Apparatus and method for active vehicle suspension

1. A method of operating a hydraulic motor pump, comprising;

determining an angular speed of the hydraulic motor pump;

receiving a command torque request;

determining that the command torque request is within an unacceptable range of torque for the angular speed; and

in response to the determination that the command torque request is within the unacceptable range of torque for the angular speed, applying an applied torque to the hydraulic motor pump that is within an acceptable range of torque for the angular speed.

2. The method of claim 1 wherein applying the applied torque to the hydraulic motor pump comprises applying the applied torque with one of an electric motor and an electric generator.

3. The method of claim 1 wherein operating in the acceptable range produces less noise than operating in the unacceptable range.

4. The method of claim 1 , further comprising obtaining a map that includes the acceptable range and the unacceptable range.

5. The method of claim 1 , wherein the hydraulic motor pump is located in a vehicle and wherein operating in the acceptable range excites a resonance of the vehicle less than operating in the unacceptable range.

6. The method of claim 1 , wherein the applied torque is within an optimal range of torque for the angular speed.

7. A hydraulic system, comprising:

a hydraulic motor pump;

an electric motor/generator operatively coupled to the hydraulic motor pump;

a data storage that includes a map with at least one unacceptable range of torque for an angular speed; and

a controller configured to respond to a request for a torque in the at least one unacceptable range for a given speed by commanding the electric motor/generator to apply a torque to the hydraulic motor pump that is in an acceptable range at the angular speed.

8. The hydraulic system of claim 7 , wherein the map further includes an acceptable range of torque for the angular speed and an optimal range of torque for the angular speed, and wherein the optimal range is included within the acceptable range.

9. The hydraulic system of claim 8 wherein the applied torque is within the optimal range.

10. The hydraulic system of claim 7 , wherein the hydraulic system is located in a vehicle and wherein operation of the hydraulic motor pump in the at least one unacceptable range results in an excitation of a resonance of the vehicle with a first intensity, and wherein operation of the hydraulic motor pump in the acceptable range results in an excitation of the resonance of the vehicle with a second intensity that is less than the first intensity.

11. The hydraulic system of claim 7 , wherein operation of the hydraulic motor pump in the at least one unacceptable range produces noise to a first degree, and wherein operation of the hydraulic motor pump in the acceptable range produces noise to a second degree that is less than the first degree.

12. A method of operating a hydraulic motor pump, comprising:

determining an angular speed of the hydraulic motor pump;

receiving a first command torque request;

determining that the first command torque would excite a first level of resonance if applied to the hydraulic motor pump; and

in response to determining that the first command torque would excite the first level of resonance if applied to the hydraulic motor pump:

determining a second command torque that would excite a second level of resonance if applied to the hydraulic motor pump, wherein the second level of resonance is less than the first level of resonance; and

applying the second command torque to the hydraulic motor pump.

13. The method of claim 12 , wherein applying the second command torque to the hydraulic motor pump comprises applying the second command torque with one of an electric motor and an electric generator.

14. The method of claim 12 , wherein determining that the first command torque would excite the first level of resonance if applied to the hydraulic motor pump comprises:

identifying an unacceptable range of torque for the angular speed; and

determining that the first command torque request is within the unacceptable range of torque for the angular speed.

15. The method of claim 14 , further comprising obtaining a map that includes the unacceptable range and an acceptable range.

16. The method of claim 15 , wherein the acceptable range includes an optimal range.

17. The method of claim 15 , wherein the second command torque is within the acceptable range.

18. The method of claim 16 , wherein the second command torque is within the optimal range.

19. The method of claim 12 , wherein the second command torque is higher than the first command torque.