Electromagnetic suspension apparatus for automotive vehicles and method for controlling electric motor of the same
First Claim
1. A method of controlling an electric motor of an electromagnetic suspension apparatus for an automotive vehicle employing a motor-driven electromagnetic actuator interleaved between a sprung mass and an unsprung mass and arranged in parallel with a suspension spring element, and a motor controller that calculates a displacement input transmitted to the electromagnetic actuator and controls the motor to bring a suspension damping force closer to a desired damping force suited for the displacement input, the method comprising:
- controlling a driving state of the motor, while compensating for an internal inertia force of the electromagnetic actuator,wherein a driving current value of the motor is controlled based on the internal inertia force and an external inertia force exerted on the vehicle owing to a reaction torque based on a motor rotation angle of a motor rotor of the motor, a dampening torque based on a motor angular velocity of the motor rotor of the motor, and a vehicle-body-inertia compensating torque based on a motor angular acceleration of the motor rotor, to control the driving state of the motor, while compensating for the internal inertia force of the electromagnetic actuator.
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Accused Products
Abstract
An electromagnetic suspension apparatus for an automotive vehicle, employs an electromagnetic actuator interleaved between a sprung mass and an unsprung mass and arranged in parallel with a suspension spring element, and an electric motor built in the electromagnetic actuator for driving the electromagnetic actuator. A motor controller calculates a displacement input, such as a suspension stroke acceleration and a suspension velocity, transmitted to the electromagnetic actuator, and controls the motor to bring a suspension damping force closer to a desired damping force suited for the displacement input. The motor controller calculates an internal inertia force of the electromagnetic actuator, and corrects or compensates for a motor output by the internal inertia force of the electromagnetic actuator.
35 Citations
7 Claims
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1. A method of controlling an electric motor of an electromagnetic suspension apparatus for an automotive vehicle employing a motor-driven electromagnetic actuator interleaved between a sprung mass and an unsprung mass and arranged in parallel with a suspension spring element, and a motor controller that calculates a displacement input transmitted to the electromagnetic actuator and controls the motor to bring a suspension damping force closer to a desired damping force suited for the displacement input, the method comprising:
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controlling a driving state of the motor, while compensating for an internal inertia force of the electromagnetic actuator, wherein a driving current value of the motor is controlled based on the internal inertia force and an external inertia force exerted on the vehicle owing to a reaction torque based on a motor rotation angle of a motor rotor of the motor, a dampening torque based on a motor angular velocity of the motor rotor of the motor, and a vehicle-body-inertia compensating torque based on a motor angular acceleration of the motor rotor, to control the driving state of the motor, while compensating for the internal inertia force of the electromagnetic actuator. - View Dependent Claims (2, 3, 4, 5)
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6. A method of controlling an electric motor of an electromagnetic suspension apparatus for an automotive vehicle employing a motor-driven electromagnetic actuator interleaved between a sprung mass and an unsprung mass and arranged in parallel with a suspension spring element, and a motor controller that calculates a displacement input transmitted to the electromagnetic actuator and controls the motor to bring a suspension damping force closer to a desired damping force suited for the displacement input, the method comprising:
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controlling a driving state of the motor, while compensating for an internal inertia force of the electromagnetic actuator; estimating a suspension stroke acceleration of the electromagnetic actuator and a motor angular velocity of a motor rotor of the motor as quantities of state of the vehicle; estimating an electromagnetic actuator output of the electromagnetic actuator based on the motor angular velocity in accordance with a predetermined control rule that provides the desired damping force; calculating the internal inertia force of the electromagnetic actuator based on the suspension stroke acceleration of the electromagnetic actuator; calculating a motor output as a summed force of the electromagnetic actuator output and the internal inertia force of the electromagnetic actuator; and outputting a control command signal required to produce the motor output from the motor controller to a motor driving circuit for the motor. - View Dependent Claims (7)
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Specification