Active suspending

• US 20060095180A1
• Filed: 10/29/2004
• Published: 05/04/2006
• Est. Priority Date: 10/29/2004
• Status: Active Grant

• Current Assignee: ClearMotion Acquisition I LLC
• Original Assignee: Bose Corporation
• Inventors: Parison, James A., Litovsky, Roman, Ystueta, Linda, Ummethala, Upendra V., Schroeder, Thomas C., Opila, Daniel Francis
• Granted Patent: US 7,983,813 B2
• Time in Patent Office: Days
• US Class Current: 701/37
• CPC Class Codes: B60N 2/501 actively controlled suspension, e.g. electronic control
• CPC Class Codes: B60N 2/502 attached to the base of the seat B60N2/504 takes precedence
• CPC Class Codes: B60N 2/505 Adjustable suspension including height adjustment
• CPC Class Codes: B60N 2/507 Parallelogram-like structure
• CPC Class Codes: B60N 2/508 Scissors-like structure
• CPC Class Codes: B60N 2/509 Seat guided by slides or the like
• CPC Class Codes: B60N 2/544 Compression or tension springs B60N2/542 takes precedence
• CPC Class Codes: B60N 2002/0212 the seat or seat part turning about or moving along a longitudinal axis
• CPC Class Codes: F16M 13/00 Other supports for positioning apparatus or articles heads thereof F16M11/02 ; undercarriages thereof F16M11/20 ; adapted to be stuck in the ground A45F3/44 ; sockets or holders for poles or posts E04H12/22; Means for steadying hand-held apparatus or articles supports for measuring instruments G01D11/30; supports for casings of remote control switching devices H01H9/025

Abstract

A method for actively suspending a real plant in a vehicle includes modifying a control signal on the basis of a difference between a property of the real plant, as indicated by the response of the real plant to the control signal, and a property of a nominal plant.

Claims

1. A method for actively suspending a real plant in a vehicle, the method comprising:

modifying a control signal on the basis of a difference between a property of the real plant, as indicated by the response of the real plant to the control signal, and a property of a nominal plant.

2. The method of claim 1, wherein the real plant comprises a vehicle seat.

3. The method of claim 1, further comprising passively supporting the real plant such that an active suspension coupled to the real plant experiences zero mean load.

4. The method of claim 1, wherein actively suspending the real plant includes actively suspending the real plant with an electromagnetic actuator.

5. A method for actively suspending a real plant in a vehicle, the method comprising:

detecting a change in characteristics of the real plant, the change indicating an abnormal state; and

damping the motion of the real plant in response to the detected change.

6. The method of claim 5, wherein detecting a change comprises detecting a sensor failure condition.

7. The method of claim 5, wherein damping the motion of the real plant comprises clamping motor leads of an electromagnetic motor coupled to the real plant.

8. A control system for actively suspending a real plant in a vehicle, the control system comprising:

a reference model of the plant;

a plant estimator for determining a difference between a property of the real plant and a property of a reference model of the real plant; and

a plant compensator for modifying a control signal for suppressing vibration of the real plant in response to the difference.

9. The control system of claim 8, further comprising a weight sensor for measuring a weight associated with the plant.

10. An active suspension system for a plant in a vehicle, the system comprising:

an electromagnetic actuator;

an amplifier having a control input for receiving a control signal, an output in electrical communication with the actuator, and a power input for receiving electrical power to be modulated by the control signal;

an active power source in electrical communication with the power input of the amplifier, the active power source having a saturated operating state for providing the amplifier with constant power and an unsaturated operating state for providing the amplifier with variable power; and

a passive power source in electrical communication with the power input of the amplifier and with the power source, the passive power source providing power to the amplifier when the active power source is operating in the saturated state, and storing energy from the active power source when the active power source is operating in the unsaturated state.

11. The active suspension of claim 10, wherein the passive power source comprises a capacitance.

13. An apparatus comprising:

an active suspension including an electromagnetic actuator coupled to a plant in a vehicle; and

a force bias eliminator coupled to the plant for causing the actuator to experience a zero-mean load.

12. The active suspension of claim 29, wherein the capacitance is configured such that the amplifier can be disabled within substantially 55 milliseconds.

14. The apparatus of claim 13, wherein the electromagnetic actuator comprises a multi-phase actuator.

15. The apparatus of claim 13, further comprising a sensor for providing information indicative of a state of the plant.

16. The apparatus of claim 13, further comprising a MEMs sensor for providing information indicative of a state of the plant

17. The apparatus of claim 13, further comprising redundant sensors for providing information indicative of a state of the plant.

18. The apparatus of claim 13, wherein the force bias eliminator comprises a pneumatic system.

19. The apparatus of claim 13, wherein the force bias eliminator comprises a hydraulic system.

20. The apparatus of claim 13, further comprising a power supply coupled to the electromagnetic actuator, the power supply including an energy storage element for responding to a peak power demand.

