JPH08310217A - Damping force control device - Google Patents

Abstract

PURPOSE: To facilitate car height adjustment, attitude control, and comfortableness control for a vehicle, requiring less energy. CONSTITUTION: A device is provided with an air pressure supply/discharge means 14 to supply/discharge air to/from a return chamber 12 of a double-acting type actuator 31 which absorbs relative attitude change between a car body and a wheel by supply and discharge of hydraulic oil. Separately from actuation of the actuator 31 by a hydraulic pump 38, air is supplied to/discharged from the return chamber 12 by an air pressure supply/discharge means 14, so relative position between the car body and the wheel is changed. A power source for adjusting car height thus becomes the one requiring less energy that is separate from a hydraulic system to perform attitude control and comfortableness control, thereby car height adjustment, attitude control, and comfortableness control of a vehicle can thus be performed, requiring less energy.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a damping force control device which absorbs a relative posture change between two members and adjusts a relative position between the two members, and is particularly applied to a suspension device for an automobile. Is suitable.

[0002]

2. Description of the Related Art As a suspension system (suspension) for supporting a vehicle body of an automobile, an actuator is interposed between the vehicle body side and the wheel side, the vehicle height is adjusted by operating the actuator, and the same actuator is operated. Therefore, a suspension is known that actively suppresses vibrations according to changes in the posture of the vehicle body. A conventional suspension will be described with reference to FIG. FIG. 3 shows a schematic configuration of a conventional suspension.

As shown in the figure, an actuator 3 is provided between the vehicle body 1 and the wheels 2, and pressure oil from a hydraulic pump 5 is supplied to and discharged from the actuator 3 via a pressure control valve 4. It has become. The vehicle height, which is the distance between the vehicle body 1 and the wheels 2, is set by supplying and discharging predetermined pressure oil to and from the actuator 3 under the control of the pressure control valve 4. Also, the wheel 2
With respect to the input from the side, pressure oil is similarly supplied to and discharged from the actuator 3 by the control of the pressure control valve 4,
The attitude of the vehicle body 1 is positively controlled by positively attenuating the input or maintaining the vehicle height. In the figure, reference numeral 6 is a reservoir tank and 7 is an accumulator.

In the conventional suspension shown in the figure, by operating the pressure control valve 4, the height of the vehicle body 1 can be adjusted from the vehicle height adjustment.
The attitude control and the ride comfort control can be positively performed by the hydraulic pressure of the hydraulic pump 5. That is, by driving the actuator 3, the vehicle height is adjusted to a desired state by setting the distance between the vehicle body 1 and the wheels 2. Further, by inputting and outputting the hydraulic pressure of the actuator 3, the input from the wheel 2 side due to the unevenness of the road surface, etc.
Attenuated by In addition, when the predetermined posture control conditions (during braking or turning) are satisfied, the actuator 3 is positively driven to suppress the inclination of the vehicle body 1.

[0005]

The conventional suspension can have the functions of adjusting the vehicle height, controlling the attitude of the vehicle body 1 and controlling the riding comfort by the hydraulic pressure of the hydraulic pump 5. However, in order to keep the vehicle body 1 at the standard vehicle height, it is necessary to constantly supply the hydraulic oil to the actuator 3 from the hydraulic pump 5, which consumes a large amount of energy and deteriorates fuel efficiency, resulting in a difficulty in economy. . Further, since each function is operated by the driving force from one hydraulic pump 5, the mechanism of the pressure control valve 4 becomes complicated, and there is a possibility that a control delay occurs when a plurality of control operations are simultaneously performed. .

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a damping force control device capable of performing from vehicle height adjustment to vehicle body attitude control and ride comfort control with less energy consumption. To do.

[0007]

The structure of the present invention for achieving the above-mentioned object is provided by interposing between two members.
A double-acting actuator having a return chamber that absorbs a relative posture change between members by supplying and discharging pressure oil and a part of the pressure oil is returned, and a hydraulic pump that supplies the pressure oil to the actuator. , A control valve provided between the actuator and the hydraulic pump for controlling the hydraulic pressure in the two hydraulic chambers of the actuator, and a relative position between the two members by supplying and exhausting air to and from the return chamber. And an air pressure supplying / discharging means for changing.

