EP0672549A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Method and apparatus for controlling an active suspension system
Assignee: Northrop Grumman Space and Mission Systems Corp
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Filing: 1995-03-14
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Granted: —
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Expires: 2015-03-14
Abstract
Abstract A force actuator (11) is connected between a vehicle body (15) and each vehicle wheel (16). A position sensor (66) senses displacement between the vehicle body and each vehicle wheel and provides a position signal (67) indicative thereof. An acceleration sensor (60) senses vertical inertial acceleration of the vehicle body relative to ground at each vehicle wheel and provides an acceleration signal (61) indicative of vertical inertial acceleration of the vehicle body at each vehicle wheel. A controller (70) including a digital signal processor (80) determines a velocity signal based on each acceleration signal. The controller determines a plurality of modal forces including heave, pitch, and roll modal forces which act on the vehicle body. The plurality of modal forces vary as a function of the position and velocity signals at the vehicle wheels. A force actuator control signal (94) at each vehicle wheel is produced which varies as a function of the plurality of modal forces. A drive circuit (95) processes the force actuator signal at each wheel and applies the processed force actuator control signal (96) at each vehicle wheel to the associated force actuator.
Inventors
- 👤 Daniel E. Williams
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-08 04:28
CPC Classifications
B; B60; B60G; B60G17/00; B60G17/015; B60G17/016; B60G17/018; B60G17/0182; B60G2202/00; B60G2202/40; B60G2202/41; B60G2202/413; B60G2400/00; B60G2400/10; B60G2400/102; B60G2400/20; B60G2400/204; B60G2400/206; B60G2400/25; B60G2400/252; B60G2400/60; B60G2400/63; B60G2400/90; B60G2400/91; B60G2800/00; B60G2800/01; B60G2800/012; B60G2800/014
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
160 words
An apparatus for controlling a force actuator connected between a vehicle body and each vehicle wheel, said apparatus comprising: a position sensor for sensing displacement between the vehicle body and each vehicle wheel and for providing a position signal indicative thereof; an acceleration sensor for sensing vertical inertial acceleration of the vehicle body relative to ground at each vehicle wheel and for providing an acceleration signal indicative of vertical inertial acceleration of the vehicle body at each vehicle wheel; processing means including means for determining a velocity signal based on each acceleration signal; said processing means including means for processing said position and velocity signals at the vehicle wheels to provide a force actuator control signal at each vehicle wheel which varies as a function of said position and velocity signals at the vehicle wheels; and means for applying said force actuator control signal at each vehicle wheel to the associated force actuator to control operation of the force actuator.
Claim 2
Independent Claim
160 words
An apparatus for controlling a force actuator connected between a vehicle body and each vehicle wheel, said apparatus comprising: a position sensor for sensing displacement between the vehicle body and each vehicle wheel and for providing a position signal indicative thereof; an acceleration sensor for sensing vertical inertial acceleration of the vehicle body relative to ground at each vehicle wheel and for providing an acceleration signal indicative of vertical inertial acceleration of the vehicle body at each vehicle wheel; processing means including means for determining a velocity signal based on each acceleration signal; said processing means including means for processing said position and velocity signals at the vehicle wheels to provide a force actuator control signal at each vehicle wheel which varies as a function of said position and velocity signals at the vehicle wheels; and means for applying said force actuator control signal at each vehicle wheel to the associated force actuator to control operation of the force actuator.
Claim 3
Dependent Claim
73 words
An apparatus according to claim 1 wherein said processing means including means for (i) determining a plurality of modal forces including heave, pitch, and roll modal forces which vary as a function of said position and velocity signals at the vehicle wheels and which act on the vehicle body, and (ii) then producing said force actuator control signal at each vehicle wheel which varies as a function of said plurality of modal forces.
