Controlling active isolation platform in a moving vehicle
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 that allows the seat to move about an axis of a pivot, a first sensor positioned to detect movement of the vehicle, a second sensor positioned to detect lateral acceleration of the pivot, an actuator configured to move the seat, and a controller configured to receive a first signal from the first sensor and a second signal from the second sensor, generate a command signal based at least on the first and the second signal to instruct the actuator to position the seat at a desired command angle, wherein the controller is configured to correct the command signal for lateral accelerations caused by steering the vehicle, and provide a force command to the actuator to move the seat at the desired command angle.
1. A system for a vehicle, the vehicle having a vehicle body, the system comprising:
a platform constructed and arranged to be pivotally attached to the vehicle body;
a first sensor configured to detect movement of the vehicle;
a second sensor configured to detect lateral acceleration of at least a pivot point;
at least one actuator arranged to move the platform relative to the vehicle body; and
a controller configured to:
receive a first signal from the first sensor and a second signal from the second sensor;
determine a difference between a total lateral acceleration and a lateral acceleration due to turning, based on at least one of the first and second signal;
based at least in part on the difference, determine a desired position of the platform relative to the vehicle body; and
provide a force command to the at least one actuator to move the platform to the desired position.
2. The system of claim 1 , wherein the platform is a seat.
3. The system of claim 2 , wherein the first sensor is configured to detect a roll rate of the vehicle body.
4. The system of claim 3 , further comprising a third sensor configured to detect a yaw rate of the vehicle, and wherein the controller is configured to:
receive a third signal from the third sensor; and
determine the desired position of the platform relative to the vehicle body based in part on the third signal.
5. The system of claim 4 , further comprising a fourth sensor configured to detect an operating speed of the vehicle, and wherein the controller is configured to:
receive a fourth signal from the fourth sensor; and
determine the desired position of the platform relative to the vehicle body based in part on the fourth signal.
6. The system of claim 1 , further comprising a payload mounted to the platform, wherein the payload is a member selected from the group consisting of a seat, a wheelchair, a gurney, a bed, and a neonatal incubator.
7. The system of claim 1 , in combination with the vehicle.
8. A method of controlling movement of a platform pivotally mounted to a body of a vehicle, the method comprising:
detecting movement of the vehicle;
detecting lateral acceleration of the platform or a portion thereof;
determining a difference between a total lateral acceleration and a lateral acceleration due to turning, based on at least the movement of the vehicle and the lateral acceleration of at least a portion of the platform;
based at least in part on the difference, determining a desired position of the platform relative to the body of the vehicle; and
operating at least one actuator to move the platform to the desired position of the platform relative to the body of the vehicle.
9. The method of claim 8 , wherein detecting movement of the vehicle comprises detecting a roll rate of the vehicle.
10. The method of claim 9 , further comprising detecting a yaw rate of the vehicle, and wherein the desired position of the platform relative to the body of the vehicle is determined based at least in part on the yaw rate.
11. The method of claim 10 , further comprising detecting an operating speed of the vehicle, and wherein the desired position of the platform relative to the body of the vehicle is determined based at least in part on the operating speed.
12. An apparatus for moving a payload in a vehicle having a vehicle body, the apparatus comprising:
a platform configured to support the payload; at least one actuator, with a first side configured to attach to the platform, and a second side configured to attach to the vehicle body; and
a controller configured to:
receive a first signal that is indicative of movement of the vehicle;
receive a second signal that is indicative of detected lateral acceleration of the platform or a portion thereof;
determine a difference between a total lateral acceleration and a lateral acceleration due to turning, based on at least one of the first and second signal;
based at least in part on the difference, determine a desired position of the platform relative to the vehicle body; and
provide a force command to the at least one actuator to move the platform to the desired position.
13. The apparatus of claim 12 , wherein the platform is a seat.
14. The apparatus of claim 13 , wherein the first signal is indicative of a roll rate of the vehicle body.
15. The apparatus of claim 14 , wherein the controller is further configured to:
receive a third signal that is indicative of a yaw rate of the vehicle; and
determine the desired position of the platform relative to the vehicle body based in part on the third signal.
16. The apparatus of claim 15 , wherein the controller is further configured to:
receive a fourth signal that is indicative of an operating speed of the vehicle; and
determine the desired position of the platform relative to the vehicle body based in part on the fourth signal.
17. The apparatus of claim 12 , wherein the payload is a member selected from the group consisting of a seat, a wheelchair, a gurney, a bed, and a neonatal incubator.
18. The apparatus of claim 17 , further comprising the payload.
19. The apparatus of claim 12 , in combination with the vehicle.