US20140294601A1 - Active adaptive hydraulic ripple cancellation algorithm and system - Google Patents
Active adaptive hydraulic ripple cancellation algorithm and system Download PDFInfo
- Publication number
- US20140294601A1 US20140294601A1 US14/242,636 US201414242636A US2014294601A1 US 20140294601 A1 US20140294601 A1 US 20140294601A1 US 201414242636 A US201414242636 A US 201414242636A US 2014294601 A1 US2014294601 A1 US 2014294601A1
- Authority
- US
- United States
- Prior art keywords
- ripple
- torque
- velocity
- electric motor
- hydraulic pump
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 230000003044 adaptive effect Effects 0.000 title description 2
- 238000000034 method Methods 0.000 claims abstract description 49
- 239000012530 fluid Substances 0.000 claims abstract description 16
- 230000000737 periodic effect Effects 0.000 claims description 19
- 239000000725 suspension Substances 0.000 claims description 5
- 230000005355 Hall effect Effects 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 6
- 238000010168 coupling process Methods 0.000 claims 6
- 238000005859 coupling reaction Methods 0.000 claims 6
- 230000000116 mitigating effect Effects 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002706 hydrostatic effect Effects 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D25/00—Pumping installations or systems
- F04D25/02—Units comprising pumps and their driving means
- F04D25/06—Units comprising pumps and their driving means the pump being electrically driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
- B60G11/265—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs hydraulic springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/14—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers accumulating utilisable energy, e.g. compressing air
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/06—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using both gas and liquid
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
- F16F9/512—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1823—Rotary generators structurally associated with turbines or similar engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
- F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
- F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
- F16F9/18—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein
- F16F9/19—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein with a single cylinder and of single-tube type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/10—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using light effect devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Definitions
- aspects relate to a device and methods for electronically attenuating pressure and or flow ripple in positive displacement hydraulic pumps/motors.
- pressure differential generated by constant torque application contains pressure ripple that is largely undesirable.
- This ripple is typically the result of non-constant flow capacity of the hydraulic pump/motor and of the variable leakage path around the pump/motor as a function of the position. It also typically occurs at frequencies related to the speed of the pump. For a rotary pump such as a form of gear pump, this ripple occurs at a frequency that is equal to the rotational frequency of the unit multiplied by the number of teeth or lobes and in integer harmonics thereof. For a piston-type pump the ripple frequency is proportional to the stroke period of individual pistons multiplied by the total number of pistons.
- Methods of reducing the magnitude of this ripple may commonly include increasing the number of ripple pulses per hydraulic cycle (e.g. number of gear teeth, number of pistons) or dampening the ripple downstream or upstream of the pump/motor by some means such as adding compliance. This may be accomplished by inserting a device such as an accumulator.
- Other methods of reducing the pressure ripple of hydraulic pumps/motors may include an apparatus for sensing the flow ripple generated by the pump and counteracting this with a negative ripple generator to cancel and eliminate the system flow ripple, where the negative ripple generator consists of a moveable piston controlled by a solid state motor.
- Another method of reducing the flow ripple in a hydraulic system includes using a hydrostatic motor in fluid communication with a variable displacement pump. In this arrangement a displacement signal is generated and applied to the variable displacement unit in order to reduce the torque ripple of the hydrostatic motor. This arrangement also has the negative attribute of requiring multiple independently controlled hydraulic flow generating devices. It is recognized that the ability to substantially attenuate the ripple of a hydraulic pump/motor without the need for additional flow generating devices, at a broad spectrum of frequencies with minimal cost and minimal efficiency penalties, is highly desirable.
- aspects of the invention relate to a device and methods to electronically control and improve the ripple characteristics of hydraulic pumps/motors.
- Subsequent references to a hydraulic pump will be synonymous with a hydraulic pump and with a hydraulic motor.
- Subsequent references to an electric motor will be synonymous with an electric motor and with an electric generator and with a BLDC motor. References to a rotor and position thereof are synonymous with the entire rotating assembly and therefore with the electric motor position and hydraulic pump position.
- Subsequent references to ripple torque and ripple velocity are synonymous with a torque signal that is commanded by the controller and with a velocity signal commanded by the controller respectively; both are cancellation signals that are added to a nominal command torque or velocity signal.
- Subsequent references to steady state conditions are synonymous with a substantially constant hydraulic pump velocity.
- Subsequent references to displacement flow are synonymous with flow that is transported through the hydraulic pump/motor. This displacement flow may vary with the angular position of the rotor. An operating point may be specified by a combination of pressure differential and pump velocity.
- a hydraulic pump is coupled to the shaft of an electric motor such that torque applied to the shaft of the electric motor results in torque applied to the hydraulic pump.
- a method of electric motor position sensing is provided such that accurate control over motor torque with respect to position is achieved.
- Pressure differential is generated across the hydraulic pump by applying torque to the shaft of the electric motor.
- This torque can be either a retarding torque, in which case shaft power is extracted from the pressure differential, or a driving torque, in which case power is input to the electric motor to cause a pressure differential.
- constant application of torque at steady state will generate non-constant and periodic fluctuations in pressure differential due predominately to the geometric nature of the hydraulic pump and non-constant flow capacity therein; this fact is well known by those trained in the art.
- a non-constant torque, or ripple torque can be carefully applied as a function of rotor position by the electric motor in order to attenuate the magnitude of the generated pressure ripple.
