Active vehicle suspension

• US 9,597,940 B2
• Filed: 09/21/2015
• Issued: 03/21/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: ClearMotion, Inc.
• Original Assignee: ClearMotion, Inc.
• 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:
  US14/859,892
• Publication Number:
  US 20160075205A1
• Time in Patent Office: 547 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 disposed in a vehicle between a wheel mount and a vehicle body, the method comprising:

detecting a wheel event requiring control of the active suspension system; and

during at least one mode of operation, sourcing energy from an energy storage facility and delivering the energy to an electric motor/generator to drive a hydraulic pump/motor of the active suspension system to operate the active suspension system in at least one active quadrant of a force velocity diagram in response to the detected wheel event.

2. The method of claim 1, further comprising bypassing a flow of hydraulic fluid around the hydraulic pump/motor from a compression volume to an extension volume of an actuator of the active suspension system during at least one mode of operation.

3. The method of claim 2, further comprising controlling a valve to selectively bypass the flow of hydraulic fluid.

4. The method of claim 3, further comprising flowing hydraulic fluid into and out of a accumulator that is in fluid communication with the rest of the active suspension system.

5. The method of claim 4, further comprising operating the electric motor/generator to operate the active suspension system in at least one passive quadrant of the force velocity diagram during at least one mode of operation.

6. The method of claim 1, wherein driving the hydraulic pump/motor further comprises driving the hydraulic pump/motor to apply a differential pressure to a piston of the active suspension system, wherein the differential pressure is applied in a direction of motion of the piston during at least one mode of operation.

7. The method of claim 1, wherein driving the hydraulic pump/motor further comprises driving the hydraulic pump/motor to apply a force to a piston of the active suspension system, wherein the force is applied in a direction of motion of the piston during at least one mode of operation.

8. The method of claim 1, wherein a frequency of the detected wheel event is between or equal to 8 Hz and 20 Hz.

9. The method of claim 8, further comprising updating a commanded torque of the electric motor/generator at a rate greater than or equal to the frequency of the detected wheel event.

10. A method of on-demand energy delivery to an active suspension system disposed in a vehicle between a wheel mount and a vehicle body, the method comprising:

obtaining road information about a road the vehicle is traveling on;

during at least one mode of operation, sourcing energy from an energy storage facility and delivering the energy to an electric motor/generator to drive a hydraulic pump/motor of the active suspension system to operate the active suspension system in at least one active quadrant of a force velocity diagram in response to the road information.

11. The method of claim 10, wherein the pump/motor is a hydraulic pump.

12. The method of claim 10, wherein the road information is used to respond to a wheel event that occurs after the road information is obtained.

13. The method of claim 10, further comprising bypassing a flow of hydraulic fluid around the hydraulic pump/motor from a compression volume to an extension volume of an actuator of the active suspension system during at least one mode of operation.

14. The method of claim 13, further comprising controlling a valve to selectively bypass the flow of hydraulic fluid.

15. The method of claim 14, further comprising hydraulic fluid into and out of accumulator that is in fluid communication with the rest of the active suspension system.

16. The method of claim 15, further comprising operating the electric motor/generator to operate the active suspension system in at least one passive quadrant of the force velocity diagram during at least one mode of operation.

17. The method of claim 10, wherein driving the hydraulic pump/motor further comprises driving the hydraulic pump/motor to apply a differential pressure to a piston of the active suspension system, wherein the differential pressure is applied in a direction of motion of the piston during at least one mode of operation.

18. The method of claim 10, wherein driving the hydraulic pump/motor further comprises driving the hydraulic pump/motor to apply a force to a piston of the active suspension system, wherein the force is applied in a direction of motion of the piston during at least one mode of operation.

19. An active suspension system comprising:

an actuator disposed in a vehicle between a wheel assembly and a vehicle body, wherein the actuator includes an extension volume and a compression volume separated by a piston;

an electric motor/generator;

a hydraulic pump/motor operatively coupled to the electric motor/generator wherein the hydraulic pump has a first port and a second port, and wherein the first port is in fluid communication with one of the compression volume and the extension volume;

a controller in electrical communication with the electric motor/generator;

at least one sensor that detects road information, wherein in response to detected road information, the controller sources energy from an energy storage facility to the electric motor/generator to drive the hydraulic pump/motor to actively drive the piston of the actuator.

20. The active suspension system of claim 19, wherein the hydraulic pump/motor is a hydraulic pump.

21. The active suspension system of claim 19, further comprising a flow path between the compression volume and the extension volume that bypasses the hydraulic pump motor.

22. The active suspension system of claim 21, further comprising a valve that selectively controls a flow of hydraulic fluid through the flow path.

23. The active suspension system of claim 22, further comprising an accumulator wherein hydraulic fluid flows into the accumulator from the rest of the active suspension system and to the rest of the active suspension system from the accumulator.

24. The active suspension system of claim 23, wherein the controller controls the electric motor/generator to operate the actuator in at least one passive quadrant of a force velocity diagram during at least one mode of operation.

25. The active suspension system of claim 19, wherein the hydraulic pump/motor creates a pressure differential across the piston that applies a force in the direction of motion of the piston during at least one of a compression stroke and an extension stroke.

26. The active suspension system of claim 25, wherein the pressure differential applies the force in the direction of motion during the compression stroke in one mode and the extension stroke in a second mode.