DE69009343D1 - Steuerverfahren eines aktiven Aufhängungssystems. - Google Patents
Steuerverfahren eines aktiven Aufhängungssystems.Info
- Publication number
- DE69009343D1 DE69009343D1 DE69009343T DE69009343T DE69009343D1 DE 69009343 D1 DE69009343 D1 DE 69009343D1 DE 69009343 T DE69009343 T DE 69009343T DE 69009343 T DE69009343 T DE 69009343T DE 69009343 D1 DE69009343 D1 DE 69009343D1
- Authority
- DE
- Germany
- Prior art keywords
- control method
- suspension system
- active suspension
- active
- control
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- 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
- B60G17/018—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 use of a specific signal treatment or control method
-
- 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
- B60G2202/15—Fluid spring
- B60G2202/154—Fluid spring with an accumulator
-
- 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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
-
- 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
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
-
- 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
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- 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
-
- 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
- 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
-
- 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
- B60G2600/20—Manual control or setting means
-
- 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
- B60G2600/90—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems other signal treatment means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/014—Pitch; Nose dive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
- B60G2800/244—Oversteer
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1208759A JP2867448B2 (ja) | 1989-08-11 | 1989-08-11 | アクティブサスペンション制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69009343D1 true DE69009343D1 (de) | 1994-07-07 |
DE69009343T2 DE69009343T2 (de) | 1994-12-15 |
Family
ID=16561614
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69009343T Expired - Fee Related DE69009343T2 (de) | 1989-08-11 | 1990-08-08 | Steuerverfahren eines aktiven Aufhängungssystems. |
Country Status (5)
Country | Link |
---|---|
US (1) | US5208749A (de) |
EP (1) | EP0412530B1 (de) |
JP (1) | JP2867448B2 (de) |
KR (1) | KR910004383A (de) |
DE (1) | DE69009343T2 (de) |
Families Citing this family (71)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04133811A (ja) * | 1990-09-27 | 1992-05-07 | Fuji Heavy Ind Ltd | 自動車用アクテイブサスペンションの制御方法 |
US5360230A (en) * | 1990-11-30 | 1994-11-01 | Aisin Seiki Kabushiki Kaisha | Damping force control device for suspension system |
US5408411A (en) * | 1991-01-18 | 1995-04-18 | Hitachi, Ltd. | System for predicting behavior of automotive vehicle and for controlling vehicular behavior based thereon |
DE4117897C2 (de) * | 1991-05-31 | 2001-10-04 | Bosch Gmbh Robert | System zur Erzeugung von Signalen zur Steuerung oder Regelung eines in seinen Bewegungsabläufen steuerbaren oder regelbaren Fahrwerkes |
DE4126078A1 (de) * | 1991-08-07 | 1993-02-11 | Fichtel & Sachs Ag | Einrichtung zur querbeschleunigungsabhaengigen beeinflussung einer fahrzeugkomponente |
US5367459A (en) * | 1992-02-10 | 1994-11-22 | Trw Inc. | Apparatus for controlling dampers in a vehicle suspension system |
JP3182021B2 (ja) * | 1993-03-22 | 2001-07-03 | 株式会社ユニシアジェックス | 車両懸架装置 |
AU3410795A (en) * | 1994-08-18 | 1996-03-14 | Aimrite Systems International, Inc. | Computer optimized adaptive suspension system and method improvements |
JPH0880721A (ja) * | 1994-09-14 | 1996-03-26 | Unisia Jecs Corp | 車両懸架装置 |