- This torque may fluctuate above and below the nominal mean constant torque to achieve the same mean pressure as the above-mentioned case of constant torque application.
- the mean of the ripple torque may be the same value as the constant torque to achieve the same mean pressure differential.
- one revolution of the hydraulic motor will generate a predetermined and predictable number of periodic fluctuations in pressure and/or flow, which in steady state operation will comprise a periodic waveform with respect to position.
- the ripple torque may result in a ripple velocity to increase velocity and generate increased displacement flow when the displacement flow is lower than the mean flow, and to decrease velocity and generate decreased displacement flow when the displacement flow is higher than the mean flow.
- the ripple torque applied is commanded of the controller by a ripple model that includes rotor position.
- the ripple model specifies the waveform of ripple torque to be applied in order to attenuate pressure ripple at a given operating point.
- the specification of the torque waveform may include the magnitude of one or more periodic waveforms, relative phase angles between each of the plurality of waveforms, as well as the relative phase angle of the resultant waveform with respect to position of the electric motor.
- the summation of one or a plurality of waveforms with predominant frequencies with respect to rotor position at any integer harmonic may produce a resultant waveform that serves to attenuate pressure ripple at multiple harmonic frequencies of the primary rotational frequency.
- the mean ripple torque applied in order to achieve a substantially constant pressure differential value is substantially equal to the constant torque value applied to achieve a mean pressure ripple of the same value.
- the root mean square value of the ripple torque may be higher than the mean ripple torque. In this manner the additional electric power losses associated with this method of ripple cancellation are a result of the electrical resistance losses due to the difference between the root mean square current and the mean current required to produce the tipple current. This may be considered small in comparison with the overall electrical resistance losses and therefore negligible as a loss of the system.
- the ripple model takes as direct inputs any of rotor velocity, electric motor torque, hydraulic flow rate, and hydraulic pressure.
- An operating point may be determined by a combination of rotor velocity or hydraulic flow rate, and motor torque or hydraulic pressure.
- the model may be a function or a series of functions in which the direct inputs serve as independent variables.
- the model may otherwise be a multidimensional array indexed by any combination of the direct inputs.
- the parameters of the ripple model with either of the above detailed formulations are adaptable and or updatable.
- Sensor input from one or a plurality of secondary sensors that are not used to detect rotor position are used as feedback to the ripple model in order to update model parameters that specify the ripple torque waveform.
- the model need not account for all effects of externalities and perturbations but rather, may dynamically update its parameters to account for these factors as they relate to the hydraulic pressure ripple and the corresponding cancellation waveform.
- the ripple model is a feed-forward ripple model of any of torque and velocity.
- the inputs to the model are based on commanded or sensed parameters while the system response is not monitored as a feedback signal. In this manner the model does not have a measure of its performance and does not dynamically adjust its output accordingly to system response in a time scale on the order of the system time constant.
- ripple cancellation is carried out in a closed loop feedback based control system.
- a sensor that correlates with pressure ripple a pressure sensor, a flow sensor, a strain gauge, an accelerometer etc.
- a desired output which may be based on an input parameter (pressure, flow, force etc.), the difference between the desired and actual being considered the error or ripple.
- This signal is then fed into the motor controller, which adjusts the applied torque in order to minimize the magnitude of the ripple signal.
- rotor position may be detected by any of a number of methods including a rotary encoder, a Hall effect sensor, optical sensors, or model-based position estimation that utilize external signals such as phase voltages and phase current signals of the electric motor.
- a rotary encoder a Hall effect sensor
- optical sensors or model-based position estimation that utilize external signals such as phase voltages and phase current signals of the electric motor.
- the latter are known in the field as “sensor-less” algorithms for controlling electric motors.
- Sensor-less methods may include comparing electric motor parameters to a model of motor back EMF.
- the output of the ripple model is a specified ripple velocity as opposed to a ripple torque.
- the displacement flow of the hydraulic pump is non-constant so it may be necessary for the speed to ripple accordingly.
- the motor controller performs closed-loop velocity control in order to achieve the ripple velocity specified by the ripple model.
- No ripple torque specification is necessary and no feedback on torque is performed.
- the output of a ripple velocity has the same attenuation effect on pressure ripple as the model that specifies ripple torque.
- the factors that influence how ripple torque leads to a ripple velocity primarily include hydraulic drag torque and rotational inertia.
- the primary difference of a ripple velocity model over a ripple torque model is that these influences and changes therein are external to the model set parameters and are instead accounted for in the closed loop velocity control. Any changes in torque requirements to achieve a specified ripple velocity will be directly handled by the velocity feedback control.
- the electric motor is immersed in a hydraulic fluid along with the hydraulic pump. In this manner position sensing of the electric motor must be performed inside a pressurized fluid environment.
- the hydraulic pump is preferably located coaxially with the electric motor.
- the electric motor and hydraulic pump are contained in an actuator of a vehicle suspension system. Pressure differential generated across the hydraulic pump results in a force on the piston of the actuator.
- Command torque on the electric motor may be the output of a separate vehicle dynamics model and or feedback control system.
- the ripple torque may be added to the command torque to impart an overall torque applied to the rotor.
- the command torque is used to specify the mean pressure, which may be used as an input to the ripple velocity model.
- operating the electric motor comprises adjusting the current flow through the windings of the electric motor in response to sensed angular position of the rotor.
- Operating the electric motor may also be accomplished by adjusting the voltage in the windings of the electric motor in response to sensed angular position of the rotor.
