Control of real-time damper in a sprung mass system

A sprung mass system comprising:

• a frame connected to or integrally formed with a body;
• a plurality of motion sensors;
• a plurality of wheel speed sensors;
• a plurality of real-time dampers each respectively having individually-controlled forces that are responsive to an electric drive signal, and each being disposed with respect to a corresponding corner of the frame and the body, wherein a respective one of the motion sensors is connected to a respective one of the real-time dampers;
• a set of road wheels each independently sprung to a respective one of the corners via a respective one of the real-time dampers, wherein each respective one of the road wheels is connected to a respective one of the wheel speed sensors;
• and
• a controller that is electrically connected to the real-time dampers and is in communication with the wheel speed sensors and the motion sensors, wherein the controller is configured to:
• detect a periodic frequency and a periodic magnitude of a target periodic vibration of the frame and the body using measurements from the wheel speed sensors and the motion sensors, wherein the target periodic vibration has a velocity component and an elasticity component that are 90 degrees out-of-phase with respect to each other;
• reshape the electric drive signal based on a polarity of the velocity component to thereby generate a composite drive signal, including introducing at least one of an injected force component and an intermittent drive suppression component onto the electric drive signal based on the periodic frequency and the periodic magnitude of the target periodic vibration, wherein a projection of the injected force component is 180 degrees out-of-phase with the elasticity component of the target periodic vibration;
• and
• energize the real-time damper using the composite drive signal to thereby individually modify the force from each of the real-time dampers.