Active stabilization system for truck cabins

• US 9,707,814 B2
• Filed: 04/01/2014
• Issued: 07/18/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: ClearMotion, Inc.
• Original Assignee: ClearMotion, Inc.
• Inventors: Giarratana, John, Zuckerman, Richard Anthony, Schneider, Johannes, Tucker, Clive
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US14/242,658
• Publication Number:
  US 20140297113A1
• Time in Patent Office: 1,204 Days
• CPC Class Codes: B60G 11/265 hydraulic springs
• 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 17/00 Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load levelling or stabilising systems for tippers B60P1/045
• CPC Class Codes: B60G 17/015 the regulating means comprising electric or electronic elements B60G17/002, B60G17/005 take precedence
• CPC Class Codes: B60G 17/0152 characterised by the action on a particular type of suspension unit B60G17/01941 takes precedence
• CPC Class Codes: B60G 17/018 characterised by the use of a specific signal treatment or control method
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 17/08 Characteristics of fluid dampers adjusting fluid dampers in general F16F9/44 - F16F9/53
• CPC Class Codes: B60G 2400/90 Other conditions or factors
• CPC Class Codes: F16F 9/06 using both gas and liquid F16F9/486 take precedence; self-pumping fluid springs B60G17/044
• CPC Class Codes: F16F 9/19 with a single cylinder and of single-tube type
• CPC Class Codes: F16F 9/512 Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity F16F9/504, F16F9/516 take precedence; non-automatic damper adjustment from a distance using servo control, the servo pressure being created by the flow of damping fluid F16F9/465; self-pumping fluid springs in vehicle suspensions B60G17/044
• CPC Class Codes: H02K 11/215 Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
• CPC Class Codes: H02K 11/22 Optical devices
• CPC Class Codes: H02K 11/33 Drive circuits, e.g. power electronics H02K11/38 takes precedence
• CPC Class Codes: H02K 29/08 using magnetic effect devices, e.g. Hall-plates, magneto-resistors H02K29/12 takes precedence
• CPC Class Codes: H02K 29/10 using light effect devices
• CPC Class Codes: H02K 5/12 specially adapted for operating in liquid or gas combined with cooling arrangements H02K9/00
• CPC Class Codes: H02K 7/14 Structural association with mechanical loads, e.g. with hand-held machine tools or fans with fan or impeller for cooling the machine H02K9/06
• CPC Class Codes: H02K 7/1823 : structurally associated with turbines or similar engines
• CPC Class Codes: H02P 6/16 : Circuit arrangements for detecting position

Abstract

An active suspension system for a truck cabin that actively responds to and mitigates external force inputs between the truck chassis and the cabin. The system greatly reduces pitch, roll, and heave motions that lead to operator discomfort. The assembly is comprised of two or more self-contained actuators that respond to commands from an electronic controller. The controller commands the actuators based on feedback from one or more sensors on the cabin and/or chassis.

Claims

1. A commercial vehicle cabin stabilization system comprising:

a vehicle chassis, a vehicle cabin, and a plurality of electro-hydraulic actuators, each actuator comprising;

a housing comprising an extension volume and a compression volume;

a piston that separates the extension volume and the compression volume;

a valve that controls at least a portion of fluid flow to or from at least one of the compression volume and the extension volume during at least at one operating point;

an accumulator having a volume that receives fluid from at least one of the compression volume and the extension volume during least at one operating point;

an electric motor operatively coupled to a hydraulic pump; and

a closed hydraulic circuit, wherein each of the plurality of electro-hydraulic actuators is disposed between a structural member of the chassis and the cabin;

at least one sensor adapted to sense movement along at least one axis of at least one of cabin and the chassis; and

at least one controller constructed and arranged to operate at least one of the plurality of electro-hydraulic actuators in response to the sensed movement to isolate at least a portion of the chassis movement from the cabin.

2. The system of claim 1, wherein a control program running in the controller causes current to flow through the electric motor to at least one of induce rotation of the hydraulic pump thereby inducing hydraulic fluid flow through the actuator and retard rotation of the hydraulic pump thereby reducing movement of the actuator.

3. The system of claim 1, wherein each electro-hydraulic actuator is self-controllable and further comprises a dedicated controller and each dedicated controller executes a control program.

4. The system of claim 1, wherein at least one electro-hydraulic actuator operates to control at least one of roll, pitch, and heave of the cabin.

5. The system of claim 1, wherein at least one electro-hydraulic actuator is disposed perpendicular to the vehicle chassis and cabin.

6. The system of claim 1, wherein at least one electro-hydraulic actuator is disposed at a non-perpendicular angle between the chassis and cabin.

7. The system of claim 1, wherein the system can control fore and aft motion of the cabin.

8. The system of claim 1, wherein the plurality of sensors are adapted to detect acceleration along at least two axes.

9. The system of claim 1, wherein the plurality of sensors are feed-forward sensors and adapted to detect at least one of steering angle, brake application, and throttle.