- the electric motor may be a BLDC motor.
- FIG. 8-1 is a representative plot of hydraulic pump/motor pressure ripple about a nominal average pressure under constant electric motor/generator torque.
- FIG. 8-2A is a representative plot of hydraulic pump/motor pressure ripple about a nominal average pressure under constant electric motor/generator torque over one repeating hydraulic pump/motor cycle.
- FIG. 8-2B is a representative plot of hydraulic pump/motor pressure ripple about a nominal average pressure under fluctuating and controlled motor/generator torque over the same repeating hydraulic pump/motor cycle as 8 - 2 A.
- the fluctuating torque compensates natural pressure variations in the hydraulic system thereby attenuating the resulting system pressure fluctuations.
- FIG. 8-3A is a representative plot of the necessary electric motor/generator torque to produce the pressure ripple shown in FIG. 1A .
- FIG. 8-3B is a representative plot of the necessary electric motor/generator torque to produce the attenuated pressure ripple shown in FIG. 1B .
- FIG. 8-4 is an embodiment of the control block diagram of a model-based feed-forward ripple cancelling control system for a hydraulic pump/motor with rotor position sensing.
- the nominal torque command may be the output of a vehicle control model.
- FIG. 8-5 is an embodiment of the control block diagram of a feedback based ripple cancelling torque control system for a hydraulic pump/motor based on load feedback (pressure, force, acceleration etc.).
- the nominal pressure/force/acceleration command may be the output of a vehicle control model.
- FIG. 8-6 is an embodiment of the control block diagram of an adaptable model-based feed-forward torque ripple canceling control system for a hydraulic pump/motor. External sensors provide input to the controller and the model is updated semi-continuously during the course of operation. Direct feedback control is not implemented.
- Some aspects relate to a system and feed-forward control method of electronically attenuating pressure ripple in a positive displacement pump/motor. Other aspects relate to a method of adapting a model based feed-forward control on the basis of output sensor information.
- FIG. 8-1 a representative plot of steady state pressure ripple in the time domain is shown for a hydraulic pump/motor operating at constant frequency under a constant torque application.
- a generated pressure differential signal 8 - 102 fluctuates in time about a mean pressure differential 8 - 104 which is substantially constant throughout time.
- the peak-to-peak amplitude 8 - 106 of this fluctuating pressure differential signal 8 - 102 is substantially consistent throughout time as the geometric pattern of the hydraulic pump/motor is symmetric.
- the peak-to-peak amplitude 8 - 106 is determined by many characteristics of the hydraulic pump.
- FIG. 8-2A a representative plot of steady state pressure ripple in the position domain is shown for a hydraulic pump operating at constant frequency under a constant torque application.
- the position theta 8 - 202 defines the geometric period in position over which the pump is geometrically repeating; the average periodic pressure ripple 8 - 204 over this position period is consistent.
- the mean pressure differential 8 - 206 is substantially constant over one periodic cycle and therefore constant throughout operation.
- the peak-to-peak amplitude 8 - 106 of the fluctuating pressure signal is consistent from cycle to cycle as the system is nominally periodic in geometry.
- FIG. 8-2B a representative plot of pressure ripple in the position domain is shown for a pump/motor under torque application from a model based feed forward torque controller.
- the mean pressure differential 8 - 206 remains at the same value as in FIG. 8-2A .
- the peak-to-peak amplitude 8 - 108 of the fluctuating pressure signal 8 - 210 is consistent from cycle to cycle and is considerably smaller than the peak-to-peak amplitude 8 - 106 in the constant torque application case of FIG. 8-2A .
- the average repeating pressure ripple 8 - 210 retains periodicity over the same geometric period theta 8 - 202 .
- FIG. 8-3A a steady state time domain representation of the constant torque application to achieve the pressure ripple in FIG. 8-2A is shown.
- the torque value 8 - 302 is constant throughout time and is a DC value with some offset from zero.
- FIG. 8-3B a steady state time domain representation of a fluctuating torque output from a model-based feed forward controller is shown.
- the mean torque 8 - 304 is constant throughout time and equal to the constant torque 8 - 302 from the case shown in FIG. 8-3A .
- the torque signal 8 - 306 fluctuates above and below the mean torque 8 - 304 .
- the peak-to-peak amplitude 8 - 308 of the torque signal has a magnitude that is an output of the ripple model.
- FIG. 8-4 a control block diagram of a model-based feed-forward ripple cancelling torque control system for a hydraulic pump is shown.
- a nominal torque command 8 - 402 which is an output of a separate system level control system, is an input to the feed-forward ripple model 8 - 404 .
- the rotational speed of the hydraulic pump 8 - 424 is fed into the feed-forward ripple model 8 - 404 which in turn outputs a ripple torque magnitude 8 - 406 and a ripple torque phase offset 8 - 408 with respect to rotor position 8 - 422 .
- the ripple torque magnitude 8 - 406 and ripple torque phase offset 8 - 408 are fed into the motor controller 8 - 410 which also takes as input the nominal torque command 8 - 402 and in turn outputs an overall applied torque 8 - 412 to the system 8 - 414 which refers to the hydraulic pump.
- the applied torque 8 - 412 results in a generated pressure differential 8 - 416 across the hydraulic pump 8 - 414 as well as a rotational speed 8 - 418 of the hydraulic pump.
- a position sensor 8 - 420 monitors the position 8 - 422 of the pump 8 - 414 from which rotor speed 8 - 424 can be derived.
