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;
based at least in part on the input, determining a vehicle roll angle and a vehicle roll acceleration;
generating a variable gain based at least in part on the determined vehicle roll acceleration, 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, wherein generating the command signal includes applying the band-pass filter;
generating an adjusted command signal, wherein generating the adjusted command signal includes adjusting a magnitude of the command signal relative to an amplitude of the input; and,
providing a force command to at least two actuators to move the seat in at least two degrees of freedom, wherein the force command is determined based at least in part on the adjusted command signal.
2. The method of claim 1 , wherein generating the command signal includes multiplying the variable gain by the vehicle roll angle.
3. The method of claim 1 , further comprising determining the vehicle roll acceleration by differentiating the vehicle roll rate.
4. The method of claim 3 , 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.
5. The method of claim 1 , wherein the at least two actuators move the seat about a first axis of a pivot.
6. The method of claim 1 , wherein the at least two degrees of freedom includes a roll degree of freedom.
7. The method of claim 6 , wherein the at least two degrees of freedom further includes a vertical translation degree of freedom.
8. A seat system for a vehicle, comprising:
a seat;
a support structure coupled to the seat and including at least two actuators configured to move the seat in at least two degrees of freedom;
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,
based at least in part on the input, determine a vehicle roll angle and a vehicle roll acceleration;
generate a variable gain based at least in part on the vehicle roll acceleration, 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,
adjust a magnitude of the command signal relative to an amplitude of the input and apply the band-pass filter, thereby generating an adjusted command signal, and,
provide a force command to the at least two actuators to move the seat in the at least two degrees of freedom, wherein the force command is based at least in part on the adjusted command signal.
9. The seat system of claim 8 , wherein the sensor is positioned to measure movement of the vehicle about an axis extending parallel to a direction of travel of the vehicle, and the input includes a vehicle roll rate.
10. The seat system of claim 9 , further configured to generate the command signal by multiplying the variable gain and the vehicle roll angle.
11. The seat system of claim 9 , wherein the controller is configured to differentiate the vehicle roll rate to determine the vehicle roll acceleration.
12. The seat system of claim 11 , 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.
13. The seat system of claim 9 , wherein the at least two actuators move the seat about the axis.
14. The seat system of claim 8 , wherein the at least two actuators includes a first actuator and a second actuator.
15. The seat system of claim 8 , wherein the at least two degrees of freedom includes a roll degree of freedom.