The air pressure supply / discharge means includes an air supply / discharge source for supplying / exhausting air to / from the return chamber, an air supply / discharge passage for connecting the air supply / discharge source and the return chamber, and the return chamber. And a gas-liquid separator provided in the air supply / exhaust passage for separating the oil in the exhaust gas. The gas-liquid separator keeps the chamber connected to the reservoir tank via the discharge port and the discharge port closed until the amount of oil in the chamber reaches a predetermined amount, and And a valve that opens the discharge port when the amount exceeds a predetermined amount and when the air is exhausted from the return chamber. Further, the two members are a vehicle body side and a wheel side of an automobile, and the actuator is a damper of a suspension device for supporting the vehicle body.

[0009]

The actuator is actuated by the pressure oil supplied from the hydraulic pump, and the relative posture between the two members is positively controlled. Further, air is supplied to and discharged from the air pressure supply / discharge means to the return chamber independently of the operation of the actuator by the hydraulic pump, and the relative position between the two members is changed.

The supply / exhaust of air to the return chamber is switched by the switching means, and the oil in the exhaust is separated and collected by the gas-liquid separator. Further, when the amount of oil in the chamber of the gas-liquid separator reaches a predetermined amount and at the time of exhaustion, the discharge port is opened by the valve and the oil in the chamber is collected in the reservoir tank.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the damping force control device of the present invention will be described below with reference to the drawings. The illustrated embodiment is applied to a vehicle suspension as a damping force control device and corresponds to claim 4. FIG. 1 shows a hydraulic circuit state of an actuator in a vehicle suspension to which a damping force control device according to an embodiment of the present invention is applied.

An actuator 31 is provided on the vehicle body side (not shown).
The main body 32 is attached, and the lower portion of the main body 32 is opened. A piston 11 of a piston rod 33 is slidably provided inside the main body 32, and a second hydraulic chamber 36 is formed between the piston 11 and the main body 32. A movable portion 34 is fixed to a lower end portion of the piston rod 33, an upper portion of the movable portion 34 is slidably fitted on an outer peripheral surface of the main body 32, and a lower portion of the main body 32 has a movable portion 3.
It is slidably fitted to the inner peripheral surface of No. 4. A first hydraulic chamber 35 is formed between the inner peripheral surface of the movable portion 34 and the outer peripheral surface of the main body 32, and the movable portion 34 is attached to the wheel side (not shown). That is, the two members are the vehicle body and the wheels of the automobile.

When the pressure oil is supplied to the first hydraulic chamber 35 of the actuator 31 and the pressure oil is discharged from the second hydraulic chamber 36, the movable portion 34 moves upward in the drawing via the piston rod 33. . On the contrary, when the pressure oil is supplied to the second hydraulic chamber 36 and the pressure oil is discharged from the first hydraulic chamber 35, the movable portion 34 moves downward in the figure via the piston rod 33. . Also, the main body 3 of the actuator 31
A compression coil spring 37 is provided between the movable portion 34 and the movable portion 34, and the compression coil spring 37 urges the movable portion 34 downward in the figure to support a load (approximately 1 G load) of a vehicle body (not shown).

On the other hand, the return chamber 12 is formed inside the movable portion 34 below the piston 11, and the inside of the return chamber 12 is an air chamber. The oil (a part of the pressure oil) of the sliding portion of the actuator 31 is collected in the return chamber 12, and the return chamber 1
2 is connected to a return pipe 13.

A hydraulic pump 38 for power steering is connected to an engine (not shown), and the hydraulic pump 3
A part (about 0.3 MPa) of the pressure oil generated by the driving of No. 8 is sent to the actuator 31 via the priority valve 39. That is, the hydraulic pump 38
Supplies the pressure oil to the actuator 31 and a power steering device (not shown) in a branched manner. A switching valve 40 is provided between the priority valve 39 and the actuator 31, and a pressure oil flow path is provided in a return path 42 to the reservoir tank 41 and a line path 43 connected to the actuator 31 side by turning the switching valve 40 on and off. Are switched. That is,
When the switching valve 40 is turned off (the illustrated state), the pressure oil from the priority valve 39 is sent to the return path 42 and returned to the reservoir tank 41. Further, when the switching valve 40 is turned on, the pressure oil from the priority valve 39 is sent to the line passage 43.

