Variable gain control in roll compensating seat
View Patent ↗Systems and methods for actively isolating a payload from a disturbance. In one example, a seat system for a vehicle includes a seat, a support structure including an actuator configured to move the seat about a pivot axis at a command angle, a sensor positioned to detect vehicle movement, and a controller configured to determine a vehicle roll angle based on an input from the sensor, generate a variable gain based at least on a vehicle roll acceleration determined from the input, wherein the variable gain modulates a gain of a band-pass filter having a fixed bandwidth, generate a command signal based at least on the vehicle roll angle, the controller configured to adjust a magnitude of the command signal relative to an amplitude of the input and apply the band-pass filter, and provide a force command to the actuator to move the seat at a desired command angle.
1. A method of controlling seat movement in a vehicle, comprising:
receiving an input from at least one sensor positioned to measure movement of the vehicle;
determining a vehicle roll angle based at least in part on the input;
generating a variable gain based at least in part on a vehicle roll acceleration determined from the input, wherein the variable gain modulates a gain of a band-pass filter having a fixed bandwidth;
generating a command signal based at least in part on the vehicle roll angle, including adjusting a magnitude of the command signal relative to an amplitude of the input, wherein generating the command signal includes applying the band-pass filter; and
providing a force command to the actuator to move the seat about a first axis of a pivot at a command angle based on at least the command signal.
2. The method of claim 1 , wherein receiving an input from at least one sensor includes receiving a vehicle roll rate from a sensor positioned to measure rotation of the vehicle about a second axis extending parallel to a direction of travel of the vehicle.
3. The method of claim 2 , wherein generating a command signal includes multiplying the variable gain and the vehicle roll angle.
4. The method of claim 2 , wherein generating the variable gain includes differentiating the vehicle roll rate to determine the vehicle roll acceleration.
5. The method of claim 4 , wherein generating the variable gain includes normalizing the roll acceleration within a range of substantially 0.0 to 1.0, and wherein the variable gain is set to a maximum value if the roll acceleration is greater than an upper threshold, the variable gain is set to a minimum value if the roll acceleration is less than a lower threshold, and the variable gain is linearly interpolated between the maximum value and the minimum value if the roll acceleration is equal to or between the upper threshold and the lower threshold.
6. The method of claim 2 , wherein generating the command signal includes applying a pre-multiply compensator to the vehicle roll angle and applying a post-multiply compensator to the vehicle roll angle.
7. The method of claim 6 , wherein the pre-multiply compensator and post-multiply compensator include perfect compliments.
8. The method of claim 1 , wherein generating a variable gain based at least in part on a vehicle roll acceleration determined from the input includes band-pass filtering the input with a sensitivity band-pass filter having bandwidth of payload sensitive frequencies.
9. The method of claim 1 , wherein generating the variable gain includes applying a gain multiplier to the vehicle roll rate.
10. A seat system for a vehicle, comprising:
a seat;
a support structure coupled to the seat and including an actuator configured to move the seat about a first axis of a pivot at a command angle;
at least one sensor positioned to detect movement of the vehicle; and
a controller configured to:
receive an input from the at least one sensor,
determine a vehicle roll angle based at least in part on the input,
generate a variable gain based at least in part on a vehicle roll acceleration determined from the input, wherein the variable gain modulates a gain of a band-pass filter having a fixed bandwidth,
generate a command signal based at least in part on the vehicle roll angle, the controller being configured to adjust a magnitude of the command signal relative to an amplitude of the input and apply the band-pass filter, and
provide a force command to the actuator to move the seat at a desired command angle based on the command signal.
11. The seat system of claim 10 , wherein the sensor is positioned to measure movement of the vehicle about a second axis extending parallel to a direction of travel of the vehicle, and the input includes a vehicle roll rate.
12. The seat system of claim 11 , further configured to generate the command signal by multiplying the variable gain and the vehicle roll angle.
13. The seat system of claim 11 , wherein the controller is configured to differentiate the vehicle roll rate to determine the vehicle roll acceleration.
14. The seat system of claim 13 , wherein the controller is further configured to normalize the roll acceleration within a range of substantially 0.0 to 1.0, and further configured to set the variable gain to a maximum value if the roll acceleration is greater than an upper threshold, set the variable gain to a minimum value if the roll acceleration is less than a lower threshold, and linearly interpolate the variable gain between the maximum value and the minimum value if the roll acceleration is equal to or between the upper threshold and the lower threshold.
15. The seat system of claim 11 , wherein the controller is further configured to apply a pre-multiply compensator to the vehicle roll angle and a post-multiply compensator to the vehicle roll angle.
16. The seat system of claim 15 , wherein the pre-multiply compensator and post-multiply compensator include perfect compliments.
17. The seat system of claim 11 , wherein the controller is configured to band-pass filter the input with a sensitivity band-pass filter having a band-pass of payload sensitive frequencies.
18. The seat system of claim 11 , wherein the controller is further configured to apply a gain multiplier to the vehicle roll rate.
19. A vehicle seat, comprising:
a seat configured to move at a command angle about a first axis of a pivot relative to a substantially horizontal orientation; and
a controller configured to:
receive an input of detected movement of the vehicle,
determine a vehicle roll angle based at least in part on the input,
generate a variable gain based at least in part on a vehicle roll acceleration determined from the input, wherein the variable gain modulates a gain of a band-pass filter having a fixed bandwidth,
generate a command signal based at least in part on the vehicle roll angle, the controller being configured to adjust a magnitude of the command signal relative to an amplitude of the input and apply the band-pass filter, and
provide a force command to the actuator to move the seat at a desired command angle based on at least the command signal.
20. The vehicle seat of claim 19 , wherein the input includes a vehicle roll rate.
21. The vehicle seat of claim 20 , wherein the controller is configured to generate the command signal by multiplying the variable gain and the vehicle roll angle.
22. The vehicle seat of claim 20 , wherein the controller is configured to differentiate the vehicle roll rate to determine the vehicle roll acceleration.
23. The vehicle seat of claim 22 , wherein the controller is configured to normalize the roll acceleration within a range of substantially 0.0 to 1.0, and further configured to set the variable gain to a maximum value if the roll acceleration is greater than an upper threshold, set the variable gain to a minimum value of the roll acceleration is less than a lower threshold, and linearly interpolate the variable gain between the maximum value and the minimum value if the roll acceleration is equal to or between the upper threshold and the lower threshold.
24. The vehicle set of claim 21 , wherein the controller is further configured to apply a pre-multiply compensator to the vehicle roll angle and a post-multiply compensator to the vehicle roll angle.
25. The vehicle seat of claim 24 , wherein the pre-multiply compensator and post-multiply compensator include perfect compliments.
26. The vehicle seat of claim 19 , wherein the controller is configured to band-pass filter the input with a sensitivity filter having a bandwidth of payload sensitive frequencies.
27. The vehicle seat of claim 19 , wherein the controller is further configured to apply a gain multiplier to the vehicle roll rate.