- the resulting rotor speed 8 - 424 is again fed into the feed-forward ripple model 8 - 404 . Note that the control variable of interest in this system is pressure differential 8 - 416 yet there is no corresponding pressure sensor or feedback on this signal.
- FIG. 8-5 a control block diagram of a closed-loop feedback based ripple cancelling torque control system is shown.
- the motor controller 8 - 502 outputs an applied torque 8 - 504 , which acts on the system 8 - 506 , which refers to the hydraulic pump.
- the torque applied 8 - 504 results in a rotational speed 8 - 508 of the hydraulic pump system 8 - 506 as well as a generated pressure differential 8 - 510 across the pump 8 - 506 .
- a pressure sensor 8 - 512 feeds the pressure differential signal 8 - 510 into a block where it is summed with a nominal pressure differential command 8 - 514 which itself is an output of a separate system level control system.
- This ripple 8 - 516 is fed into the motor controller 8 - 502 which in turn adjusts its applied torque 8 - 504 in order to minimize the magnitude of the ripple 8 - 516 .
- FIG. 8-6 a control block diagram of an adaptive mode-based feed-forward ripple cancelling torque control system for a hydraulic pump is shown.
- a nominal torque command 8 - 602 which is an output of a separate system level control system, is an input to the feed-forward ripple model 8 - 604 .
- the rotational speed of the pump 8 - 624 is fed into the feed-forward ripple model 8 - 604 which in turn outputs a ripple torque magnitude 8 - 606 and a ripple torque phase offset 8 - 608 with respect to pump position.
- the ripple torque magnitude 8 - 606 and ripple torque phase offset 8 - 608 are fed into the motor controller 8 - 610 which also takes as input the nominal torque command 8 - 602 and the motor position 8 - 622 and in turn outputs an overall torque applied 8 - 612 to the system 8 - 614 which refers to the hydraulic pump.
- the torque applied 8 - 612 results in a generated pressure differential 8 - 616 across the hydraulic pump system 8 - 614 as well as a rotational speed 8 - 618 of the hydraulic pump 8 - 614 .
- a position sensor 8 - 620 monitors the position 8 - 622 of the pump/motor 8 - 614 from which rotor speed 8 - 624 can be calculated.
- the resulting speed 8 - 624 is again fed into the feed-forward ripple model 8 - 604 .
- External sensors 8 - 626 which monitor system, ripple response but are not directly used in closed-loop feedback are fed into and used to update and adapt the feed-forward ripple model 8 - 604 . This updating may generally occur over a time period that is substantially longer than the time constant of the system.
Abstract
Description
- This application claims priority to PCT application serial number PCT/US2014/029654, entitled “ACTIVE VEHICLE SUSPENSION IMPROVEMENTS”, filed Mar. 14, 2014, which claims the priority under 35 U.S.C. §119(e) of U.S. provisional application Ser. No. 61/913,644, entitled “WIDE BAND HYDRAULIC RIPPLE NOISE BUFFER”, filed Dec. 9, 2013, U.S. provisional application Ser. No. 61/865,970, entitled “MULTI-PATH FLUID DIVERTER VALVE”, filed Aug. 14, 2013, U.S. provisional application Ser. No. 61/815,251, entitled “METHOD AND ACTIVE SUSPENSION”, filed Apr. 23, 2013, and U.S. provisional application Ser. No. 61/789,600, entitled “IMPROVEMENTS IN ACTIVE SUSPENSION”, filed Mar. 15, 2013 , the disclosures of which are incorporated by reference in their entirety.
- 1. Field
- Aspects relate to a device and methods for electronically attenuating pressure and or flow ripple in positive displacement hydraulic pumps/motors.
- 2. Discussion of Related Art
- Typically in positive displacement hydraulic pumps/motors pressure differential generated by constant torque application contains pressure ripple that is largely undesirable. This ripple is typically the result of non-constant flow capacity of the hydraulic pump/motor and of the variable leakage path around the pump/motor as a function of the position. It also typically occurs at frequencies related to the speed of the pump. For a rotary pump such as a form of gear pump, this ripple occurs at a frequency that is equal to the rotational frequency of the unit multiplied by the number of teeth or lobes and in integer harmonics thereof. For a piston-type pump the ripple frequency is proportional to the stroke period of individual pistons multiplied by the total number of pistons.
- Methods of reducing the magnitude of this ripple may commonly include increasing the number of ripple pulses per hydraulic cycle (e.g. number of gear teeth, number of pistons) or dampening the ripple downstream or upstream of the pump/motor by some means such as adding compliance. This may be accomplished by inserting a device such as an accumulator. Other methods of reducing the pressure ripple of hydraulic pumps/motors may include an apparatus for sensing the flow ripple generated by the pump and counteracting this with a negative ripple generator to cancel and eliminate the system flow ripple, where the negative ripple generator consists of a moveable piston controlled by a solid state motor.
- These arrangements require a second flow control source (e.g. the piston) in order to function, resulting in a complex system with multiple electronically controlled devices. This arrangement also requires direct measurements of the flow or pressure ripple to perform closed loop feedback control of the secondary flow source, resulting in a more expensive system. Another method of reducing the flow ripple in a hydraulic system includes using a hydrostatic motor in fluid communication with a variable displacement pump. In this arrangement a displacement signal is generated and applied to the variable displacement unit in order to reduce the torque ripple of the hydrostatic motor. This arrangement also has the negative attribute of requiring multiple independently controlled hydraulic flow generating devices. It is recognized that the ability to substantially attenuate the ripple of a hydraulic pump/motor without the need for additional flow generating devices, at a broad spectrum of frequencies with minimal cost and minimal efficiency penalties, is highly desirable.