The line passage 43 is provided with an electromagnetic pressure control valve 44 as a control valve, and the line passage 43 is connected via the electromagnetic pressure control valve 44 to the first hydraulic chamber 3 of the actuator 31.
5 and the second hydraulic chamber 36. The electromagnetic pressure control valve 44 has a structure in which a thrust force proportional to the current is generated by the solenoid, and the spool stops at a position where the spool balances the output pressure. Therefore, it is possible to generate a pressure according to the command signal, to send pressure oil to the first hydraulic chamber 35 or the second hydraulic chamber 36 at an arbitrary pressure, or to send a pressure between the first hydraulic chamber 35 and the second hydraulic chamber 36. The pressure oil can be circulated by. That is,
The electromagnetic pressure control valve 44 controls the hydraulic pressure in the first hydraulic chamber 35 and the second hydraulic chamber 36 of the actuator 31.

The discharge port of the electromagnetic pressure control valve 44 is the flow path 4
5 is connected to the return path 42 by the electromagnetic pressure control valve 44
A second return path 46 is provided branching from each line path 43 on the downstream side. Each second return path 46 merges with the flow path 45, and the second return path 46 is in a state of being connected to the return path 42 via the flow path 45. Each of the second return passages 46 is provided with a check valve 47 that allows oil to flow only from the flow passage 45 side (only from the return passage 42 side), and the inside of the first hydraulic chamber 35 or the second hydraulic chamber 36. The oil from the side of the return passage 42 flows into the line passage 43 in accordance with the pressure difference when the pressure becomes relatively low.
Reference numeral 50 in the drawing denotes a return pipe from a power steering device (not shown).

On the other hand, the flow passage 45 is provided with an accumulator 61, and the accumulator 61 accumulates the hydraulic pressure in the second return passage 46 and the flow passage 45 on the downstream side from the check valve 47. In other words, the return path 42 rather than the check valve 47.
The accumulator 6 is provided in the second return path 46 at the confluence portion with
1 is provided. In addition, a back pressure valve 62 is provided in the return passage 42, and the back pressure valve 62 allows the passage 4
The oil is allowed to flow from the flow path 45 side to the reservoir tank 41 side only when the oil pressure from the 5 side (second return path 46 side) becomes equal to or higher than a predetermined value. That is, when the switching valve 40 is turned off and the pressure oil is sent to the return passage 42 side, the return passage 42 and the accumulator 61 are pressurized by the pressure oil until the back pressure valve 62 is opened when the pressure becomes equal to or higher than a predetermined pressure. It is in the state of being

In the above embodiment, the pressure oil from the hydraulic pump 38 is sent to the actuator 31 via the priority valve 39 and the switching valve 40, but a pump for supplying pressure oil only to the actuator 31 is used. It may be provided. At this time, by providing an accumulator instead of the switching valve 40 on the upstream side of the electromagnetic pressure control valve 44, the switching valve 40, the accumulator 61, and the back pressure valve 62 are unnecessary.

On the other hand, in the return pipe 13, the height of the vehicle body is changed by supplying / exhausting air to / from the return chamber 12.
That is, the air supply / discharge means 14 for changing the relative positions of the vehicle body and the wheels (not shown) is provided. That is, by supplying air to the return chamber 12 by the air supply / discharge means 14, the main body 32 moves upward in the drawing with respect to the movable portion 34, and the vehicle height rises. By discharging the air, the main body 32 moves downward with respect to the movable portion 34, and the vehicle height decreases. The vehicle height adjustment by the air supply / discharge means 14 is performed independently of the supply / discharge of the pressure oil to / from the actuator 31 by the hydraulic pump 38 described above.