21. The apparatus of claim 20, wherein the power supply comprises

an active power source for supplying power to the actuator, and

a passive power source for supplementing power provided by the active power source during a period of peak power demand.

22. The apparatus of claim 21, wherein the passive power source comprises a capacitance to be recharged by the active power source between periods of peak power demand.

23. The apparatus of claim 20, wherein the energy storage element comprises a capacitance.

24. The apparatus of claim 13, wherein the force bias eliminator is configured to enable adjustment of a position of the plant.

25. The apparatus of claim 13, further comprising a passive suspension, the active suspension and the passive suspension being coupled to the plant in parallel with each other.

26. The apparatus of claim 13, wherein the apparatus further comprises a passive suspension, and wherein the active suspension and the passive suspension are coupled to the plant in series with each other.

27. The apparatus of claim 13, further comprising a passive suspension, wherein

the active suspension is configured to suppress vibration of the plant along one axis, and

the passive suspension system is configured to suppress vibration of the plant along a plurality of axes.

28. The apparatus of claim 13, wherein

the active suspension is configured to suppress vibration of the plant along a plurality of axes

29. The apparatus of claim 28, wherein the plurality of axes includes a vertical axis and an axis extending along a fore-and-aft direction.

62. The apparatus of claim 13, further comprising:

a support coupled to the plant, the support being moveable in response to a force exerted by the active suspension system.

63. The apparatus of claim 62, wherein the support comprises a scissors-support.

64. The apparatus of claim 62, wherein the support comprises a four-bar linkage.

65. The apparatus of claim 62, wherein the support comprises the electromagnetic actuator.

66. The apparatus of claim 62, wherein the support is configured such that motion in response to a force exerted along a first axis is independent of motion in response to a force exerted along a second axis.

67. The apparatus of claim 62, wherein the support is configured such that motion in response to a force exerted along a first axis is dependent on motion in response to a force exerted along a second axis.

68. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a seat.

69. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a bed.

70. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a bunk.

71. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a platform.

72. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a stretcher.

73. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a mount.

74. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a pallet.

75. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a table.

76. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a chair.

77. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a frame.

78. The apparatus of claim 13, wherein the vehicle is chosen from the group consisting of a tractor, a truck trailer, a recreational vehicle (RV), an aircraft, a car, a weapons platform, a machine tool isolation table, an elevator, a boat, truck, a wheelchair, an ambulance, a baby carriage, a stroller, a construction equipment, and farm machinery, and wherein the plant comprises a cab.

30. An apparatus comprising:

an active suspension including an electromagnetic actuator coupled to a plant in a vehicle; and

a force bias eliminator coupled to the plant for causing the actuator to experience a zero-mean load;

the active suspension being configured to have a plurality operation modes, including an active mode and a passive mode.

31. The apparatus of claim 30, wherein the apparatus is configured to automatically switch between the active mode and the passive mode in response to detection of an event.

32. The apparatus of claim 30, wherein the apparatus is configured to switch between the active mode and the passive mode in response to a user selection.

33. The apparatus of claim 30, wherein the electromagnetic actuator has terminal leads that are shorted in the passive mode.

34. The apparatus of claim 30, wherein the force bias eliminator includes a passive component coupled to the plant, the passive component having a variable spring characteristic.

35. The apparatus of claim 34, wherein the passive component has a first spring characteristic in the active mode and a second spring characteristic in the passive mode.

36. The apparatus of claim 30, wherein the electromagnetic actuator is configured to adjust the plant position in the active mode.

37. The apparatus of claim 34, wherein the passive component is configured to adjust the plant position in the passive mode.

38. The apparatus of claim 34, wherein the first spring characteristic is controlled such that the passive component adjusts the plant position in passive mode, and wherein the second spring characteristic is selected such that, when cooperating with the actuator to adjust the plant position in active mode, the passive component removes a force bias in a control signal for controlling the actuator.

39. An active suspension apparatus comprising:

a seat;

an electromagnetic actuator for exerting a force on the seat; and

a force bias eliminator coupled to the seat for causing the electromagnetic actuator to experience a zero-mean load.

40. The apparatus of claim 39, wherein the electromagnetic actuator comprises a multi-phase actuator.

41. The apparatus of claim 39, further comprising a sensor for providing information on a state of the seat.

42. The apparatus of claim 39, further comprising a MEMs sensor for providing information indicative of a state of the seat

43. The apparatus of claim 39, further comprising redundant sensors for providing information indicative of a state of the seat.

44. The apparatus of claim 39, wherein the force bias eliminator comprises a pneumatic system.

45. The apparatus of claim 39, wherein the force bias eliminator comprises a hydraulic system.

46. The apparatus of claim 39, further comprising a power supply coupled to the electromagnetic actuator, the power supply including an energy storage element for responding to a peak power demand.

