Active vehicle suspension

• US 9,174,508 B2
• Filed: 03/14/2014
• Issued: 11/03/2015
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: ClearMotion, Inc.
• Original Assignee: Levant Power Corporation
• Inventors: Anderson, Zackary Martin, Giovanardi, Marco, Tucker, Clive, Leehey, Jonathan R., O'Shea, Colin Patrick, Schneider, Johannes, Gorelik, Vladimir, Zuckerman, Richard Anthony, Neil, Patrick W., Sawyer, Tyson David, Wendell, Ross J.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): HUYNH, LUAT T
• Application Number:
  US14/213,860
• Publication Number:
  US 20140288776A1
• Time in Patent Office: 599 Days
• Field of Search: 701/37, 701/38, 280/5.5, 280/5.506, 280/5.507, 280/124.106
• US Class Current: 1/1
• CPC Class Codes: B60G 13/14 having dampers accumulating utilisable energy, e.g. compressing air fluid springs with an accumulator B60G11/30
• CPC Class Codes: B60G 17/0157 non-fluid unit, e.g. electric motor
• CPC Class Codes: B60G 17/016 characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input B60G17/017 takes precedence
• CPC Class Codes: B60G 17/0182 involving parameter estimation, e.g. observer, Kalman filter
• CPC Class Codes: B60G 17/08 Characteristics of fluid dampers adjusting fluid dampers in general F16F9/44 - F16F9/53
• CPC Class Codes: B60G 2202/15 Fluid spring
• CPC Class Codes: B60G 2202/30 Spring/Damper and/or actuator Units
• CPC Class Codes: B60G 2202/413 Hydraulic actuator
• CPC Class Codes: B60G 2202/416 using a pump, e.g. in the line connecting the lower chamber to the upper chamber of the actuator
• CPC Class Codes: B60G 2202/42 Electric actuator
• CPC Class Codes: B60G 2204/40 Auxiliary suspension parts; Adjustment of suspensions
• CPC Class Codes: B60G 2206/41 Dampers
• CPC Class Codes: B60G 2400/051 Angle
• CPC Class Codes: B60G 2400/5182 Fluid damper
• CPC Class Codes: B60G 2400/821 Uneven, rough road sensing affecting vehicle body vibration
• CPC Class Codes: B60G 2401/172 Hall effect
• CPC Class Codes: B60G 2500/02 Supply or exhaust flow rates; Pump operation
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60G 2600/182 Active control means
• CPC Class Codes: B60G 2600/1871 Optimal control; Kalman Filters
• CPC Class Codes: B60G 2600/21 : Self-controlled or adjusted
• CPC Class Codes: B60G 2600/73 : Electrical control
• CPC Class Codes: B60G 2600/82 : duty rate function
• CPC Class Codes: B60G 2800/162 : Reducing road induced vibrations
• CPC Class Codes: B60G 2800/85 : System Prioritisation
• CPC Class Codes: B60G 2800/916 : Body Vibration Control
• CPC Class Codes: B60G 99/002 : Suspension details of the suspension of the vehicle body on the vehicle chassis
• CPC Class Codes: F16F 9/064 : Units characterised by the location or shape of the expansion chamber F16F9/068, F16F9/08 take precedence
• CPC Class Codes: F16F 9/3292 : Sensor arrangements
• CPC Class Codes: F16F 9/466 : Throttling control, i.e. regulation of flow passage geometry F16F9/464, F16F9/465 take precedence
• CPC Class Codes: H02K 7/06 : Means for converting reciprocating motion into rotary motion or vice versa
• CPC Class Codes: H02P 21/06 : Rotor flux based control involving the use of rotor position or rotor speed sensors

Abstract

A method of on-demand energy delivery to an active suspension system is disclosed. The suspension system includes an actuator body, a hydraulic pump, an electric motor, a plurality of sensors, an energy storage facility, and a controller. The method includes disposing an active suspension system in a vehicle between a wheel mount and a vehicle body, detecting a wheel event requiring control of the active suspension; and sourcing energy from the energy storage facility and delivering it to the electric motor in response to the wheel event.

