 0 255 720) wird in dem hydraulischen System zur Erzeugung der Stellkraft den Anfor derungen (die Stellkraft sollte weginvariant und einstellbar sein) nicht gerecht.The system design of the position control (EP 0 255 720) is the requirements in the hydraulic system for generating the actuating force changes (the positioning force should be path-invariant and adjustable) do not do justice.
Die Erfindung hat es sich zur Aufgabe gesetzt, eine flexi ble und effiziente Fahrwerksoptimierung zu ermöglichen.The invention has set itself the task of a flexi ble and efficient chassis optimization to enable.
Diese Aufgabe wird durch die im Patentanspruch aufgeführten Merkmale gelöst. Die im thermohydraulischen System erzeugte Kraft ist von einer Stellungsregelung steuerbar und ist von Kolbenbewegungen (Federweg) weitgehend unabhängig. Die Stellungsregelung wird so in die Lage versetzt, alle benötigten Funktionen zur Fahrwerksfederung beliebig flexibel wahrzunehmen.This object is achieved by the features listed in the claim. The in The force generated by the thermohydraulic system can be controlled by a positioner is largely independent of piston movements (travel). The position control is thus able to perform all functions required for suspension perceive flexibly.
Die mit der Erfindung erzielten Vorteile bestehen in der Erhöhung von Fahrkomfort und Fahrsicherheit.The advantages achieved by the invention are increased driving comfort and Driving safety.
Die Fig. 4 zeigt ergänzend Simulationsrechnungen für ein konventionelles System mit einer Feder- Stoßdämpferabstimmung entsprechend dem aperiodischen Grenzfall. Fig. 5 zeigt desgleichen eine Si mulationsrechnung für das unten beschriebene aktive System. Der Vergleich lässt Vorteile des aktiven Systems in Bezug auf geringere Vertikalbeschleunigung des Aufbaus und gleichmäßigere Anpreßkraft des Reifens um den Faktor 3 bis 5 erkennen.The Fig. 4 additionally shows simulations for a conventional system with a spring-shock absorber tuning according to the aperiodic limiting case. Fig. 5 also shows a simulation calculation for the active system described below. The comparison reveals advantages of the active system in terms of lower vertical acceleration of the body and more even contact pressure of the tire by a factor of 3 to 5.
Die gezeigten Vorteile stellen sich bereits durch die einfache Maßnahme ein, die reactio auf die Gewichtskraft und die Kurzeitrückstellkraft durch Proportional- und Integralanteil des Reglers im Unterschied zum konventionellen System getrennt zu bilden. Optimierun gen lassen weitere positive Verhaltensweisen erwarten. Neben den gezeigten Vorteilen beim einfachen Durchfedern des Rades ist ebenso mit Vorteilen bei der Niveauhaltung sowie dem Nick- und Wankverhalten zu rechnen. The advantages shown are already achieved through the simple measure, the reactio on the weight and the short-term restoring force through proportional and integral part of the controller, in contrast to the conventional system. Optimization further positive behaviors can be expected. In addition to the advantages shown Simply bouncing the wheel also has advantages when it comes to maintaining the level as well as the pitch and roll behavior.
Das Problem der Verlustleistung stellt sich generell auch bei der konventionellen Fede rung, da hier vom Motor gelieferte Bewegungsenergie im Stoßdämpfer in Wärmeenergie umgewandelt wird. Ein direkter Vergleich von aktivem und konventionellem System ist nicht möglich, da der Bewegungsablauf nach einer Anregung sehr unterschiedlich ist. Un ter Annahme möglichst realistischer Randbedingungen wurde die Verlustleistung des akti ven Systems auf ungefähr das Doppelte derer des konventionellen Systems ermittelt. Eine Maßnahme zur Energieeinsparung ist die Verbesserung der thermischen Isolierung des thermohydraulischen Systems und die aktive Auskoppelung von überschüssiger Energie im Bedarfsfalle z. B. durch Peltierelemente.The problem of power loss generally also arises with the conventional spring tion, since here the kinetic energy supplied by the engine in the shock absorber is converted into thermal energy is converted. A direct comparison of the active and conventional system is not possible because the sequence of movements after a suggestion is very different. Un assuming realistic conditions, the power loss of the ac ven system determined to approximately double that of the conventional system. One measure to save energy is to improve the thermal insulation of the thermohydraulic system and the active decoupling of excess energy if necessary z. B. by Peltier elements.
