Method for controlling motion using an adjustable damper

Claim 1

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) determining the relative velocity v rel between said first and second elements; (c) calculating a force F applied defined as: F.sub.applied =F.sub.calc -F.sub.sys where F calc is a force, calculated from data determined from knowledge of the position and motion of the elements, sufficient to prevent the relative motion of the elements from exceeding predetermined limits, and F sys is a nonzero sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, provided that F applied =0 if said force F applied is in the same direction as the relative velocity v rel of the elements, or if |v rel |≦v db , where v db is a velocity deadband with a preselected value greater than or equal to zero, and F applied =F max if said force F applied is in direction opposite the relative velocity v rel of the elements, and greater than the maximum force F max that can be applied by the second force means in the direction of F applied ; and (d) applying said force F applied between the first and second elements; whereby the force transmitted from the first element to the second element and the relative displacement between said elements are controlled.

Claim 2

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) determining the relative velocity v rel between said first and second elements; (c) calculating a force F applied defined as: F.sub.applied =F.sub.calc -F.sub.sys where F calc is a force, calculated from data determined from knowledge of the position and motion of the elements, sufficient to prevent the relative motion of the elements from exceeding predetermined limits, and F sys is a nonzero sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, provided that F applied =0 if said force F applied is in the same direction as the relative velocity v rel of the elements, or if |v rel |≦v db , where v db is a velocity deadband with a preselected value greater than or equal to zero, and F applied =F max if said force F applied is in direction opposite the relative velocity v rel of the elements, and greater than the maximum force F max that can be applied by the second force means in the direction of F applied ; and (d) applying said force F applied between the first and second elements; whereby the force transmitted from the first element to the second element and the relative displacement between said elements are controlled.

Claim 12

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the (i) relative velocity v rel and (ii) relative acceleration a rel of the elements; (c) calculating an applied force F applied , defined as ##EQU23## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, and (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted and the relative displacement between said elements are controlled.

Claim 13

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the (i) relative velocity v rel and (ii) relative acceleration a rel of the elements; (c) calculating an applied force F applied , defined as ##EQU23## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, and (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted and the relative displacement between said elements are controlled.

Claim 24

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the relative velocity v rel of the two elements; (c) calculating an applied force F applied , defined as ##EQU24## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, and (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0 (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted and the relative displacement between said elements are controlled.

Claim 25

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the relative velocity v rel of the two elements; (c) calculating an applied force F applied , defined as ##EQU24## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, and (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0 (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted and the relative displacement between said elements are controlled.

Claim 33

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the relative velocity v rel of the two elements; (c) calculating an applied force F applied , defined as ##EQU25## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , k is the spring rate of the spring assembly at the relative displacement x rel F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than or equal to 0 and less than or equal to 1; and (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0. (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted from the first element to the second element and the relative displacement between said elements are controlled.

Claim 34

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the relative velocity v rel of the two elements; (c) calculating an applied force F applied , defined as ##EQU25## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , k is the spring rate of the spring assembly at the relative displacement x rel F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than or equal to 0 and less than or equal to 1; and (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0. (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted from the first element to the second element and the relative displacement between said elements are controlled.

Claim 41

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring (i) the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position, and (ii) the absolute acceleration of the second element; (b) calculating (i) the relative velocity v rel of the elements and (ii) the absolute velocity v abs of the second element; (c) calculating a force F applied defined as: ##EQU26## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element. k is the spring rate of the spring assembly at the relative displacement x rel , d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit of x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than 0.5 and less than 3; and (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted from the first element to the second element and the relative displacement between said elements are controlled.

Claim 42

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring (i) the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position, and (ii) the absolute acceleration of the second element; (b) calculating (i) the relative velocity v rel of the elements and (ii) the absolute velocity v abs of the second element; (c) calculating a force F applied defined as: ##EQU26## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element. k is the spring rate of the spring assembly at the relative displacement x rel , d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit of x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than 0.5 and less than 3; and (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted from the first element to the second element and the relative displacement between said elements are controlled.

Claim 53

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring (i) the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position, and (ii) the absolute acceleration of the second element; (b) calculating (i) the relative velocity v rel of the elements, (ii) the relative acceleration a rel of the elements, and (iii) the absolute velocity v abs of the second element; (c) calculating a force F applied defined as: ##EQU27## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, k is the spring rate of the spring assembly at the relative displacement x rel , d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than 0.5 and less than 3. (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted from the first element to the second element and the relative displacement between said elements are controlled.

Claim 54

A method for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being situated within extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said elements being provided with a means for applying a second, controlled, force therebetween; said method comprising: (a) measuring (i) the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position, and (ii) the absolute acceleration of the second element; (b) calculating (i) the relative velocity v rel of the elements, (ii) the relative acceleration a rel of the elements, and (iii) the absolute velocity v abs of the second element; (c) calculating a force F applied defined as: ##EQU27## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, k is the spring rate of the spring assembly at the relative displacement x rel , d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than 0.5 and less than 3. (d) applying said force F applied between the first and second elements; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied; whereby the force transmitted from the first element to the second element and the relative displacement between said elements are controlled.