10. The system of claim 1, wherein at least one of the plurality of sensors comprises a sensor to detect movement of an operator'"'"'s seat disposed in the cabin.

11. The system of claim 1, wherein the cabin is a front hinged cabin and the plurality of electro-hydraulic actuators comprises at least two actuators operatively connected to the rear of the cabin.

12. The system of claim 1, wherein the cabin is four-point suspended cabin and the plurality of electro-hydraulic actuators comprises at least one actuator operatively connected to each corner of the cabin.

13. The system of claim 1, further comprising at least one actuator disposed between an operator'"'"'s seat and the cabin, wherein a controller for the at least one seat actuator communicates with the at least one dedicated controller of at least one of the plurality of electro-hydraulic actuators.

14. The system of claim 1, wherein energy is consumed by the actuator in response to a commanded force.

15. The system of claim 1, wherein the hydraulic pump is operated at least at one operating point as a hydraulic motor.

16. A vehicle cabin stabilization system comprising:

a vehicle chassis, a vehicle cabin and a plurality of electro-hydraulic actuators, each actuator comprising;

a housing comprising a compression volume and an extension volume separated by a piston;

a valve that controls at least a portion of fluid flow to or from at least one of the compression volume and the extension volume during at least at one operating point;

an accumulator having a volume that receives fluid from at least one of the compression volume and the extension volume during at least at one operation point;

an electric motor operatively coupled to a hydraulic pump; and

a closed hydraulic circuit, wherein each of the plurality of electro-hydraulic actuators is disposed between a structural member of the chassis and the cabin;

at least one sensor for determining movement of the vehicle along at least two axes; and

a controller constructed and arranged to operate the plurality of electro-hydraulic actuators in response to the sensed vehicle movement, wherein the plurality of electro-hydraulic actuators cooperatively operate to isolate at least a portion of at least one of pitch, roll, and heave motions of the cabin from the determined vehicle movement.

17. The system of claim 16, wherein the at least one sensor is disposed to sense movement of at least one structure of the vehicle selected from the group consisting of the chassis, a wheel, a seat, and the cabin.

18. The system of claim 16, wherein a control program causes current to flow through the electric motor of at least one electro-hydraulic actuator to at least one of induce rotation of the hydraulic pump, thereby inducing hydraulic fluid flow through the actuator, and retard rotation of the hydraulic pump, thereby reducing movement of the actuator.

19. The system of claim 16, wherein each actuator is self-controllable and further comprises a dedicated controller and each dedicated controller executes a control program.

20. The system of claim 16, wherein at least one electro-hydraulic actuator is disposed perpendicular to the vehicle chassis and cabin.

21. The system of claim 16, wherein at least one electro-hydraulic actuator is disposed at a non-perpendicular angle between the chassis and cabin.

22. The system of claim 16, wherein the system is further configured to control fore and aft motion of the cabin.

23. The system of claim 16, wherein the plurality of sensors are feed-forward sensors and adapted to detect at least one of steering angle, brake application, and throttle.

24. The system of claim 16, further comprising a sensor that detects movement of an operator'"'"'s seat.

25. The system of claim 16, wherein the cabin is a front hinged cabin and the plurality of electro-hydraulic actuators comprises two actuators operatively connected to the rear of the cabin.

26. The system of claim 16, wherein the cabin has four corners and is a four-point suspended cabin and the plurality of electro-hydraulic actuators comprises at least one actuator operatively connected to each corner of the cabin.

27. The system of claim 16, further comprising a cabin stabilization system controller and at least one actuator disposed between an operator'"'"'s seat and the cabin, wherein a controller for the at least one seat actuator communicates with the cabin stabilization system controller.

28. The system of claim 16, wherein energy is consumed in the actuator in response to a command force.

29. The system of claim 16, wherein the hydraulic pump is operated at least at one operating point as a hydraulic motor.

30. A method of secondary vehicle suspension, comprising:

sensing movement at one of a plurality of self-controllable electro-hydraulic actuators disposed between a structural member of a vehicle chassis and a structural member of a cabin of the vehicle, wherein each of the plurality of self-controllable actuators includes a housing comprising an extension volume and a compression volume separated by a piston, a controller, an accumulator, a hydraulic pump, and an electric motor;

controlling at least a portion of fluid flow from at least one of the extension volume and the compression volume with a valve during at least at one operating point;

receiving fluid flow in the accumulator from at least one of the extension volume and the compression volume during at least at one operating point; and

responding to the sensed movement to mitigate impact of the sensed movement on the cabin by applying current to at least one electric motor in at least one of the plurality of self-controllable actuators to control flow of hydraulic fluid in the at least one of the plurality of self-controllable electro-hydraulic actuators by at least one of resisting rotation of the hydraulic pump that engages the hydraulic fluid and assisting rotation of the hydraulic pump that engages the hydraulic fluid.

31. The system of claim 30, wherein the electric motor is at least partially immersed in hydraulic fluid.

32. The system of claim 30, wherein movement of the vehicle is measured for at least one of the cabin, the chassis, and the wheels.