47. The apparatus of claim 39, further comprising a power supply having

an active power source for supplying power to the actuator, and

a passive power source for supplementing power provided by the active power source during a period of peak power demand.

48. The apparatus of claim 47, wherein the passive power source comprises a capacitance capable of being recharged by the active power source between periods of peak power demand.

49. The apparatus of claim 39, wherein the force bias eliminator is configured to enable adjustment of a position of the seat.

50. An apparatus for suspending a seat, the apparatus comprising:

an active suspension system for suspending the seat; and

a fail-safe system configured to control suspension of the seat in response to detecting a triggering event.

51. The apparatus of claim 50, wherein

the suspension system comprises an electromagnetic actuator having terminal leads, and

wherein the fail-safe system shorts the terminal leads of the electromagnetic actuator in response to detecting a triggering event.

52. The apparatus of claim 50, wherein in response to a triggering event, the fail-safe system places the active suspension in a passive operating mode.

53. The apparatus of claim 50, wherein the fail-safe system is configured to control suspension of the seat in response to detecting a failure in a sensor that, in operation, provides information indicative of a state of the seat.

54. The apparatus of claim 50, wherein the fail-safe system is configured to control suspension of the seat in response to detecting a failure in the suspension system.

55. The apparatus of claim 50, wherein the fail-safe system is configured to control suspension of the seat in response to detecting a user selection.

56. An apparatus for controlling an actively-suspended plant in a vehicle, the apparatus comprising:

an active suspension including an electromagnetic actuator;

a vibration isolation block for generating a control signal in response to a measured characteristic of the actively-suspended plant;

a force bias eliminator coupled to the plant for causing the electromagnetic actuator to experience a zero-mean load.

57. The apparatus of claim 56, further comprising a compensation system for modifying the control signal in response to a difference between the measured characteristic of the actively-suspended plant and a nominal plant.

58. The apparatus of claim 57, wherein the plant comprises

a seat, and

wherein the compensation system is configured to modify the control signal in response to a weight of an occupant.

59. The apparatus of claim 57, wherein

the compensation system comprises a feedback loop carrying a feedback signal indicative of plant acceleration;

and

wherein the compensation system is configured to maintain a constant bandwidth of the feedback loop.

60. An apparatus comprising:

an actively-suspended seat including an electromagnetic actuator;

a feature associated with the seat, such that motion of the actively-suspended seat matches motion of the feature.

61. The apparatus of claim 60, wherein the feature is chosen from the group consisting of a drink-holder, a navigation device, a display, a control unit, a data entry/retrieval device a receptacle, and a pedal.

79. An apparatus comprising:

a plant in a vehicle, the plant being moveable along a plurality of directions; and

an active suspension system for supporting the plant, the active suspension system including

a plurality of electromagnetic actuators for exerting a force for suppressing vibration of the plant along each of the plurality of directions;

a control system for controlling the plurality of actuators in response to information indicative of a state of the plant;

wherein the control system comprises a plurality of controllers, each controller having a bandwidth designed to accommodate a vibration characteristic along each one of the plurality of directions.

80. The apparatus of claim 79, wherein the plurality of directions includes a vertical direction and a fore-and-aft direction, and wherein a bandwidth associated with the vertical direction is smaller than a bandwidth associated with the fore-and-aft direction.

81. An apparatus comprising:

an active suspension coupled to a seat;

a control system for controlling the active suspension system; and

a seat cushion disposed on the seat, the seat cushion having a resonance selected on the basis of a characteristic of the control system.

82. The apparatus of claim 81, wherein the characteristic comprises a bandwidth associated with the control system, and wherein the seat cushion is selected to have a resonance frequency outside of the bandwidth.

83. The apparatus of claim 81, wherein the characteristic comprises a bandwidth associated with the control system, and wherein the seat cushion is selected to have a resonance frequency above the bandwidth.

84. A method for suspending a seat using an active suspension system including an electromagnetic actuator, the method comprising:

selectively switching between operating the active suspension in an active mode and in a passive mode.

85. The method of claim 84, wherein selectively switching comprises automatically switching in response to detection of an event.

86. The method of claim 85, wherein the event comprises a failure of the active suspension system.

87. The method of claim 85, wherein the event comprises a user selection.

88. A method for actively suspending a plant in a vehicle, the method comprising

exerting a force on the plant with an active suspension system, the active suspension system including an electromagnetic actuator;

and

activating a fail-safe system to suspend the plant in response to a triggering event.

89. The method of claim 88, wherein the triggering event further comprises a failure in a sensor that, in operation, provides information indicative of a state of the plant.

90. The method of claim 88, wherein the triggering event further comprises a failure in the active suspension system.