Claim 67

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being provided with a means for applying a second, controlled, force therebetween; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) determining the relative velocity v rel between said first and second elements; (c) calculating a force F applied defined as: F.sub.applied =F.sub.calc -F.sub.sys where F calc is a force, calculated from knowledge of the position and motion of the elements, sufficient to prevent the relative motion of the elements from exceeding predetermined limits, and F sys is a nonzero sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, provided that F applied =0 if said force F applied is in the same direction as the relative velocity v rel of the elements, or if |v rel |≦v db , where v db is a velocity deadband with a preselected value greater than or equal to zero, and F applied =F max if said force F applied is in direction opposite the relative velocity v rel of the elements, and greater than the maximum force F max that can be applied by the second force means in the direction of F applied .

Claim 68

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements being provided with a means for applying a second, controlled, force therebetween; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) determining the relative velocity v rel between said first and second elements; (c) calculating a force F applied defined as: F.sub.applied =F.sub.calc -F.sub.sys where F calc is a force, calculated from knowledge of the position and motion of the elements, sufficient to prevent the relative motion of the elements from exceeding predetermined limits, and F sys is a nonzero sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, provided that F applied =0 if said force F applied is in the same direction as the relative velocity v rel of the elements, or if |v rel |≦v db , where v db is a velocity deadband with a preselected value greater than or equal to zero, and F applied =F max if said force F applied is in direction opposite the relative velocity v rel of the elements, and greater than the maximum force F max that can be applied by the second force means in the direction of F applied .

Claim 69

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the (i) relative velocity v rel and (ii) relative acceleration a rel of the elements; and (c) calculating an applied force F applied , defined as ##EQU28## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit of x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction F applied , then F max is applied.

Claim 70

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the (i) relative velocity v rel and (ii) relative acceleration a rel of the elements; and (c) calculating an applied force F applied , defined as ##EQU28## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit of x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction F applied , then F max is applied.

Claim 71

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the relative velocity v rel of the two elements; (c) calculating an applied force F applied , defined as ##EQU29## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0 (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied.

Claim 72

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the relative velocity v rel of the two elements; (c) calculating an applied force F applied , defined as ##EQU29## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0 (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied.

Claim 73

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the relative velocity v rel of the two elements; and (c) calculating an applied force F applied , defined as ##EQU30## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than or equal to 0 and less than or equal to 1; and provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied.

Claim 74

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position; (b) calculating the relative velocity v rel of the two elements; and (c) calculating an applied force F applied , defined as ##EQU30## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than or equal to 0 and less than or equal to 1; and provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied.

Claim 75

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring (i) the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position, and (ii) the absolute acceleration of the second element; (b) calculating (i) the relative velocity v rel of the elements and (ii) the absolute velocity v abs of the second element; and (c) calculating a force F applied defined as: ##EQU31## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, k is the spring rate of the spring assembly at the relative displacement x rel , d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than 0.5 and less than 3; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means, then F max is applied.

Claim 76

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring (i) the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position, and (ii) the absolute acceleration of the second element; (b) calculating (i) the relative velocity v rel of the elements and (ii) the absolute velocity v abs of the second element; and (c) calculating a force F applied defined as: ##EQU31## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, k is the spring rate of the spring assembly at the relative displacement x rel , d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than 0.5 and less than 3; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means, then F max is applied.

Claim 77

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring (i) the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position, and (ii) the absolute acceleration of the second element; (b) calculating (i) the relative velocity v rel of the elements, (ii) the relative acceleration a rel of the elements, and (iii) the absolute velocity v abs of the second element; and (c) calculating a force F applied defined as: ##EQU32## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, k is the spring rate of the spring assembly at the relative displacement x rel , d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than 0.5 and less than 3; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied.

Claim 78

A device for controlling the relative motion between two elements movably interconnected through a linkage which includes a spring assembly which tends to maintain the elements at an equilibrium position, at least the first element thereof being subjected to externally generated motion inputs and tending to transmit a first force in response thereto to the second element thereof; said elements having extreme limits of acceptable displacement therebetween of x +limit in a positively defined direction and x -limit in a negatively defined direction; said device comprising: (A) an adjustable damper capable of applying a variable force F applied between said first and second elements; and (B) a controller adapted to send a control signal to said damper in response to the condition of the two movably interconnected elements, said control signal corresponding to a value of F applied ; wherein said control signal is determined by: (a) measuring (i) the displacement x rel of the second element relative to the first element, x rel being defined as zero at the equilibrium position, and (ii) the absolute acceleration of the second element; (b) calculating (i) the relative velocity v rel of the elements, (ii) the relative acceleration a rel of the elements, and (iii) the absolute velocity v abs of the second element; and (c) calculating a force F applied defined as: ##EQU32## where: v db is a velocity deadband with a preselected value greater than or equal to zero, m is the effective mass of the second element, k is the spring rate of the spring assembly at the relative displacement x rel , d is the distance from the relative displacement to the acceptable extreme displacement limit x +limit or x -limit in the direction of the relative velocity v rel , F sys is the sum of the forces acting between the first and second elements other than the controlled force applied by the second force means, ζ is a number greater than 0.5 and less than 3; provided that (i) if the direction of said force F applied is in the same direction as the relative velocity v rel , then said force F applied =0, (ii) if said force F applied is in direction opposite the relative velocity v rel , and greater than the maximum force F max that can be applied by the second force means in the direction of F applied , then F max is applied.