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. An apparatus comprising:
sprung vehicle components including a vehicle cabin;
unsprung vehicle components, including a wheel; and
a suspension element, comprising:
a sensor configured to identify a road disturbance prior to the wheel's encountering the road disturbance;
a controller configured to anti-causally determine a force to reduce vertical displacement of a portion of the vehicle resulting from the wheel's encountering the road disturbance;
and
a force source for exerting the anti-causally determined force prior to the wheel's encountering the road disturbance;
wherein the anti-causally determined force is based on the road disturbance identified prior to the wheel having encountered it.
2. The apparatus of claim 1 , wherein the controller for anti-causally determining the force determines a force to reduce vertical displacement of the unsprung mass over a first range of frequencies and determines a force to reduce displacement of the sprung mass over a range of frequencies above the first range of frequencies and a range of frequencies below the first range of frequencies.
3. The apparatus of claim 2 , wherein the controller for anti-causally determining the force to reduce vertical displacement comprises a processor for:
determining, prior to the wheel's encountering the road disturbance, an estimated response of a suspension system of the vehicle to the road disturbance; and
reversing with respect to time the estimated response of the suspension system to provide the anti-causally determined force.
4. The apparatus of claim 1 , wherein the controller for anti-causally determining the force to reduce vertical displacement comprises a processor for;
determining, prior to the wheel's encountering the road disturbance, what at least two states of a suspension of the vehicle would be when the wheel encounters the road disturbance to provide estimated state values; and
determining, prior to the wheel's encountering the road disturbance, a force to cause the at least two states of the vehicle suspension to have the estimated state values to provide an anti-causal force.
5. The apparatus of claim 1 , wherein the controller for anti-causally determining the force to reduce vertical displacement comprises a processor for:
calculating, from a model of a road surface and a model of the vehicle, a predicted motional behavior of a portion of the vehicle resulting from the anti-causally determined force being applied to the portion of the vehicle;
comparing the predicted behavior with the actual behavior of the portion 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 determined force to provide a combined force; and
applying the combined force to the vehicle portion.
6. A vehicle suspension for controlling motion of a sprung and unsprung mass comprising:
a force source which is capable of applying a force in response to a control signal and without a physical stimulus, the force source coupling a vehicle unsprung mass and a vehicle sprung mass;
a sensor configured to detect vertical motion of the sprung mass or a quantity from which vertical motion of the sprung mass can be derived;
an unsprung mass sensor configured to detect vertical motion of the unsprung mass or a quantity from which vertical motion of the unsprung mass can be derived; and
control circuitry, responsive to the sprung mass sensor for determining a force to reduce the vertical motion of the sprung mass and responsive to the unsprung mass sensor for determining a force to reduce the vertical motion of the unsprung mass,
wherein the control circuitry temporarily reduces the control effort of an unsprung mass control circuit when the control circuitry receives an input from a vehicle information bus that a situation is present where traction between a wheel and a mad surface is less important.
7. The vehicle suspension of claim 6 wherein the control effort is reduced by reducing a gain of a control loop that controls motion of the unsprung mass.
8. The vehicle suspension of claim 6 further comprising a sensor for identifying a road disturbance prior to the unsprung mass encountering the road disturbance, wherein the control circuitry anti-causally determines a force to reduce vertical displacement of a portion of the vehicle sprung mass resulting from the unsprung mass encountering the road disturbance.
9. The vehicle suspension of claim 8 , wherein the control circuitry for anti-causally determining the force determines a force to reduce vertical displacement of the unsprung mass over a first range of frequencies and determines a force to reduce displacement of the sprung mass over a range of frequencies above the first range of frequencies and a range of frequencies below the first range of frequencies.
10. The vehicle suspension of claim 8 , wherein the control circuitry for anti-causally determining the force to reduce vertical displacement comprises a processor for;
determining, prior to the unsprung mass's encountering the road disturbance, an estimated response of a suspension system of the vehicle to the road disturbance; and
reversing with respect to time the estimated response of the suspension system to provide the anti-causally determined force.