33. The system of claim 30, wherein the hydraulic pump is operated at least at one operating point as a hydraulic motor.

34. A method of secondary vehicle suspension, comprising:

sensing movement at one of a plurality of self-controllable electro-hydraulic actuators disposed between a structural member of a vehicle chassis and a structural member of a cabin of the vehicle, wherein each electro-hydraulic actuator has a closed hydraulic circuit, an electric motor operatively coupled to a hydraulic pump, a housing comprising an extension volume and a compression volume separated by a piston, and an accumulator;

controlling at least a portion of fluid flow from at least one of the extension volume and the compression volume with a valve during at least at one operating point;

receiving fluid flow in the accumulator from at least one of the extension volume and the compression volume during at least at one operating point; and

responding to the movement by controlling rotation of the hydraulic pump of the one of the plurality of self-controllable electro-hydraulic actuators based on information about the sensed movement, wherein rotation of the hydraulic pump at least partially determines a hydraulic fluid pressure in the one of the plurality of self-controllable electro-hydraulic actuators.

35. The system of claim 34, wherein at least one of the plurality of self-controllable electro-hydraulic actuators responds independently to the sensed movement.

36. The system of claim 34, wherein each of the plurality of self-controllable electrohydraulic actuators comprises at least one local sensor to sense movement of the vehicle.

37. The system of claim 34, wherein each of the plurality of self-controllable electrohydraulic actuators responds cooperatively to the sensed movement by communicating with at least one other of the plurality of self-controllable electro-hydraulic actuators.

38. The system of claim 34, wherein the hydraulic pump is operated at least at one operating point as a hydraulic motor.

39. A method of secondary vehicle suspension, comprising:

sensing movement of a vehicle chassis;

predicting a movement of a cabin of the vehicle based on the sensed movement of the chassis; and

operating a plurality of self-controllable electro-hydraulic actuators disposed between a structural member of the vehicle chassis and a structural member of the cabin to counteract a portion of the predicted movement of the cabin that impacts at least one of roll, pitch and heave of the cabin, wherein each of the plurality of self-controllable electro-hydraulic actuators includes a housing comprising an extension volume and a compression volume separated by a piston, and a accumulator;

controlling at least a portion of fluid flow from at least one of the extension volume and compression volume with a valve during at least at one operating point; and

receiving fluid flow in the accumulator from at least one of the extension volume and the compression volume during at least at one operating point.

40. The system of claim 39, wherein controlling comprises applying current to at least one electric motor that controls movement of hydraulic fluid through one of the plurality of actuators by at least one of resisting and assisting rotation of a hydraulic pump that engages the hydraulic fluid.

41. A method of secondary vehicle suspension, comprising:

sensing movement of a vehicle cabin using at least one of an accelerometer, a gyroscope, and a position sensor; and

operating a plurality of self-controllable electro-hydraulic actuators disposed between a structural member of the vehicle chassis and a structural member of the cabin to counteract a portion of the sensed cabin movement in the roll, pitch and heave modes of the cabin wherein each electro-hydraulic actuator has a housing comprising an extension volume and a compression volume separated by a piston, an accumulator, a closed hydraulic circuit and an electric motor operatively coupled to a hydraulic pump;

controlling at least a portion of fluid flow from at least one of the extension volume and the compression volume with a valve during at least at one operating point; and

receiving fluid flow in the accumulator from at least one of the extension volume and the compression volume during at least at one operating point.

42. The system of claim 41, wherein controlling comprises applying current to at least one electric motor that controls movement of hydraulic fluid through one of the plurality of actuators by at least one of resisting and assisting rotation of a hydraulic pump that engages the hydraulic fluid.

43. A method of secondary vehicle suspension, comprising:

operating a first controllable actuator disposed between a first structure of a vehicle and a second structure of the vehicle to control at least one aspect of relative motion of the first structure with respect to the second structure; and

operating a second controllable actuator disposed between the second structure and a third structure of the vehicle to control at least one aspect of relative motion of the third structure with respect to the second structure, wherein at least two of the first, second, and third structures are structures other than a wheel assembly, and wherein electrical energy provided to at least one of the first controllable actuator and the second controllable actuator is converted to mechanical energy by the actuator.

44. The method of claim 43, wherein the vehicle is a truck, the first structure is a wheel of the truck, the second structure is a structural element of the truck chassis and the third structure is a cabin of the truck.

45. The method of claim 43, wherein the vehicle is a truck, the first structure is a structural element of the truck chassis, the second structure is a cabin of the truck and the third structure is a driver'"'"'s seat in the cabin.

46. The method of claim 43, wherein the first and the second controllable actuators are self-controllable.

47. The method of claim 43, wherein the first structure is a wheel of the vehicle, the second structure is a structural element of the vehicle chassis and the third structure is a passenger compartment of the vehicle.

48. The method of claim 43, wherein at least one of the first controllable actuator and the second controllable actuator is self-controllable.