- Aspects of the invention relate to a device and methods to electronically control and improve the ripple characteristics of hydraulic pumps/motors. Subsequent references to a hydraulic pump will be synonymous with a hydraulic pump and with a hydraulic motor. Subsequent references to an electric motor will be synonymous with an electric motor and with an electric generator and with a BLDC motor. References to a rotor and position thereof are synonymous with the entire rotating assembly and therefore with the electric motor position and hydraulic pump position. Subsequent references to ripple torque and ripple velocity are synonymous with a torque signal that is commanded by the controller and with a velocity signal commanded by the controller respectively; both are cancellation signals that are added to a nominal command torque or velocity signal. Subsequent references to steady state conditions are synonymous with a substantially constant hydraulic pump velocity. Subsequent references to displacement flow are synonymous with flow that is transported through the hydraulic pump/motor. This displacement flow may vary with the angular position of the rotor. An operating point may be specified by a combination of pressure differential and pump velocity.
- According to one aspect, a hydraulic pump is coupled to the shaft of an electric motor such that torque applied to the shaft of the electric motor results in torque applied to the hydraulic pump. A method of electric motor position sensing is provided such that accurate control over motor torque with respect to position is achieved. Pressure differential is generated across the hydraulic pump by applying torque to the shaft of the electric motor. This torque can be either a retarding torque, in which case shaft power is extracted from the pressure differential, or a driving torque, in which case power is input to the electric motor to cause a pressure differential. Normally, constant application of torque at steady state will generate non-constant and periodic fluctuations in pressure differential due predominately to the geometric nature of the hydraulic pump and non-constant flow capacity therein; this fact is well known by those trained in the art. With proper analysis it can be discovered that these fluctuations occur in a predictable manner with respect to the position (angular or linear) of the pump and at a frequency proportional to the rotational speed of the pump. To counteract these natural fluctuations in pressure, a non-constant torque, or ripple torque, can be carefully applied as a function of rotor position by the electric motor in order to attenuate the magnitude of the generated pressure ripple. This torque may fluctuate above and below the nominal mean constant torque to achieve the same mean pressure as the above-mentioned case of constant torque application. In this manner the mean of the ripple torque may be the same value as the constant torque to achieve the same mean pressure differential. Typically, one revolution of the hydraulic motor will generate a predetermined and predictable number of periodic fluctuations in pressure and/or flow, which in steady state operation will comprise a periodic waveform with respect to position. In order to correctly apply torque to achieve this behavior, the position dependent nature of the ripple and therefore the position dependent requirements of ripple torque application must be known or discovered. The ripple torque may result in a ripple velocity to increase velocity and generate increased displacement flow when the displacement flow is lower than the mean flow, and to decrease velocity and generate decreased displacement flow when the displacement flow is higher than the mean flow.
- According to one aspect the ripple torque applied is commanded of the controller by a ripple model that includes rotor position. The ripple model specifies the waveform of ripple torque to be applied in order to attenuate pressure ripple at a given operating point. The specification of the torque waveform may include the magnitude of one or more periodic waveforms, relative phase angles between each of the plurality of waveforms, as well as the relative phase angle of the resultant waveform with respect to position of the electric motor. The summation of one or a plurality of waveforms with predominant frequencies with respect to rotor position at any integer harmonic may produce a resultant waveform that serves to attenuate pressure ripple at multiple harmonic frequencies of the primary rotational frequency.
- In one embodiment the mean ripple torque applied in order to achieve a substantially constant pressure differential value is substantially equal to the constant torque value applied to achieve a mean pressure ripple of the same value. The root mean square value of the ripple torque may be higher than the mean ripple torque. In this manner the additional electric power losses associated with this method of ripple cancellation are a result of the electrical resistance losses due to the difference between the root mean square current and the mean current required to produce the tipple current. This may be considered small in comparison with the overall electrical resistance losses and therefore negligible as a loss of the system.
- In one embodiment the ripple model takes as direct inputs any of rotor velocity, electric motor torque, hydraulic flow rate, and hydraulic pressure. An operating point may be determined by a combination of rotor velocity or hydraulic flow rate, and motor torque or hydraulic pressure. The model may be a function or a series of functions in which the direct inputs serve as independent variables. The model may otherwise be a multidimensional array indexed by any combination of the direct inputs.
- In one embodiment the parameters of the ripple model with either of the above detailed formulations are adaptable and or updatable. Sensor input from one or a plurality of secondary sensors that are not used to detect rotor position are used as feedback to the ripple model in order to update model parameters that specify the ripple torque waveform. In this manner the model need not account for all effects of externalities and perturbations but rather, may dynamically update its parameters to account for these factors as they relate to the hydraulic pressure ripple and the corresponding cancellation waveform.
- In one embodiment, the ripple model is a feed-forward ripple model of any of torque and velocity. The inputs to the model are based on commanded or sensed parameters while the system response is not monitored as a feedback signal. In this manner the model does not have a measure of its performance and does not dynamically adjust its output accordingly to system response in a time scale on the order of the system time constant.
