Leaf spring and actuator control systems and methods
A suspension system of a vehicle includes: an unsprung mass of a vehicle; a sprung mass of the vehicle; at least one transverse leaf spring coupled between the unsprung mass of the vehicle and the sprung mass of the vehicle; and a linear actuator coupled in parallel with the at least one transverse leaf spring between the unsprung mass of the vehicle and the sprung mass of the vehicle and configured to modify vibrational characteristics of the vehicle.
1. A suspension system of a vehicle, comprising:
an unsprung mass of a vehicle;
a sprung mass of the vehicle;
at least one transverse leaf spring coupled between the unsprung mass of the vehicle and the sprung mass of the vehicle;
a linear actuator coupled in parallel with the at least one transverse leaf spring between the unsprung mass of the vehicle and the sprung mass of the vehicle and configured to modify vibrational characteristics of the vehicle;
a modes module configured to determine at least one of (a) a torsional mode of the at least one transverse leaf spring and (b) a bending mode of the at least one transverse leaf spring; and
an actuator control module configured to control a force applied by the linear actuator based on the at least one of (a) the torsional mode of the at least one transverse leaf spring and (b) the bending mode of the at least one transverse leaf spring.
2. The suspension system of claim 1 wherein the unsprung mass includes a wheel with an elastomeric tire, the elastomeric tire providing stiffness and damping between a road surface and the sprung mass of the vehicle.
3. The suspension system of claim 1 further comprising a damper coupled in parallel with the at least one transverse leaf spring and the linear actuator between the unsprung mass of the vehicle and the unsprung mass of the vehicle.
4. The suspension system of claim 1 wherein the actuator control module is configured to control the force applied by the linear actuator on the at least one transverse leaf spring based on at least the torsional mode of the at least one transverse leaf spring.
5. The suspension system of claim 4 wherein the actuator control module is configured to determine a target force to be applied by the linear actuator based on the torsional mode of the at least one transverse leaf spring and to control application of power to the linear actuator based on the target force.
6. The suspension system of claim 5 wherein the modes module is configured to determine the torsional mode of the at least one transverse leaf spring based on at least one of a position of the linear actuator, a velocity of the linear actuator, and an acceleration of the linear actuator.
7. The suspension system of claim 1 wherein the actuator control module is configured to control the force applied by the linear actuator on the at least one transverse leaf spring based on both the bending mode of the at least one transverse leaf spring and the torsional mode of the at least one transverse leaf spring.
8. The suspension system 1 wherein the linear actuator is a direct drive linear actuator.
9. The suspension system of claim 1 wherein the at least one transverse leaf spring includes:
a first transverse leaf spring coupled between the unsprung mass of the vehicle and the sprung mass of the vehicle; and
a second transverse leaf spring coupled between the unsprung mass of the vehicle and the sprung mass of the vehicle.
10. The suspension system of claim 9 wherein:
the first transverse leaf spring is a composite transverse leaf spring; and
the second transverse leaf spring is a composite transverse leaf spring.
11. The suspension system of claim 9 wherein:
the first transverse leaf spring includes an upper A-arm leaf spring; and
the second transverse leaf spring includes a lower A-arm leaf spring.
12. A suspension system of a vehicle, comprising:
an unsprung mass of a vehicle;
a sprung mass of the vehicle;
at least one transverse leaf spring coupled between the unsprung mass of the vehicle and the sprung mass of the vehicle;
a linear actuator coupled in parallel with the at least one transverse leaf spring between the unsprung mass of the vehicle and the sprung mass of the vehicle and configured to modify vibrational characteristics of the vehicle;
a modes module configured to determine at least one of (a) a torsional mode of the at least one transverse leaf spring and (b) a bending mode of the at least one transverse leaf spring; and
an actuator control module configured to control a force applied by the linear actuator based on the at least one of (a) the torsional mode of the at least one transverse leaf spring and (b) the bending mode of the at least one transverse leaf spring,
wherein the actuator control module is configured to control the force applied by the linear actuator on the at least one transverse leaf spring based on at least the bending mode of the at least one transverse leaf spring.
13. The suspension system of claim 12 wherein the actuator control module is configured to determine a target force to be applied by the linear actuator based on the bending mode of the at least one transverse leaf spring and to control application of power to the linear actuator based on the target force.
14. The suspension system of claim 13 wherein the modes module is configured to determine the bending mode of the at least one transverse leaf spring based on at least one of a position of the linear actuator, a velocity of the linear actuator, and an acceleration of the linear actuator.
15. A suspension system of a vehicle, comprising:
at least one transverse leaf spring that extends transversely across the vehicle toward a wheel of the vehicle and that is coupled to a chassis of the vehicle;
a linear actuator coupled to the chassis of the vehicle and to the at least one transverse leaf spring; and
an actuator control module configured to control a force applied by the linear actuator on the at least one transverse leaf spring based on at least one of: (a) a determined torsional mode of the at least one transverse leaf spring, (b) a determined bending mode of the at least one torsional leaf spring, (c) a position of the linear actuator, (d) a velocity of the linear actuator, and (e) an acceleration of the linear actuator, wherein the actuator control module controls the force applied by the linear actuator on the at least one transverse leaf spring based on at least the determined torsional mode of the at least one transverse leaf spring.
16. The suspension system of claim 15 wherein the at least one transverse leaf spring includes:
a first composite transverse leaf spring; and
a second composite transverse leaf spring.
17. A suspension system of a vehicle, comprising:
at least one transverse leaf spring that extends transversely across the vehicle toward a wheel of the vehicle and that is coupled to a chassis of the vehicle;
a linear actuator coupled to the chassis of the vehicle and to the at least one transverse leaf spring; and
an actuator control module configured to control a force applied by the linear actuator on the at least one transverse leaf spring based on at least one of: (a) a determined torsional mode of the at least one transverse leaf spring, (b) a determined bending mode of the at least one torsional leaf spring, (c) a position of the linear actuator, (d) a velocity of the linear actuator, and (e) an acceleration of the linear actuator, wherein the actuator control module controls the force applied by the linear actuator on the at least one transverse leaf spring based on at least the determined bending mode of the at least one transverse leaf spring.