Method and apparatus for controlling an actuator
AssigneeClearMotion, Inc.
InventorsMarco Giovanardi, Brian Alexander Selden, Jaganath Chandrasekar
Life of this patent
Estimating the term…
Abstract
At least one controller configured to control an actuator of an active suspension system. The at least one controller includes circuitry configured to determine an actuator state, and apply the actuator state and a commanded state to an inverse model of the actuator to produce an actuator command. The circuitry is configured to produce the actuator command by a process that includes performing low pass filtering and phase compensation to correct a phase introduced by the low pass filtering.
Claims24
-42. (canceled)
A method for controlling an actuator that is physically attached to a first component and a second component, wherein the actuator includes an electric machine and a hydraulic machine, the method comprising:
- (a) utilizing at least one motion sensor to sense relative motion between the first component and the second component, wherein said relative motion causes the actuator to exert a force onto the first component;
- (b) estimating, based at least in part on the sensed motion, a value of the force exerted onto the first component;
- (c) receiving a command force to be applied to at least one of the first component and the second component;
- (d) determining a desired value of an operating parameter of the actuator based at least in part on the estimated value of the force exerted onto the first component and the received command force, wherein the operating parameter is one of a desired motor force, a desired motor torque, and a desired motor current;
- and
- (e) operating the actuator based at least in part on the desired value of the operating parameter to apply an output force to at least one of the first component and the second component.
An actuator that physically interfaces a first component and a second component, the actuator comprising:
- a controller including a processor, one or more inputs, one or more outputs, and a non-transitory computer readable memory;
- an electric machine in electrical communication with the output of the controller;
- a hydraulic machine operably coupled to the electric machine;
- at least one motion sensor configured to sense relative motion between the first component and the second component, wherein said relative motion causes the actuator to exert a force onto the first component, and wherein the controller is configured to:
- receive, via the one or more inputs, a command force;
- receive, via the one or more inputs, one or more motion signals from the at least one motion sensor;
- estimate, based on the one or more motion signals, a value of the force exerted onto the first component;
- access an inverse transfer function stored in the non-transitory computer readable memory;
- determine, by the processor, a desired value of an operating parameter based at least in part on the estimated value of the force exerted onto the first component, the received command force, and the inverse transfer function, wherein the operating parameter is one of a desired motor force, a desired motor torque, and a desired motor current;
- and
- operate the electric machine based at least in part on the value of the operating parameter.
An actuator that physically interfaces a first component to a second component, the actuator comprising:
- an electric motor;
- a hydraulic pump operably coupled to the electric motor;
- at least one motion sensor configured to sense motion of the first component relative to the second component, wherein at least partially as a result of said motion the actuator exerts a force onto at the first component;
- an actuator controller including:
- force estimating means for estimating a value of the force exerted onto the first component based on one or more signals received from the at least one motion sensor;
- and
- parameter computing means for determining a desired value of a motor parameter based at least in part on the estimated value of the force exerted onto the first component and a received command force.
Dependencies are inferred from the claim text.