- In one embodiment ripple cancellation is carried out in a closed loop feedback based control system. A sensor that correlates with pressure ripple (a pressure sensor, a flow sensor, a strain gauge, an accelerometer etc.) is used to feed back the ripple response and compare it to a desired output, which may be based on an input parameter (pressure, flow, force etc.), the difference between the desired and actual being considered the error or ripple. This signal is then fed into the motor controller, which adjusts the applied torque in order to minimize the magnitude of the ripple signal.
- In one embodiment rotor position may be detected by any of a number of methods including a rotary encoder, a Hall effect sensor, optical sensors, or model-based position estimation that utilize external signals such as phase voltages and phase current signals of the electric motor. The latter are known in the field as “sensor-less” algorithms for controlling electric motors. Sensor-less methods may include comparing electric motor parameters to a model of motor back EMF.
- In one embodiment the output of the ripple model is a specified ripple velocity as opposed to a ripple torque. At constant velocity the displacement flow of the hydraulic pump is non-constant so it may be necessary for the speed to ripple accordingly. In this manner the motor controller performs closed-loop velocity control in order to achieve the ripple velocity specified by the ripple model. No ripple torque specification is necessary and no feedback on torque is performed. The output of a ripple velocity has the same attenuation effect on pressure ripple as the model that specifies ripple torque. The factors that influence how ripple torque leads to a ripple velocity primarily include hydraulic drag torque and rotational inertia. The primary difference of a ripple velocity model over a ripple torque model is that these influences and changes therein are external to the model set parameters and are instead accounted for in the closed loop velocity control. Any changes in torque requirements to achieve a specified ripple velocity will be directly handled by the velocity feedback control.
- In one embodiment the electric motor is immersed in a hydraulic fluid along with the hydraulic pump. In this manner position sensing of the electric motor must be performed inside a pressurized fluid environment. The hydraulic pump is preferably located coaxially with the electric motor.
- In one embodiment the electric motor and hydraulic pump are contained in an actuator of a vehicle suspension system. Pressure differential generated across the hydraulic pump results in a force on the piston of the actuator. Command torque on the electric motor may be the output of a separate vehicle dynamics model and or feedback control system. The ripple torque may be added to the command torque to impart an overall torque applied to the rotor. In the event that a ripple velocity model is used, the command torque is used to specify the mean pressure, which may be used as an input to the ripple velocity model.
- In one embodiment, operating the electric motor comprises adjusting the current flow through the windings of the electric motor in response to sensed angular position of the rotor. Operating the electric motor may also be accomplished by adjusting the voltage in the windings of the electric motor in response to sensed angular position of the rotor. The electric motor may be a BLDC motor.
- It should be appreciated that the foregoing concepts, and additional concepts discussed below, may be arranged in any suitable combination, as the present disclosure is not limited in this respect. Further, other advantages and novel features of the present disclosure will become apparent from the following detailed description of various non-limiting embodiments when considered in conjunction with the accompanying figures.
- The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures is represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing, and some similar components may have different numbers. In the drawings:
-
FIG. 8-1 is a representative plot of hydraulic pump/motor pressure ripple about a nominal average pressure under constant electric motor/generator torque. -
FIG. 8-2A is a representative plot of hydraulic pump/motor pressure ripple about a nominal average pressure under constant electric motor/generator torque over one repeating hydraulic pump/motor cycle. -
FIG. 8-2B is a representative plot of hydraulic pump/motor pressure ripple about a nominal average pressure under fluctuating and controlled motor/generator torque over the same repeating hydraulic pump/motor cycle as 8-2A. The fluctuating torque compensates natural pressure variations in the hydraulic system thereby attenuating the resulting system pressure fluctuations. -
FIG. 8-3A is a representative plot of the necessary electric motor/generator torque to produce the pressure ripple shown inFIG. 1A . -
FIG. 8-3B is a representative plot of the necessary electric motor/generator torque to produce the attenuated pressure ripple shown inFIG. 1B . -
FIG. 8-4 is an embodiment of the control block diagram of a model-based feed-forward ripple cancelling control system for a hydraulic pump/motor with rotor position sensing. (The nominal torque command may be the output of a vehicle control model.) -
FIG. 8-5 is an embodiment of the control block diagram of a feedback based ripple cancelling torque control system for a hydraulic pump/motor based on load feedback (pressure, force, acceleration etc.). (The nominal pressure/force/acceleration command may be the output of a vehicle control model.) -
FIG. 8-6 is an embodiment of the control block diagram of an adaptable model-based feed-forward torque ripple canceling control system for a hydraulic pump/motor. External sensors provide input to the controller and the model is updated semi-continuously during the course of operation. Direct feedback control is not implemented. - Some aspects relate to a system and feed-forward control method of electronically attenuating pressure ripple in a positive displacement pump/motor. Other aspects relate to a method of adapting a model based feed-forward control on the basis of output sensor information.