JPH0920120A (ja) * | 1995-07-04 | 1997-01-21 | Unisia Jecs Corp | 車両懸架装置 |
JP3518309B2 (ja) * | 1998-02-02 | 2004-04-12 | 日産自動車株式会社 | 車両のピッチ角演算装置 |
JP3855441B2 (ja) * | 1998-03-06 | 2006-12-13 | トヨタ自動車株式会社 | 車体ロール評価値演算装置 |
US6185489B1 (en) | 1998-06-12 | 2001-02-06 | Roger Dean Strickler | Vehicle overturn monitor |
JP3695164B2 (ja) | 1998-08-03 | 2005-09-14 | トヨタ自動車株式会社 | 車輌の挙動制御方法 |
US6463371B1 (en) * | 1998-10-22 | 2002-10-08 | Yamaha Hatsudoki Kabushiki Kaisha | System for intelligent control of a vehicle suspension based on soft computing |
US6502837B1 (en) * | 1998-11-11 | 2003-01-07 | Kenmar Company Trust | Enhanced computer optimized adaptive suspension system and method |
US6834218B2 (en) | 2001-11-05 | 2004-12-21 | Ford Global Technologies, Llc | Roll over stability control for an automotive vehicle |
US20020022924A1 (en) * | 2000-03-07 | 2002-02-21 | Begin John David | Propagation of position with multiaxis accelerometer |
JP3641781B2 (ja) * | 2000-05-09 | 2005-04-27 | 日本航空電子工業株式会社 | 傾斜計及びその傾斜計を用いた転倒予測装置 |
US7233236B2 (en) * | 2000-09-25 | 2007-06-19 | Ford Global Technologies, Llc | Passive wheel lift identification for an automotive vehicle using operating input torque to wheel |
US7132937B2 (en) * | 2000-09-25 | 2006-11-07 | Ford Global Technologies, Llc | Wheel lift identification for an automotive vehicle using passive and active detection |
US6356188B1 (en) | 2000-09-25 | 2002-03-12 | Ford Global Technologies, Inc. | Wheel lift identification for an automotive vehicle |
US6904350B2 (en) | 2000-09-25 | 2005-06-07 | Ford Global Technologies, Llc | System for dynamically determining the wheel grounding and wheel lifting conditions and their applications in roll stability control |
US7109856B2 (en) * | 2000-09-25 | 2006-09-19 | Ford Global Technologies, Llc | Wheel lifted and grounded identification for an automotive vehicle |
US6811167B2 (en) * | 2000-12-07 | 2004-11-02 | Visteon Global Technologies, Inc. | Suspension system for a vehicle |
US20040111707A1 (en) * | 2000-12-15 | 2004-06-10 | Bliss Andrew L. | Debugger for multiple processors and multiple debugging types |
US6631317B2 (en) | 2001-10-01 | 2003-10-07 | Ford Global Technologies, Inc. | Attitude sensing system for an automotive vehicle |
US6654674B2 (en) * | 2001-11-21 | 2003-11-25 | Ford Global Technologies, Llc | Enhanced system for yaw stability control system to include roll stability control function |
US6556908B1 (en) | 2002-03-04 | 2003-04-29 | Ford Global Technologies, Inc. | Attitude sensing system for an automotive vehicle relative to the road |
DE10215465B9 (de) * | 2002-03-28 | 2017-08-10 | Volkswagen Ag | Verfahren und Vorrichtung zur Regelung der Fahrdynamik |
US6684140B2 (en) | 2002-06-19 | 2004-01-27 | Ford Global Technologies, Llc | System for sensing vehicle global and relative attitudes using suspension height sensors |
US6718248B2 (en) | 2002-06-19 | 2004-04-06 | Ford Global Technologies, Llc | System for detecting surface profile of a driving road |
US6941205B2 (en) * | 2002-08-01 | 2005-09-06 | Ford Global Technologies, Llc. | System and method for deteching roll rate sensor fault |
US7302331B2 (en) * | 2002-08-01 | 2007-11-27 | Ford Global Technologies, Inc. | Wheel lift identification for an automotive vehicle |
US7079928B2 (en) * | 2002-08-01 | 2006-07-18 | Ford Global Technologies, Llc | System and method for determining a wheel departure angle for a rollover control system with respect to road roll rate and loading misalignment |
US7003389B2 (en) * | 2002-08-01 | 2006-02-21 | Ford Global Technologies, Llc | System and method for characterizing vehicle body to road angle for vehicle roll stability control |
