Active vehicle suspension
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.
1. A method of operating a hydraulic motor/pump, the method comprising:
operating an electrical motor/generator that is operatively coupled to the hydraulic motor/pump, wherein the combination of the electric motor/generator and hydraulic motor/pump includes a rotating element that has inertia;
rotationally accelerating the rotating element, wherein the inertia results in an inertial torque that resists the rotational acceleration;
during the rotational acceleration of the rotating element, applying a torque to the rotating element that counteracts the inertial torque.
2. The method of claim 1 , wherein the hydraulic motor/pump is any one of a hydraulic motor and a hydraulic pump and wherein the electric motor/generator is any one of an electric motor and an electric generator.
3. The method of claim 1 , wherein the inertial torque is related to a product of the rotational acceleration of the rotating element and a moment of inertia of the rotating element.
4. The method of claim 1 , wherein the electric motor/generator and the hydraulic motor/pump are integrated with an active suspension actuator that is interposed between a vehicle body and a wheel assembly of a vehicle.
5. The method of claim 4 , wherein applying the torque occurs during at least one of operation of the active suspension actuator to apply an active force to the vehicle body and operation of the active suspension actuator to apply a damping force to the vehicle body.
6. The method of claim 1 , further comprising using a feedback control to determine the applied torque.
7. The method of claim 1 , wherein rotationally accelerating the rotating element results in an increase in a rotational speed of the rotating element.
8. The method of claim 1 , further comprising:
commanding the combination to produce a desired torque, wherein the rotational acceleration occurs in response to the command;
determining a value of a parameter affected by the inertial torque;
based on the determined value, altering the command;
operating the combination based on the altered command to at least partially compensate for an effect of the inertia.
9. The method of claim 8 , wherein the parameter is the rotational acceleration of the rotating element.
10. A method of operating a hydraulic motor/pump, the method comprising:
applying a first torque to a rotating element of the hydraulic motor/pump to angularly accelerate the rotating element, wherein the rotating element has inertia;
applying a second torque, in at least one mode of operation, to the rotating element at the same time as the first torque to at least partially compensate for an effect of the inertia of the rotating element during the angular acceleration of the rotating element.
11. The method of claim 10 , wherein a total torque applied to the rotating element includes the first torque and the second torque.
12. The method of claim 10 , wherein the hydraulic motor/pump is a part of an active suspension system.
13. The method of claim 10 , wherein the second torque is related to a product of the angular acceleration of the rotating element and a moment of inertia of the rotating element.
14. The method of claim 10 , further comprising determining the second torque using a feedback control.
15. The method of claim 10 , wherein applying the first torque to the rotating element of the hydraulic motor/pump to angularly accelerate the rotating element results in an increase in a rotational speed of the rotating element.
16. A system comprising:
a hydraulic motor/pump including a rotating element, wherein the rotating element has inertia;
an electric motor/generator operatively coupled to the rotating element;
an inertia cancelling controller operatively coupled to the electric motor/generator, wherein, in at least one mode of operation, the inertia cancelling controller commands the electric motor/generator to apply a torque to the rotating element of the hydraulic motor/pump to at least partially compensate for an effect of the inertia of the rotating element during an angular acceleration of the rotating element.
17. The system of claim 16 , wherein the hydraulic motor/pump is a part of an active suspension system.
18. The system of claim 16 , wherein the hydraulic motor/pump is any one of a hydraulic motor and a hydraulic pump and the electric motor/generator is any one of an electric motor and an electric generator.
19. The system of claim 16 , wherein the torque is related to a product of the angular acceleration of the rotating element and a moment of inertia of the rotating element.
20. The system of claim 16 , wherein the inertia cancelling controller uses a feedback control to determine the torque.
21. The system of claim 16 , wherein a rotational speed of the rotating element is increased during the angular acceleration of the rotating element.