- Regarding
FIG. 8-1 , a representative plot of steady state pressure ripple in the time domain is shown for a hydraulic pump/motor operating at constant frequency under a constant torque application. A generated pressure differential signal 8-102 fluctuates in time about a mean pressure differential 8-104 which is substantially constant throughout time. The peak-to-peak amplitude 8-106 of this fluctuating pressure differential signal 8-102 is substantially consistent throughout time as the geometric pattern of the hydraulic pump/motor is symmetric. The peak-to-peak amplitude 8-106 is determined by many characteristics of the hydraulic pump. - In
FIG. 8-2A a representative plot of steady state pressure ripple in the position domain is shown for a hydraulic pump operating at constant frequency under a constant torque application. The position theta 8-202 defines the geometric period in position over which the pump is geometrically repeating; the average periodic pressure ripple 8-204 over this position period is consistent. The mean pressure differential 8-206 is substantially constant over one periodic cycle and therefore constant throughout operation. The peak-to-peak amplitude 8-106 of the fluctuating pressure signal is consistent from cycle to cycle as the system is nominally periodic in geometry. - In
FIG. 8-2B a representative plot of pressure ripple in the position domain is shown for a pump/motor under torque application from a model based feed forward torque controller. The mean pressure differential 8-206 remains at the same value as inFIG. 8-2A . The peak-to-peak amplitude 8-108 of the fluctuating pressure signal 8-210 is consistent from cycle to cycle and is considerably smaller than the peak-to-peak amplitude 8-106 in the constant torque application case ofFIG. 8-2A . The average repeating pressure ripple 8-210 retains periodicity over the same geometric period theta 8-202. - In
FIG. 8-3A a steady state time domain representation of the constant torque application to achieve the pressure ripple inFIG. 8-2A is shown. The torque value 8-302 is constant throughout time and is a DC value with some offset from zero. - In
FIG. 8-3B a steady state time domain representation of a fluctuating torque output from a model-based feed forward controller is shown. The mean torque 8-304 is constant throughout time and equal to the constant torque 8-302 from the case shown inFIG. 8-3A . The torque signal 8-306 fluctuates above and below the mean torque 8-304. The peak-to-peak amplitude 8-308 of the torque signal has a magnitude that is an output of the ripple model. - In
FIG. 8-4 a control block diagram of a model-based feed-forward ripple cancelling torque control system for a hydraulic pump is shown. A nominal torque command 8-402, which is an output of a separate system level control system, is an input to the feed-forward ripple model 8-404. Along with the nominal torque command 8-402, the rotational speed of the hydraulic pump 8-424 is fed into the feed-forward ripple model 8-404 which in turn outputs a ripple torque magnitude 8-406 and a ripple torque phase offset 8-408 with respect to rotor position 8-422. The ripple torque magnitude 8-406 and ripple torque phase offset 8-408 are fed into the motor controller 8-410 which also takes as input the nominal torque command 8-402 and in turn outputs an overall applied torque 8-412 to the system 8-414 which refers to the hydraulic pump. The applied torque 8-412 results in a generated pressure differential 8-416 across the hydraulic pump 8-414 as well as a rotational speed 8-418 of the hydraulic pump. A position sensor 8-420 monitors the position 8-422 of the pump 8-414 from which rotor speed 8-424 can be derived. The resulting rotor speed 8-424 is again fed into the feed-forward ripple model 8-404. Note that the control variable of interest in this system is pressure differential 8-416 yet there is no corresponding pressure sensor or feedback on this signal. - In
FIG. 8-5 a control block diagram of a closed-loop feedback based ripple cancelling torque control system is shown. The motor controller 8-502 outputs an applied torque 8-504, which acts on the system 8-506, which refers to the hydraulic pump. The torque applied 8-504 results in a rotational speed 8-508 of the hydraulic pump system 8-506 as well as a generated pressure differential 8-510 across the pump 8-506. A pressure sensor 8-512 feeds the pressure differential signal 8-510 into a block where it is summed with a nominal pressure differential command 8-514 which itself is an output of a separate system level control system. The result of this summation or subtraction is the error of the system or the hydraulic ripple 8-516. This ripple 8-516 is fed into the motor controller 8-502 which in turn adjusts its applied torque 8-504 in order to minimize the magnitude of the ripple 8-516. - In
FIG. 8-6 a control block diagram of an adaptive mode-based feed-forward ripple cancelling torque control system for a hydraulic pump is shown. A nominal torque command 8-602, which is an output of a separate system level control system, is an input to the feed-forward ripple model 8-604. Along with the nominal torque command 8-602, the rotational speed of the pump 8-624 is fed into the feed-forward ripple model 8-604 which in turn outputs a ripple torque magnitude 8-606 and a ripple torque phase offset 8-608 with respect to pump position. The ripple torque magnitude 8-606 and ripple torque phase offset 8-608 are fed into the motor controller 8-610 which also takes as input the nominal torque command 8-602 and the motor position 8-622 and in turn outputs an overall torque applied 8-612 to the system 8-614 which refers to the hydraulic pump. The torque applied 8-612 results in a generated pressure differential 8-616 across the hydraulic pump system 8-614 as well as a rotational speed 8-618 of the hydraulic pump 8-614. A position sensor 8-620 monitors the position 8-622 of the pump/motor 8-614 from which rotor speed 8-624 can be calculated. The resulting speed 8-624 is again fed into the feed-forward ripple model 8-604. External sensors 8-626, which monitor system, ripple response but are not directly used in closed-loop feedback are fed into and used to update and adapt the feed-forward ripple model 8-604. This updating may generally occur over a time period that is substantially longer than the time constant of the system.