The air supply / discharge means 14 will be described. Return pipe 1
An air cleaner 15 is provided at the end of 3, and an exhaust valve 16 and an air compressor 17 are provided adjacent to the air cleaner 15.
Are arranged in parallel. The return pipe 13 is provided with an air reserve tank 18, and air flows into the air reserve tank 18 from the return pipe 13 side via a check valve 19 and from the air reserve tank 18 via an air supply valve 20. Air is made to flow into the return pipe 13 side. Further, the vehicle height control valve 2 is provided in the return pipe 13 on the front side of the actuator 31.
1 is provided, and the vehicle height control valves 21 are provided for the front wheels and the rear wheels, respectively. The vehicle height control valves 21 for the front wheels and the rear wheels are shared by the left and right wheels. A gas-liquid separator 22 is provided in the return pipe 13 between the air reserve tank 18 and the vehicle height control valve 21, and a chamber 23 of the gas-liquid separator 22 is provided.
Communicates with the reservoir tank 41 via the outlet 24. The discharge port 24 is kept closed by a float valve 25 as a valve until the amount of oil in the chamber 23 reaches a predetermined amount, and is opened when the air is discharged from the return chamber 12.

In the air supply / discharge means 14 described above, the exhaust valve 16
The air supply valve 20 serves as a switching unit that switches the air supply / discharge to / from the return chamber 12. That is, by closing the exhaust valve 16 and opening the air supply valve 20 while the vehicle height control valve 21 is open, the air accumulated in the air reserve tank 18 is supplied to the return chamber 12 and the vehicle height is increased. . Further, by closing the air supply valve 20 and opening the exhaust valve 16 while the vehicle height control valve 21 is open, the air in the return chamber 12 is opened to the atmosphere and the vehicle height is lowered. At this time, the discharge port 24 of the gas-liquid separator 22 is opened, and the return oil accumulated in the chamber 23 is collected in the reservoir tank 41. The vehicle height adjustment control by the air supply / discharge means 14 is executed according to the output of the vehicle height sensor 26 attached to the movable portion 34. The reference numeral 27 in the figure
Is an air dryer.

The gas-liquid separator 22 will be described with reference to FIG. A discharge port 24 is provided in the lower part of the chamber 23 of the gas-liquid separator 22, and the discharge port 24 is closed by a float valve 25. When the amount of oil in the chamber 23 reaches a predetermined amount, the float valve 25 floats up and the discharge port 24 is opened. When air is supplied to the return chamber 12, the pressure of the air chamber 28 of the chamber 23 rises, the float valve 25 is pressed against the discharge port 24, and the discharge port 24 is kept closed.
When air is discharged from the return chamber 12, the pressure of the air chamber 28 of the chamber 23 decreases, the float valve 25 floats up, and the discharge port 24 is opened.

The operation of the above suspension will be described. When a predetermined attitude control condition is satisfied while the vehicle is traveling, that is, when the vehicle travels straight, the value detected by the vertical G sensor exceeds a predetermined value, or the calculated lateral g calculated by the steering wheel angle and the vehicle speed is predetermined. When the value is exceeded and the control for suppressing rolling or pitching is performed, the switching valve 40 is turned on and the attitude control by the actuator 31 is executed. That is, the pressure oil from the hydraulic pump 38 is sent to the electromagnetic pressure control valve 44, and for example, the predetermined pressure oil flows into the first hydraulic chamber 35 and the pressure oil is discharged from the second hydraulic chamber 36, so that the movable portion 34 is moved. Is positively raised with respect to the main body 32, and the actuator 31 is operated in a state where vertical G and lateral g are not generated on the vehicle body.

During normal traveling, the switching valve 40 is turned off and the pressure oil from the hydraulic pump 38 is sent to the return path 42. Since the back passage valve 62 is provided in the return passage 42, the pressure oil sent to the return passage 42 is not sent to the reservoir tank 41 as it is, and the return passage 42 and the accumulator 61 are pressurized until the back pressure valve 62 is opened. . In this state, if there is input from the wheel side due to unevenness of the road surface,
The movable portion 34 of the actuator 31 moves up and down with respect to the main body 32, and the oil flows between the first hydraulic chamber 35 and the second hydraulic chamber 36 via the electromagnetic pressure control valve 44. At this time, the flow resistance of the oil discharged from the hydraulic chamber on the side compressed by the set pressure of the electromagnetic pressure control valve 44 is adjusted, and the input from the wheel side is attenuated by the actuator 31.

