Controlling damper friction effects in a suspension

A method of operating a vehicle suspension supporting, at least in part, a sprung mass, the vehicle suspension including a damper, the method comprising:

• determining, by a controller, a frequency of motion associated with the sprung mass;
• when the frequency of motion associated with the sprung mass is below a first frequency threshold, sending a control signal to cause an actuator to apply a deceleration force to the sprung mass;
• and
• when the frequency of motion associated with the sprung mass exceeds the first frequency threshold, sending a control signal to cause the actuator to apply a compensatory force to the sprung mass, wherein a magnitude of the compensatory force is based on a friction force determined for the damper.

A non-transitory computer-readable medium storing instructions which, when executed by one or more processors associated with a vehicle suspension, program the one or more processors to perform operations comprising:

• determining a frequency of motion associated with a sprung mass supported, at least partially, by the vehicle suspension;
• when the frequency of motion associated with the sprung mass is below a first frequency threshold, sending a control signal to cause an actuator to apply a deceleration force to the sprung mass;
• and
• when the frequency of motion associated with the sprung mass exceeds the first frequency threshold, sending a control signal to cause the actuator to apply a compensatory force to the sprung mass, wherein a magnitude of the compensatory force is based on a friction force determined for a damper included in the vehicle suspension.