Claim 4
Independent Claim
226 words
A method for controlling a vehicle suspension system having a force actuator connected between a vehicle body and each vehicle wheel, the vehicle having a pair of front wheels and a pair of rear wheels, said method comprising the steps of: sensing displacement between the vehicle body and each vehicle wheel and providing a position signal indicative thereof; sensing vertical inertial acceleration of the vehicle body relative to ground at each vehicle wheel and providing an acceleration signal indicative of vertical inertial acceleration of the vehicle body at each vehicle wheel; determining a velocity signal based on each acceleration signal; determining a first roll moment on the rear of the vehicle and a second roll moment on the front of the vehicle; providing a force actuator control signal for each vehicle wheel, the force actuator control signals for the rear wheels varying as a function of the roll moment on the rear wheels of the vehicle, the force actuator control signals for the front wheels varying as a function of the roll moment on the front wheels of the vehicle; applying the force actuator control signal for each vehicle wheel to the associated force actuator to control operation of the force actuator; and continuously changing the roll resisting force between the front and rear of the vehicle as the force actuator control signals are being applied.
Claim 5
Independent Claim
226 words
A method for controlling a vehicle suspension system having a force actuator connected between a vehicle body and each vehicle wheel, the vehicle having a pair of front wheels and a pair of rear wheels, said method comprising the steps of: sensing displacement between the vehicle body and each vehicle wheel and providing a position signal indicative thereof; sensing vertical inertial acceleration of the vehicle body relative to ground at each vehicle wheel and providing an acceleration signal indicative of vertical inertial acceleration of the vehicle body at each vehicle wheel; determining a velocity signal based on each acceleration signal; determining a first roll moment on the rear of the vehicle and a second roll moment on the front of the vehicle; providing a force actuator control signal for each vehicle wheel, the force actuator control signals for the rear wheels varying as a function of the roll moment on the rear wheels of the vehicle, the force actuator control signals for the front wheels varying as a function of the roll moment on the front wheels of the vehicle; applying the force actuator control signal for each vehicle wheel to the associated force actuator to control operation of the force actuator; and continuously changing the roll resisting force between the front and rear of the vehicle as the force actuator control signals are being applied.
Claim 6
Dependent Claim
410 words
A method according to claim 3 further comprising the steps of (i) sensing a steering input and providing a steering signal indicative thereof, and (ii) sensing forward speed of the vehicle relative to ground and providing a speed signal indicative thereof, further preferably comprising the step of determining a desired yaw rate signal which varies as a function of the steering signal and the speed signal, further preferably comprising the steps of (i) sensing yaw rate of the vehicle and for providing a yaw rate signal indicative thereof, (ii) determining a difference signal between the yaw rate signal and the desired yaw rate signal, and (iii) processing the difference signal such that the force actuator control signal at each wheel varies as a function of the difference signal, further preferably comprising the step of limiting the difference signal and thereby to limit the force actuator control signal at each wheel such that the tire at each wheel will maintain at all times at least some force on the ground to allow braking or acceleration of the vehicle during vehicle roll, wherein preferably the step of determining the first and second moments includes the steps of determining roll modal forces which act on the vehicle body and which vary as a function of the position and velocity signals at the vehicle wheels, the force actuator control signal at each vehicle wheel varying as a function of the roll modal forces, further preferably comprising the step of sensing lateral acceleration of the vehicle body relative to ground and providing a lateral acceleration signal indicative thereof, further preferably comprising the steps of (i) determining a lateral acceleration compensation force term which varies as a function of the lateral acceleration signal, and (ii) processing the lateral acceleration compensation force term to influence the force actuator control signal at each vehicle wheel, further preferably comprising the step of sensing longitudinal acceleration of the vehicle body relative to ground and providing a longitudinal acceleration signal indicative thereof, further preferably comprising the steps of (i) determining a longitudinal acceleration compensation force term which varies as a function of the longitudinal acceleration signal, and (ii) processing the longitudinal acceleration compensation force term to influence the force actuator control signal at each vehicle wheel, and wherein preferably the step of continuously changing the roll resisting force includes the step of continuously changing the distribution of the first and second roll moments between the front and rear of the vehicle.