Claims

1. A method of on-demand energy delivery to an active suspension system, comprising:

using an active suspension system in a vehicle, wherein the active suspension system is disposed between a wheel mount and a vehicle body, the active suspension system comprising an actuator, an electric motor, a hydraulic pump operatively coupled to the electric motor, a sensor, an energy storage facility, wherein the actuator comprises a piston, a compression volume, and an extension volume;

detecting a first wheel event with the sensor;

determining a first torque, at least partially based on a measurement by the sensor, to be applied to a shaft of the hydraulic pump in response to the first wheel event;

sourcing electrical energy from the energy storage facility;

delivering at least a portion of the sourced electrical energy to the electric motor to produce the first torque; and

altering a pressure in a volume in the actuator by applying the first torque to the hydraulic pump shaft.

2. The method of claim 1 further comprising:

using the motion of the wheel during a second wheel event to cause the piston to move within the actuator and displace a quantity of fluid;

using the quantity of displaced fluid to induce the hydraulic pump to produce a second torque at the shaft of the hydraulic pump during the second wheel event; and

driving the electric motor using the second torque to generate electrical energy.

3. The method of claim 2, further comprising storing at least a portion of the electrical energy generated from the application of the second torque in the energy storage facility.

4. The method of claim 2 wherein the electric motor has at least one winding and wherein the electrical energy generated from application of the second torque is at least partially dissipated in the at least one winding of the electric motor.

5. The method of claim 2 further comprising operating the actuator in at least three of four quadrants of a force/velocity domain of the actuator.

6. The method of claim 2 further comprising updating the first torque at a rate of at least 1 Hertz.

7. The method of claim 2, further comprising operating the actuator in all four quadrants of a force/velocity domain of the actuator.

8. An active suspension system comprising:

a hydraulic actuator including an extension volume and a compression volume, wherein the hydraulic actuator is disposed between a wheel mount and a vehicle body;

a hydraulic motor-pump in fluid communication with the extension volume and the compression volume of the hydraulic actuator;

an electric motor operatively coupled to the hydraulic motor-pump;

a piston, with a first side and a second side, disposed within the actuator and separating the compression volume and the extension volume, wherein the first side of the piston is adjacent to the compression volume and the second side of the piston is adjacent to the extension volume; and

a sensor to sense wheel events; and

a controller, wherein in response to a first sensed wheel event the controller operates the electric motor using electrical energy from an energy storage facility to drive the motor-pump to create a pressure differential between the first side and the second side of the piston to apply a force in a direction selected from the group consisting of a compression direction and an extension direction independent from a direction of travel of the piston, and wherein in response to a second sensed wheel event the controller operates the electric motor to generate electrical energy.

9. The active suspension system of claim 8 further comprising a first passive valve that regulates fluid flow between a first volume in the hydraulic actuator and the hydraulic motor-pump.

10. The active suspension system of claim 9 further comprising a second passive valve that regulates fluid flow between a second volume in the hydraulic actuator and the hydraulic motor-pump.

11. The active suspension system of claim 10 wherein the first passive valve is selected from a group consisting of a throttle valve, a blow-off valve and a diverter valve, and the second passive valve is selected from a group consisting of a throttle valve, a blow-off valve and a diverter valve.

12. The active suspension system of claim 8 wherein the actuator, the hydraulic motor-pump, the electric motor and the controller are encompassed in a single unit.

13. The active suspension system of claim 8 wherein at least a portion of the harvested energy is stored in an energy storage facility.

14. A method of on-demand energy delivery to an active suspension system, comprising:

operating an active suspension system in at least three of four quadrants of a force/velocity domain, wherein the active suspension system is disposed between a vehicle body and a wheel, and wherein the active suspension system comprises a hydraulic actuator, an electric motor, a hydraulic motor-pump operatively coupled to the electric motor, at least one sensor, and at least one energy storage facility;

sourcing electrical energy from the at least one energy storage facility in a first operating mode;

providing at least a portion of the sourced electrical energy to the electric motor to drive the hydraulic motor-pump and alter a pressure in a volume in the actuator to change a force applied by the actuator between the wheel and the vehicle body during the first operating mode;

using relative motion between the wheel and the vehicle body during a second operating mode to displace a quantity of fluid from the volume in the actuator;

causing the displaced fluid to pass through the hydraulic motor-pump to produce a torque and drive the electric motor to generate electric current in the second operating mode.

15. The method of claim 14 wherein the first mode of operation is in a second quadrant of the force/velocity domain.

16. The method of claim 14 wherein the first mode of operation is in a fourth quadrant of the force/velocity domain.

17. The method of claim 14 further comprising operating the active suspension system in all four quadrants of the force/velocity domain, wherein the first mode of operation is at least partially in both a second and a fourth quadrant of the force/velocity domain.