As described above, when the switching valve 40 is in the off state, the input from the wheel side is damped by the actuator 31 by the set pressure of the electromagnetic pressure control valve 44. In this case, continuous input from the wheel side due to unevenness of the road surface results in continuous reciprocating motion of the movable portion 34, and the oil discharged from one hydraulic chamber causes the electromagnetic pressure control valve 4 to move.
The flow through 4 into the other hydraulic chamber is repeated. When the continuous reciprocating movement of the movable portion 34 becomes faster, the pressure in the inflow-side line passage 33 temporarily decreases. Flows into the line passage 43 through the second return passage 46. Since the back pressure valve 62 is provided,
Since the flow passage 45 is pressurized and the pressure oil is accumulated in the accumulator 61, the inflow of the oil from the check valve 47 is surely performed even if the movable portion 34 reciprocates in a relatively rapid manner. Therefore, the line passage 43 on the inflow side does not become a negative pressure and bubbles are not generated in the pipe.

In the above-mentioned suspension, since the accumulator 61 and the back pressure valve 62 are provided, the inside of the flow path 45 is pressurized and the inside of the reservoir tank 41 is pressurized so that the inside of the pipe is constantly pressurized. Since it is possible to reliably carry out the inflow of oil from the check valve 47 and to prevent the generation of bubbles in the pipe, it is not necessary to seal the reservoir tank 41 and the pipe connection portion can be simply fixed. Therefore, the hydraulic path for power steering is not affected by pressurization for preventing bubble generation. For this reason,
It is not necessary to strengthen the pipes and connection parts in anticipation of pressure fluctuations due to temperature changes of the oil in the reservoir tank 41, and there is no need to perform any special pressurizing operation even when maintenance such as oil replenishment is performed. Further, since the accumulator 61 is provided, the negative pressure can be reliably supplied even when the rotation speed of the hydraulic pump 38 becomes low. This accumulator 61 does not need a large-scale device, because it only needs to store a negative pressure equivalent to the deformation of the pipe.

On the other hand, the vehicle height adjustment control by the air supply / discharge means 14 can be performed independently of the above-described vehicle attitude control and ride comfort control. The operation of the vehicle height adjustment control will be described. The normal vehicle height is held by the compression coil spring 37, and the vehicle height at this time is set, for example, as a normal low vehicle height. It is possible to adjust the vehicle height to a standard vehicle height, a high vehicle height, a special high vehicle height, or the like by supplying or exhausting air to or from the return chamber 12 according to the traveling condition or the vehicle height selection based on the normal low vehicle height. it can.
The adjustment of the vehicle height is performed by supplying / exhausting air to / from the return chamber 12 when the difference between the output of the vehicle height sensor 26 and the target value becomes a certain value or more.

That is, with the vehicle height control valve 21 open,
When the exhaust valve 16 is closed and the air supply valve 20 is opened, the air accumulated in the air reserve tank 18 is supplied to the return chamber 12. When air is supplied to the return chamber 12,
The main body 32 moves upward in the figure with respect to the movable portion 34, and the vehicle height is increased. Also, with the vehicle height control valve 21 open,
When the air supply valve 20 is closed and the exhaust valve 16 is opened, the air in the return chamber 12 is opened to the atmosphere through the gas-liquid separator 22. When the air in the return chamber 12 is opened to the atmosphere,
The main body 32 moves downward in the figure with respect to the movable portion 34, and the vehicle height is lowered.

Since the oil in the sliding portion of the actuator 31 is accumulated in the return chamber 12, when the air in the return chamber 12 is discharged, this oil is also discharged. The oil discharged together with the exhaust of air is collected in the chamber 23 of the gas-liquid separator 22. When the amount of oil in the chamber 23 of the gas-liquid separator 22 exceeds a predetermined amount, or when the pressure of the air chamber 28 of the gas-liquid separator 22 decreases (air is exhausted from the return chamber 12), the float valve 25 The oil is lifted up, the discharge port 24 is opened, and the oil in the chamber 23 is collected in the reservoir tank 41.

Therefore, in the above-mentioned suspension, the vehicle height can be adjusted independently of the attitude control and the ride comfort control of the vehicle by utilizing the system path for collecting the return oil without impairing the oil recovery. . Therefore, the power source for adjusting the vehicle height becomes a power source with low energy consumption, which is different from the hydraulic system for controlling the attitude control and the riding comfort, and the vehicle height adjustment, the attitude control and the riding comfort control of the vehicle can be achieved with energy saving. Become. Further, since it is not necessary to significantly improve the device, the device can be manufactured at low cost. Further, since the vehicle height is adjusted by an independent power source, the range of function variations and function selection is widened, and it is possible to achieve a suspension having flexible characteristics according to the vehicle type.