US7085639B2 (en) * | 2002-08-01 | 2006-08-01 | Ford Global Technologies, Llc | System and method for characterizing the road bank for vehicle roll stability control |
US7194351B2 (en) * | 2002-08-01 | 2007-03-20 | Ford Global Technologies, Llc | System and method for determining a wheel departure angle for a rollover control system |
US7430468B2 (en) * | 2002-08-05 | 2008-09-30 | Ford Global Technologies, Llc | System and method for sensitizing the activation criteria of a rollover control system |
US20040024504A1 (en) | 2002-08-05 | 2004-02-05 | Salib Albert Chenouda | System and method for operating a rollover control system during an elevated condition |
US20040024505A1 (en) * | 2002-08-05 | 2004-02-05 | Salib Albert Chenouda | System and method for operating a rollover control system in a transition to a rollover condition |
US6961648B2 (en) * | 2002-08-05 | 2005-11-01 | Ford Motor Company | System and method for desensitizing the activation criteria of a rollover control system |
US7085642B2 (en) * | 2002-08-05 | 2006-08-01 | Ford Global Technologies, Llc | Method and system for correcting sensor offsets |
US6963797B2 (en) * | 2002-08-05 | 2005-11-08 | Ford Global Technologies, Llc | System and method for determining an amount of control for operating a rollover control system |
US7653471B2 (en) * | 2003-02-26 | 2010-01-26 | Ford Global Technologies, Llc | Active driven wheel lift identification for an automotive vehicle |
US7239949B2 (en) | 2003-02-26 | 2007-07-03 | Ford Global Technologies, Llc | Integrated sensing system |
US9162656B2 (en) * | 2003-02-26 | 2015-10-20 | Ford Global Technologies, Llc | Active driven wheel lift identification for an automotive vehicle |
US7136731B2 (en) * | 2003-06-11 | 2006-11-14 | Ford Global Technologies, Llc | System for determining vehicular relative roll angle during a potential rollover event |
WO2005013019A2 (en) * | 2003-07-25 | 2005-02-10 | Yamaha Motor Co., Ltd | Soft computing optimizer of intelligent control system structures |
US7251638B2 (en) | 2004-03-03 | 2007-07-31 | Yamaha Hatsudoki Kabushiki Kaisha | Intelligent robust control system for motorcycle using soft computing optimizer |
US7308350B2 (en) * | 2004-05-20 | 2007-12-11 | Ford Global Technologies, Llc | Method and apparatus for determining adaptive brake gain parameters for use in a safety system of an automotive vehicle |
US7451032B2 (en) | 2004-06-02 | 2008-11-11 | Ford Global Technologies, Llc | System and method for determining desired yaw rate and lateral velocity for use in a vehicle dynamic control system |
US7640081B2 (en) * | 2004-10-01 | 2009-12-29 | Ford Global Technologies, Llc | Roll stability control using four-wheel drive |
US7668645B2 (en) | 2004-10-15 | 2010-02-23 | Ford Global Technologies | System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system |
US7715965B2 (en) | 2004-10-15 | 2010-05-11 | Ford Global Technologies | System and method for qualitatively determining vehicle loading conditions |
US7660654B2 (en) | 2004-12-13 | 2010-02-09 | Ford Global Technologies, Llc | System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system |
US20060224547A1 (en) * | 2005-03-24 | 2006-10-05 | Ulyanov Sergey V | Efficient simulation system of quantum algorithm gates on classical computer based on fast algorithm |
US20060218108A1 (en) * | 2005-03-24 | 2006-09-28 | Sergey Panfilov | System for soft computing simulation |
US7480547B2 (en) | 2005-04-14 | 2009-01-20 | Ford Global Technologies, Llc | Attitude sensing system for an automotive vehicle relative to the road |
US20060293817A1 (en) * | 2005-06-23 | 2006-12-28 | Takahide Hagiwara | Intelligent electronically-controlled suspension system based on soft computing optimizer |
JP2007045331A (ja) * | 2005-08-10 | 2007-02-22 | Sony Corp | 走行装置及びその制御方法 |
