Anti-causal vehicle suspension
View Patent ↗A vehicle suspension and wheel damper using anti-causal filtering. Information from in front of a wheel or information about an operating condition of a vehicle is used to anti-causally determine a response of an active suspension associated with the wheel.
1. A method for operating a suspension system associated with a wheel of a vehicle, comprising:
identifying a road disturbance prior to the wheel's encountering the road disturbance;
determining, prior to the wheel's encountering the road disturbance, an estimated response of the suspension system to the road disturbance;
reversing with respect to time the estimated response of the suspension system to provide an anti-causal response of the suspension system,
determining a force for outputting by a controllable force source associated with the suspension system, where the determining is based on the time reversed anti-causal response of the suspension system, and
outputting the determined force by the controllable force source to reduce vertical motion of the vehicle wheel.
2. The method of claim 1 , further comprising scaling the anti-causal response to provide a scaled anti-causal response.
3. The vehicle suspension of claim 1 , wherein the determining an estimated response determines the estimated response over a first period of time and further comprises causing the controllable force source to apply the determined force over a second period of time, shorter than the first period of time.
4. The method of claim 1 , wherein the wheel is a rear wheel, wherein the identifying the road disturbance comprises processing data from a motion sensor associated with a front wheel.
5. The method of claim 1 , wherein the method is operated in a narrow frequency band to control wheel hop.
6. The method of claim 5 , wherein the method is operated in a broad frequency band not including the narrow frequency band to control the vertical displacement of a car body.
7. The method of claim 1 , further comprising filtering the anti-causal response with a nonlinear filter.
8. The method of claim 7 , wherein the nonlinear filter is one of a deadband filter or a clipper.
9. A method for operating an active suspension system associated with the wheel of a vehicle, comprising:
identifying a road disturbance prior to the wheel's encountering the road disturbance;
determining, prior to the wheel's encountering the road disturbance, what at least two states of the vehicle would be when the wheel encounters the road disturbance to provide estimated state values;
determining, prior to the wheel's encountering the road disturbance, a force to cause the at least two states of the vehicle to have the estimated state values to provide an anti-causally determined force; and
causing a controllable force source, associated with the active suspension system, to apply the anti-causally determined force so that the values of the at least two states of the vehicle are the estimated state values when the wheel encounters the road disturbance.
10. The method of claim 9 , wherein the determining comprises
determining an estimated response of the suspension system to the road disturbance, prior to the wheel's encountering the road disturbance;
reversing with respect to time the estimated response of the suspension system to provide a reversed anti-causal response;
and
causing a controllable force source to apply the reversed anti-causal response prior to the wheel's encountering the road disturbance.
11. The method of claim 9 , wherein the two state values are the vertical position of the wheel and the vertical velocity of the wheel.
12. The method of claim 9 , wherein the method is operated in a narrow frequency band to control wheel hop.
13. The method of claim 12 , wherein the method is operated in a broad frequency band not including the narrow frequency band to control the vertical displacement of a car body.
14. The method of claim 9 , further comprising filtering the anti-causal response with a nonlinear filter.
15. The method of claim 14 , wherein the nonlinear filter is one of a deadband filter or a clipper.
16. The method of claim 9 , wherein the anti-causally determined force causes the suspension system to reduce vertical motion of an unsprung mass of the vehicle over a first frequency range and to control vertical motion of a sprung mass of the vehicle over a second frequency range embracing the first frequency range but not including the first frequency range.
17. A method for operating an active suspension for a vehicle, comprising:
anti-causally calculating a force to be applied to a portion of the vehicle;
calculating a predicted behavior of the portion of the vehicle resulting from the force being applied to the portion of the vehicle;
comparing the predicted behavior with the actual behavior of the vehicle to provide an error signal;
determining a correcting force to reduce the error signal;
combining the correcting force with the anti-causally calculated force to provide a combined force; and
applying the force to the vehicle portion.
18. The method of claim 17 , wherein the portion of the vehicle is an unsprung mass of the vehicle.
19. The method of claim 18 , wherein the method is operated in a frequency band included a wheel hop resonance frequency to control vertical motion of the unsprung mass.
20. The method of claim 17 , wherein the portion of the vehicle is the sprung mass of the vehicle.