Weiterhin bietet sich zum selben Zweck die Verwendung der Motorabwärme (Auspuff gase, Kühlwasser) als Basisbeheizung an.Furthermore, the use of engine waste heat (exhaust gases, cooling water) as basic heating.
Eine zusätzliche Energieeinsparung tritt ein, wenn das aktive System nur teiltragend ausgebildet wird, dh. die Aufbaufederung sowohl konventionell als auch aktiv wahrgenommen wird.An additional energy saving occurs when the active system only is partially supported, ie. the body suspension is both conventional and active is perceived.
Zur weiteren vorteilhaften Ausgestaltung der Erfindung können zusätzliche Sensoren, z. B. für Beschleunigung und Gewicht, verwendet werden, um die Dynamik der Gewichts-, Nick- und Wankkompensation zu verbessern.For a further advantageous embodiment of the invention, additional sensors, for. B. for acceleration and weight, used to dynamics of weight, Improve pitch and roll compensation.
Ein Ausführungsbeispiel der Erfindung zeigen Fig. 1 und Fig. 2.An embodiment of the invention, Figs. 1 and FIG. 2.
Fig. 1 zeigt den übergeordneten Systemaufbau Fig. 1 shows the higher-level system structure
Fig. 2 zeigt das thermohydraulische System zur Umsetzung des Reglerausgangssignals in einen vom Kolbenhub (Federweg) weitgehend invarianten Druck zur Beaufschlagung des Plungerkolbenzylinders nach Patentanspruch. Fig. 2 shows the thermal-hydraulic system for implementation of the controller output signal in a substantially invariant from the piston stroke (travel) for pressurizing the pressure Plungerkolbenzylinders according to claim.
Das Stellungsregelsystem ist bemüht, den Plungerkolben 1 auf dem vorgewählten Stel lungssollwert 2 des senkrechten Abstands 6 zwischen Aufbau 3 und Rad 4 zu halten, in dem der Plungerkolbenzylinder 5 mehr oder weniger mit Druck beaufschlagt wird. Im ein fachsten Fall wird dies durch den üblichen PID-Regelalgorithmus erreicht. The position control system tries to keep the plunger 1 on the preselected position setpoint 2 of the vertical distance 6 between the body 3 and wheel 4 , in which the plunger cylinder 5 is pressurized to a greater or lesser extent. In the simplest case, this is achieved using the usual PID control algorithm.
Der Proportionalanteil sorgt für die Rückstellkraft im Kurzzeitbereich, dh für die Kompen sation der stochastischen Radbewegungen, der Differentialanteil übernimmt die Dämp fungskraft und der Integralanteil kompensiert die jeweilige Gewichtskraft von Aufbau und Zuladung 3 und löst so auch das Problem der Niveauhaltung.The proportional component ensures the restoring force in the short-term range, i.e. the compensation of the stochastic wheel movements, the differential component takes over the damping force and the integral component compensates the respective weight of the body and load 3 , thus also solving the problem of maintaining the level.
Die Regelungsparameter sind frei einstellbar, solange sie sich sinnvollerweise innerhalb der Stabilitätsgrenzen halten. Insbesondere der Proportionalanteil wird nun nicht mehr von der reactio auf die Gewichtskraft bestimmt und kann kleiner bemessen werden, was den Fahrkomfort erhöht.The control parameters are freely adjustable as long as they are reasonably within of stability limits. In particular, the proportional part is no longer of The reactio determines the weight and can be dimensioned smaller, which the Driving comfort increased.
Die Folge ist, daß auch die Dämpfungskraft kleiner werden kann. Dies wiederum verbes sert ebenfalls die Schwingungsisolation des Aufbaus und auch die Bodenpressung des Ra des bei schnellen Radbewegungen.The result is that the damping force can also become smaller. This in turn improves also the vibration isolation of the body and the ground pressure of the Ra of fast wheel movements.
Nick- und Wankbewegungen werden durch den Stellungsregelkreis ebenfalls ausgegli chen.The position control loop also compensates for pitch and roll movements chen.