Claim 7
Independent Claim
251 words
An apparatus for controlling a force actuator connected between a vehicle body and each vehicle wheel, the vehicle having a pair of front wheels and a pair of rear wheels, said apparatus comprising: a position sensor for sensing displacement between the vehicle body and each vehicle wheel and for providing a position signal indicative thereof; an acceleration sensor for sensing vertical inertial acceleration of the vehicle body relative to ground at each vehicle wheel and for providing an acceleration signal indicative of vertical inertial acceleration of the vehicle body at each vehicle wheel; processing means including means for determining a velocity signal based on each acceleration signal; said processing means including means for determining a first roll moment on the rear of the vehicle and a second moment on the front of the vehicle; said processing means including means for processing first and second moments and said position and velocity signals at the vehicle wheels to provide a force actuator control signal at each vehicle wheel, the force actuator control signals for the rear wheels varying as a function of said position and velocity signals and the roll moment on the rear wheels of the vehicle, the force actuator control signals for the front wheels varying as a function of said position and velocity signals and the roll moment on the front wheels of the vehicle; and means for applying said force actuator control signal at each vehicle wheel to the associated force actuator to control operation of the force actuator.
Claim 8
Independent Claim
251 words
An apparatus for controlling a force actuator connected between a vehicle body and each vehicle wheel, the vehicle having a pair of front wheels and a pair of rear wheels, said apparatus comprising: a position sensor for sensing displacement between the vehicle body and each vehicle wheel and for providing a position signal indicative thereof; an acceleration sensor for sensing vertical inertial acceleration of the vehicle body relative to ground at each vehicle wheel and for providing an acceleration signal indicative of vertical inertial acceleration of the vehicle body at each vehicle wheel; processing means including means for determining a velocity signal based on each acceleration signal; said processing means including means for determining a first roll moment on the rear of the vehicle and a second moment on the front of the vehicle; said processing means including means for processing first and second moments and said position and velocity signals at the vehicle wheels to provide a force actuator control signal at each vehicle wheel, the force actuator control signals for the rear wheels varying as a function of said position and velocity signals and the roll moment on the rear wheels of the vehicle, the force actuator control signals for the front wheels varying as a function of said position and velocity signals and the roll moment on the front wheels of the vehicle; and means for applying said force actuator control signal at each vehicle wheel to the associated force actuator to control operation of the force actuator.
Claim 9
Independent Claim
36 words
An apparatus according to any of the preceeding claims further comprising regulating means for providing a closed loop arrangement for enabling said force actuator control signal at each vehicle wheel to be regulated during operation thereof.
Claim 10
Independent Claim
56 words
An apparatus according to any of the preceeding claims wherein said regulating means comprises (i) a steering rack displacement sensor for sensing a steering input and for providing a steering signal indicative thereof, and (ii) a speed sensor for sensing forward speed of the vehicle relative to ground and for providing a speed signal indicative thereof.
Claim 11
Independent Claim
35 words
An apparatus according to any of the preceeding claims wherein said processing means includes means for determining a desired yaw rate signal which varies as a function of said steering signal and said speed signal.
Claim 12
Independent Claim
80 words
An apparatus according to any of the preceeding claims wherein said regulating means comprises a yaw rate sensor for sensing yaw rate of the vehicle and for providing a yaw rate signal indicative thereof, said processing means including means for (i) determining a difference signal between said yaw rate signal and said desired yaw rate signal, and (ii) processing said difference signal such that said force actuator control signal at each wheel varies as a function of said difference signal.
Claim 13
Independent Claim
239 words
An apparatus according to any of the preceeding claims wherein said difference signal is limited to limit the force actuator control signal at each wheel such that the tire at each wheel will maintain at all times at least a predetermined force on the ground during vehicle roll, said predetermined force on the ground being sufficient to allow braking or acceleration of the vehicle during vehicle roll, wherein preferably said processing means includes a digital signal processor, further preferably comprising a lateral acceleration sensor for sensing lateral acceleration of the vehicle body relative to ground and for providing a lateral acceleration signal indicative thereof, wherein preferably said processing means includes (i) means for processing said lateral acceleration signal to provide a lateral acceleration compensation force term, and (ii) means for processing said lateral acceleration compensation force term to influence said force actuator control signal at each vehicle wheel, further preferably comprising a longitudinal acceleration sensor for sensing longitudinal acceleration of the vehicle body relative to ground and for providing a longitudinal acceleration signal indicative thereof, wherein preferably said processing means includes (i) means for processing said longitudinal acceleration signal to provide a longitudinal acceleration compensation force term, and (ii) means for processing said longitudinal acceleration compensation force term to influence said force actuator control signal at each vehicle wheel, and wherein preferably said means for applying said force actuator control signal at each vehicle wheel includes a drive circuit.
References Cited (Backward Citations)
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