US7590481B2 (en) | 2005-09-19 | 2009-09-15 | Ford Global Technologies, Llc | Integrated vehicle control system using dynamically determined vehicle conditions |
US8121758B2 (en) | 2005-11-09 | 2012-02-21 | Ford Global Technologies | System for determining torque and tire forces using integrated sensing system |
US7600826B2 (en) | 2005-11-09 | 2009-10-13 | Ford Global Technologies, Llc | System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls |
US20080217874A1 (en) * | 2007-03-05 | 2008-09-11 | Miskin Mark R | Active air suspension for mobile liquid tanks |
JP2009035218A (ja) | 2007-08-03 | 2009-02-19 | Nissan Motor Co Ltd | 能動型サスペンション、および車両の姿勢変化抑制方法 |
US8763770B2 (en) * | 2011-03-03 | 2014-07-01 | Fox Factory, Inc. | Cooler for a suspension damper |
US8534687B2 (en) | 2010-07-05 | 2013-09-17 | Fluid Ride Ltd. | Suspension strut for a vehicle |
US9574582B2 (en) | 2012-04-23 | 2017-02-21 | Fluid Ride, Ltd. | Hydraulic pump system and method of operation |
US9101519B2 (en) * | 2013-02-07 | 2015-08-11 | Dallas Smith Corporation | Leveling ramp for a wheelchair |
JP7281497B2 (ja) * | 2021-03-22 | 2023-05-25 | 本田技研工業株式会社 | 電動サスペンション装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4625993A (en) * | 1983-01-21 | 1986-12-02 | Group Lotus Public Limited Company | Vehicle suspension system |
US4625992A (en) * | 1984-01-24 | 1986-12-02 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Vehicle suspension apparatus |
JPS61155010A (ja) * | 1984-10-24 | 1986-07-14 | Nissan Motor Co Ltd | 車両におけるサスペンシヨン制御装置 |
FR2585296B1 (fr) * | 1985-07-24 | 1987-11-13 | Peugeot | Suspension hydropneumatique de vehicule automobile comportant des clapets anti-affaissement |
JPS62299418A (ja) * | 1986-06-20 | 1987-12-26 | Tokico Ltd | 車両用サスペンシヨンの制御装置 |
DE3708294A1 (de) * | 1987-03-14 | 1988-09-29 | Graubremse Gmbh | Steueranlage zum heben und senken des fahrzeugaufbaus von luftgefederten fahrzeugen mit niveauregelung |
JPH0829649B2 (ja) * | 1987-03-31 | 1996-03-27 | 日産自動車株式会社 | 能動型サスペンシヨン装置 |
JP2503227B2 (ja) * | 1987-04-06 | 1996-06-05 | 日産自動車株式会社 | 車両用油圧供給装置 |
JPS63269709A (ja) * | 1987-04-24 | 1988-11-08 | Fuji Heavy Ind Ltd | 自動車のアクテイブサスペンシヨン装置 |
JPS641613A (en) * | 1987-06-23 | 1989-01-06 | Toyota Motor Corp | Active suspension for vehicle |
EP0306819B1 (de) * | 1987-09-03 | 1992-01-08 | Toyota Jidosha Kabushiki Kaisha | Elektronisch geregeltes Fluidumaufhängungssystem mit vorausberechneter und rückgekoppelter Regelung der Fahrzeuglage |
EP0306003B1 (de) * | 1987-09-04 | 1992-01-15 | Toyota Jidosha Kabushiki Kaisha | Elektronisch geregeltes Fluidumaufhängungssystem für die Neigungsregelung um die Längs- und Querachse einer Fahrzeugkarosserie |
JPH01122716A (ja) * | 1987-11-05 | 1989-05-16 | Hitachi Ltd | 自動車のアクティブサスペンション制御方式 |
JPH069845Y2 (ja) * | 1987-11-05 | 1994-03-16 | 三菱自動車工業株式会社 | アクテイブサスペンシヨン制御装置 |
JP2503241B2 (ja) * | 1987-11-30 | 1996-06-05 | 日産自動車株式会社 | 能動型サスペンション |
JP2625824B2 (ja) * | 1988-02-19 | 1997-07-02 | 日産自動車株式会社 | 能動型サスペンション |
-
1989
- 1989-08-11 JP JP1208759A patent/JP2867448B2/ja not_active Expired - Lifetime
-
1990
- 1990-08-07 US US07/563,348 patent/US5208749A/en not_active Expired - Fee Related
- 1990-08-08 DE DE69009343T patent/DE69009343T2/de not_active Expired - Fee Related
- 1990-08-08 EP EP90115241A patent/EP0412530B1/de not_active Expired - Lifetime
- 1990-08-09 KR KR1019900012220A patent/KR910004383A/ko not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
KR910004383A (ko) | 1991-03-28 |
US5208749A (en) | 1993-05-04 |
EP0412530A3 (en) | 1991-04-24 |
EP0412530B1 (de) | 1994-06-01 |
DE69009343T2 (de) | 1994-12-15 |
JPH0370614A (ja) | 1991-03-26 |
JP2867448B2 (ja) | 1999-03-08 |
EP0412530A2 (de) | 1991-02-13 |
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