11. The vehicle suspension of claim 8 , wherein the control circuitry for anti-causally determining the force to reduce vertical displacement comprises a processor for;
determining, prior to the wheel's encountering the road disturbance, what at least two states of a suspension of the vehicle would be when the unsprung mass encounters the road disturbance to provide estimated state values; and
determining, prior to the unsprung mass's encountering the road disturbance, a force to cause the at least two states of the vehicle suspension to have the estimated state values to provide an anti-causal force.
12. A vehicle suspension for controlling motion of a sprung and unsprung mass comprising:
a force source which is capable of applying a force in response to a control signal and not in response to a physical stimulus, the force source coupling a vehicle unsprung mass and a vehicle sprung mass;
a sensor configured to detect vertical motion of the sprung mass or a quantity from which vertical motion of the sprung mass can be derived;
an unsprung mass sensor configured to detect vertical motion of the unsprung mass or a quantity from which vertical motion of the unsprung mass can be derived; and
control circuitry, responsive to the sprung mass sensor for determining a force to reduce the vertical motion of the sprung mass and responsive to the unsprung mass sensor for determining a force to reduce the vertical motion of the unsprung mass,
wherein the control circuitry temporarily increases the control effort of an unsprung mass control circuit when the control circuitry receives an input from a vehicle information bus that a situation is present where traction between a wheel and a road surface is more important.
13. The vehicle suspension of claim 12 wherein the control effort is increased by reducing a gain of a control loop that control motion of the unsprung mass.
14. The vehicle suspension of claim 12 further comprising a sensor for identifying a road disturbance prior to the unsprung mass encountering the road disturbance; wherein the control circuitry anti-causally determines a force to reduce vertical displacement of a portion of the vehicle unsprung mass resulting from the unsprung mass encountering the road disturbance.
15. The vehicle suspension of claim 14 , wherein the control circuitry for anti-causally determining the force determines a force to reduce vertical displacement of the unsprung mass over a first range of frequencies and determines a force to reduce displacement of the sprung mass over a range of frequencies above the first range of frequencies and a range of frequencies below the first range of frequencies.
16. The vehicle suspension of claim 14 , wherein the control circuitry for anti-causally determining the force to reduce vertical displacement comprises a processor for;
determining, prior to the unsprung mass's encountering the road disturbance, an estimated response of a suspension system of the vehicle to the road disturbance; and
reversing with respect to time the estimated response of the suspension system to provide the anti-causally determined force.
17. The vehicle suspension of claim 14 , wherein the control circuitry for anti-causally determining the force to reduce vertical displacement comprises a processor for;
determining, prior to the wheel's encountering the road disturbance, what at least two states of a suspension of the vehicle would be when the unsprung mass encounters the road disturbance to provide estimated state values; and
determining, prior to the unsprung mass's encountering the road disturbance, a force to cause the at least two states of the vehicle suspension to have the estimated state values to provide an anti-causal force.
18. The vehicle suspension of claim 14 , wherein the control circuitry for anti-causally determining the force to reduce vertical displacement comprises a processor for;
calculating, from a model of a road surface and a model of the vehicle, a predicted motional behavior of a portion of the vehicle resulting from the anti-causally determined force being applied to the portion of the vehicle;
comparing the predicted behavior with the actual behavior of the portion 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 determined force to provide a combined force; and
applying the combined force to the vehicle portion.
19. The vehicle suspension of claim 12 wherein the control circuitry temporarily reduces the control effort of an unsprung mass control circuit when the control circuitry receives an input from a vehicle information bus that a situation is present where traction between a wheel and a road surface is less important.
20. The vehicle suspension of claim 19 wherein the control circuitry for anti-causally determining the force determines a force to reduce vertical displacement of the unsprung mass over a first range of frequencies and determines a force to reduce displacement of the sprung mass over a range of frequencies above the first range of frequencies and a range of frequencies below the first range of frequencies.