Da der Regler 8 entsprechend dem Stand der Technik als digitaler Universalrechner 9 aus geführt ist, können auch höhere Regelalgorithmen angewendet werden.Since the controller 8 is designed as a digital universal computer 9 in accordance with the prior art, higher control algorithms can also be used.
Das thermohydraulische System zur Erzeugung der zur Kolbenstellung invarianten und von der Stellungsregelung steuerbaren Kraft wird im Folgenden beschrieben:The thermohydraulic system for generating the invariant and for piston position The position controllable force is described below:
Thermohydraulisches System (s. Fig. 2).Thermohydraulic system (see Fig. 2).
In einem Plungerkolbenzylinder 2 mit teilweiser thermischer Isolierung 12 wird über einen Signal-Kraftstromwandler 10 mittels einer feinmaschigen elektrischen Heizung 11 eine Flüssigkeit soweit erhitzt, daß der Zylinderraum 5 von einem Flüssigkeits-Dampfgemisch erfüllt ist. Der Druck des Zweiphasengemisches wird über die Temperatur eingestellt, die sich aus der von der Stellungsregelung gesteuerten Energiezufuhr und der natürlichen Energieabfuhr ergibt.In a plunger cylinder 2 with partial thermal insulation 12 , a liquid is heated via a signal power converter 10 by means of a fine-mesh electrical heater 11 to such an extent that the cylinder space 5 is filled with a liquid-vapor mixture. The pressure of the two-phase mixture is set via the temperature, which results from the energy supply controlled by the position control and the natural energy dissipation.
Hubbewegungen des Plungerkolbens 1 bewirken immer Verdampfung von Flüssigkeit oder Kondensation von Dampf als isentrope Zustandsänderungen. Um jedoch druckinvariante Volumenänderungen zu erlangen, sind isotherme Zustandsänderungen anzustreben (s. Fig. 3). Diese werden annähernd erreicht, indem das Volumen des Flüssigkeitsanteils im Zylin derraum 5 hinreichend groß gegenüber dem des Kolbenhubs gewählt wird. Kondensations- und Verdampfungsenergien führen dann nur zu geringfügigen Temperaturschwankungen, sodaß die zur Kolbenstellung invariante Kraft annähernd gegeben ist.Stroke movements of the plunger 1 always cause vaporization of liquid or condensation of vapor as isentropic changes in state. However, in order to achieve pressure-invariant volume changes, isothermal changes in state should be sought (see Fig. 3). These are approximately achieved by choosing the volume of the liquid portion in the cylinder space 5 sufficiently large compared to that of the piston stroke. Condensation and evaporation energies then only lead to slight temperature fluctuations, so that the force invariant for the piston position is approximately given.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE1997134675 DE19734675C2 (en) | 1997-08-11 | 1997-08-11 | System for active suspension of a chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE1997134675 DE19734675C2 (en) | 1997-08-11 | 1997-08-11 | System for active suspension of a chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE19758541C2 true DE19758541C2 (en) | 2000-03-30 |
Family
ID=7838584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE19758541A Expired - Fee Related DE19758541C2 (en) | 1997-08-11 | 1997-08-11 | Active suspension e.g. for automobile |
Country Status (1)
| Country | Link |
|---|---|
| DE (1) | DE19758541C2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0255720A1 (en) * | 1986-08-05 | 1988-02-10 | Mazda Motor Corporation | Vehicle suspension system |
-
1997
- 1997-08-11 DE DE19758541A patent/DE19758541C2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0255720A1 (en) * | 1986-08-05 | 1988-02-10 | Mazda Motor Corporation | Vehicle suspension system |
Non-Patent Citations (4)
| Title |
|---|
| DE-Publ.: DARENBERG, JOLL, ACKER: Chancen und Probleme aktiver Kraftfahrzeugregelungen, VDI- Bericht 515, S. 187-194, Düsseldorf 1984 * |
| DE-Publ.: KLINKNER, W.: In VDI-Bericht 778, Düsseldorf 1989 * |
| DE-Z: "Das denkende Fahrwerk", mit Technik, Heft 4/1984, S. 46-48 * |
| DE-Z: Aktive Fahrwerksregelung, ein Hochleistungs-konzept zur aktiven Fahrwerksregelung mit redu- ziertem Energiebedarf, ATZ 94 (1992) S. 392-403 * |
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