In the above embodiment, an example in which the damping force control device is applied to a suspension for a vehicle has been described. However, the present invention is not limited to this, and the damping force control for an industrial machine or the like is performed. It can also be used for (claim 1).

[0033]

According to the damping force control apparatus of the present invention, pneumatic supply / discharge means for supplying / discharging air to / from the return chamber of a double-acting actuator which absorbs a relative posture change between two members by supplying / discharging pressure oil. Since the above is provided, it is possible to change the relative position between the two members by supplying / exhausting air to / from the return chamber from the pneumatic pressure supply / exhaust means independently of the operation of the actuator by the hydraulic pump. As a result, the power source that adjusts the vehicle height becomes a power source that consumes less energy differently from the hydraulic system that performs attitude control and ride comfort control.
Attitude control and ride comfort control are possible. Further, since it is not necessary to significantly improve the device, the device can be manufactured at low cost. Further, since the vehicle height is adjusted by an independent power source, the range of function variations and function selection is widened, and it is possible to achieve a suspension having flexible characteristics according to the vehicle type.

In the damping force control device of the present invention, the switching means switches the air supply / exhaust to / from the return chamber, the oil in the exhaust is separated and collected by the gas-liquid separator, and the inside of the gas-liquid separator is also collected. When the amount of the oil reaches a predetermined amount and at the time of exhaust, the discharge port is opened by the valve and the oil in the room is collected in the reservoir tank. Therefore, the return oil can be collected easily and surely.

[Brief description of drawings]

FIG. 1 is a hydraulic circuit configuration diagram of an actuator in a vehicle suspension applied as a damping force control device according to an embodiment of the present invention.

FIG. 2 is a detailed view of a gas-liquid separator.

FIG. 3 is a schematic configuration diagram of a conventional suspension.

[Explanation of symbols]

 11 Piston 12 Return Chamber 13 Return Pipe 14 Air Supply / Exhaust Means 15 Air Cleaner 16 Exhaust Valve 17 Air Compressor 18 Air Reserve Tank 19 Check Valve 20 Air Supply Valve 21 Height Control Valve 22 Gas-Liquid Separator 23 Chamber 24 Discharge Port 25 Float Valve 26 Vehicle height sensor 27 Air dryer 31 Actuator 32 Main body 33 Piston rod 34 Movable part 35 First hydraulic chamber 36 Second hydraulic chamber 37 Compression coil spring 38 Hydraulic pump 39 Priority valve 40 Switching valve 41 Reservoir tank 42 Return path 43 Line path 44 Electromagnetic pressure control valve 45 Flow path 46 Second return path 47 Check valve

Front page continuation (72) Inventor Tatsuya Kamata 5-3-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Corporation

Claims (4)

[Claims] 1. A double-acting type having a return chamber which is interposed between two members and which absorbs a relative posture change between the two members by supplying and discharging the pressure oil and returns a part of the pressure oil. Actuator, a hydraulic pump for supplying pressure oil to the actuator, a control valve provided between the actuator and the hydraulic pump to control the hydraulic pressure in the two hydraulic chambers of the actuator, and for the return chamber. And a pneumatic pressure supply / discharge means for changing the relative position between the two members by supplying and discharging the air. 2. The air pressure supply / discharge means includes an air supply / discharge source for supplying / exhausting air to / from the return chamber, an air supply / discharge passage connecting the air supply / discharge source and the return chamber, and the return chamber. 2. The damping force control device according to claim 1, comprising a switching means for switching the supply and discharge of air to and from, and a gas-liquid separator provided in the air supply and discharge passage for separating oil in the exhaust. 3. The gas-liquid separator has a chamber connected to a reservoir tank via a discharge port, and holds the discharge port closed until the amount of oil in the chamber reaches a predetermined amount. The damping force control device according to claim 2, comprising a valve that opens the discharge port when the amount of oil exceeds a predetermined amount and when air is exhausted from the return chamber. 4. The damping force according to claim 1, wherein the two members are a vehicle body side and a wheel side of an automobile, and the actuator is a damper of a suspension device for supporting the vehicle body. Control device.