Electromagnetic suspension device
An electromagnetic suspension device includes: an electromagnetic actuator which is disposed side by side with a spring member provided between a body and a wheel of a vehicle and which produces a driving force for damping operation and extending and contracting operation; an information acquisition unit which acquires the stroke position of the electromagnetic actuator; and an ECU which sets a target damping force and a target stretching force and controls a driving force of the electromagnetic actuator by using a target driving force based on the set target damping force and target stretching force. When the stroke position acquired by the information acquisition unit is in an end region close to a stroke end, the ECU corrects the target driving force such that the stroke position shifts from the end region toward a neutral region.
1. An electromagnetic suspension device, comprising:
an electromagnetic actuator which is disposed side by side with a spring member provided between a body and a wheel of a vehicle and which produces a driving force for damping operation and extending and contracting operation;
an information acquisition unit which acquires a stroke position of the electromagnetic actuator; and
a driving force controller which sets a target damping force as a target value for the damping operation of the electromagnetic actuator, and a target stretching force as a target value for the extending and contracting operation, and controls the driving force of the electromagnetic actuator by using a target driving force based on the set target damping force and target stretching force, wherein
when the stroke position acquired by the information acquisition unit is in an end region close to a stroke end, the driving force controller corrects the target driving force such that the stroke position shifts from the end region toward a neutral region, and
the driving force controller sets a target inertia compensation force of the electromagnetic actuator and corrects the target inertia compensation force, when the stroke position acquired by the information acquisition unit is in the end region close to the stroke end, to render the target inertia compensation force smaller than that when the stroke position is not in the end region.
2. The electromagnetic suspension device according to claim 1 , wherein
when the stroke position acquired by the information acquisition unit is in the end region close to the stroke end and an acting direction of the target damping force is different from an acting direction of the target inertia compensation force, the driving force controller performs correction to render the target inertia compensation force smaller than that when the stroke position is not in the end region.
3. The electromagnetic suspension device according to claim 2 , wherein
even when the stroke position acquired by the information acquisition unit is in the end region close to the stroke end, but if the acting direction of the target damping force is the same as the acting direction of the target inertia compensation force, the driving force controller disables the correction to render the target inertia compensation force smaller than that when the stroke position is not in the end region.
4. The electromagnetic suspension device according to claim 1 , wherein
the driving force controller sets a target spring control force of the electromagnetic actuator and corrects the target spring control force, when the stroke position acquired by the information acquisition unit is in the end region close to the stroke end, to render the target spring control force larger than that when the stroke position is not in the end region.
5. The electromagnetic suspension device according to claim 4 , wherein
when the stroke position acquired by the information acquisition unit is in the end region close to the stroke end and an acting direction of the target damping force is the same as an acting direction of the target spring control force, the driving force controller performs the correction to render the target spring control force larger than that when the stroke position is not in the end region.
6. The electromagnetic suspension device according to claim 5 , wherein
even when the stroke position acquired by the information acquisition unit is in the end region close to the stroke end, but if the acting direction of the target damping force is different from the acting direction of the target spring control force, the driving force controller disables the correction to render the target spring control force larger than that when the stroke position is not in the end region.