Claims (88)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/242,636 US20140294601A1 (en) | 2013-03-15 | 2014-04-01 | Active adaptive hydraulic ripple cancellation algorithm and system |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361789600P | 2013-03-15 | 2013-03-15 | |
US201361815251P | 2013-04-23 | 2013-04-23 | |
US201361865970P | 2013-08-14 | 2013-08-14 | |
US201361913644P | 2013-12-09 | 2013-12-09 | |
PCT/US2014/029654 WO2014145018A2 (en) | 2013-03-15 | 2014-03-14 | Active vehicle suspension improvements |
US14/242,636 US20140294601A1 (en) | 2013-03-15 | 2014-04-01 | Active adaptive hydraulic ripple cancellation algorithm and system |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2014/029654 Continuation WO2014145018A2 (en) | 2013-03-15 | 2014-03-14 | Active vehicle suspension improvements |
Publications (1)
Publication Number | Publication Date |
---|---|
US20140294601A1 true US20140294601A1 (en) | 2014-10-02 |
Family
ID=51538406
Family Applications (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/242,612 Active 2035-11-17 US10160276B2 (en) | 2013-03-15 | 2014-04-01 | Contactless sensing of a fluid-immersed electric motor |
US14/242,658 Active US9707814B2 (en) | 2013-03-15 | 2014-04-01 | Active stabilization system for truck cabins |
US14/242,705 Active 2034-04-26 US9694639B2 (en) | 2013-03-15 | 2014-04-01 | Distributed active suspension control system |
US14/242,636 Abandoned US20140294601A1 (en) | 2013-03-15 | 2014-04-01 | Active adaptive hydraulic ripple cancellation algorithm and system |
US14/242,691 Abandoned US20140297116A1 (en) | 2013-03-15 | 2014-04-01 | Self-driving vehicle with integrated active suspension |
US15/832,517 Active 2034-11-10 US10828953B2 (en) | 2013-03-15 | 2017-12-05 | Self-driving vehicle with integrated active suspension |
Family Applications Before (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/242,612 Active 2035-11-17 US10160276B2 (en) | 2013-03-15 | 2014-04-01 | Contactless sensing of a fluid-immersed electric motor |
US14/242,658 Active US9707814B2 (en) | 2013-03-15 | 2014-04-01 | Active stabilization system for truck cabins |
US14/242,705 Active 2034-04-26 US9694639B2 (en) | 2013-03-15 | 2014-04-01 | Distributed active suspension control system |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/242,691 Abandoned US20140297116A1 (en) | 2013-03-15 | 2014-04-01 | Self-driving vehicle with integrated active suspension |
US15/832,517 Active 2034-11-10 US10828953B2 (en) | 2013-03-15 | 2017-12-05 | Self-driving vehicle with integrated active suspension |
Country Status (3)
Country | Link |
---|---|
US (6) | US10160276B2 (en) |
EP (2) | EP3626485A1 (en) |
WO (1) | WO2014145018A2 (en) |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9035477B2 (en) | 2010-06-16 | 2015-05-19 | Levant Power Corporation | Integrated energy generating damper |
US9174508B2 (en) | 2013-03-15 | 2015-11-03 | Levant Power Corporation | Active vehicle suspension |
US9260011B2 (en) | 2008-04-17 | 2016-02-16 | Levant Power Corporation | Hydraulic energy transfer |
US9440507B2 (en) | 2013-03-15 | 2016-09-13 | Levant Power Corporation | Context aware active suspension control system |
US9694639B2 (en) | 2013-03-15 | 2017-07-04 | ClearMotion, Inc. | Distributed active suspension control system |
US9702424B2 (en) | 2014-10-06 | 2017-07-11 | ClearMotion, Inc. | Hydraulic damper, hydraulic bump-stop and diverter valve |
US9702349B2 (en) | 2013-03-15 | 2017-07-11 | ClearMotion, Inc. | Active vehicle suspension system |
US9855814B2 (en) | 2013-04-23 | 2018-01-02 | ClearMotion, Inc. | Active suspension with structural actuator |
US10317894B2 (en) | 2015-02-13 | 2019-06-11 | Fluid Handling Llc | No flow detection means for sensorless pumping control applications |
US10465612B2 (en) | 2017-04-03 | 2019-11-05 | Hamilton Sundstrand Corporation | Aircraft fluid control system having a pressure sensor |
CN111016567A (en) * | 2019-12-30 | 2020-04-17 | 东风小康汽车有限公司重庆分公司 | Automatic switching method and device for automobile driving modes |
US10907631B2 (en) * | 2018-08-01 | 2021-02-02 | Rolls-Royce Corporation | Pump ripple pressure monitoring for incompressible fluid systems |
US10954935B2 (en) | 2016-04-19 | 2021-03-23 | ClearMotion, Inc. | Active hydraulic ripple cancellation methods and systems |
US10987617B2 (en) | 2016-04-05 | 2021-04-27 | Hamilton Sundstrand Corporation | Pressure detection system immune to pressure ripple effects |
US11480199B2 (en) | 2016-06-02 | 2022-10-25 | ClearMotion, Inc. | Systems and methods for managing noise in compact high speed and high force hydraulic actuators |
US11619560B2 (en) | 2019-10-18 | 2023-04-04 | Hamilton Sundstrand Corporation | Pressure ripple mitigation in pressure sensors |
EP4299904A1 (en) * | 2022-06-28 | 2024-01-03 | Robert Bosch GmbH | Method for controlling variable-speed fluid pumps |
Families Citing this family (242)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8616351B2 (en) | 2009-10-06 | 2013-12-31 | Tenneco Automotive Operating Company Inc. | Damper with digital valve |
WO2013052540A2 (en) * | 2011-10-04 | 2013-04-11 | Parker-Hannifin Corporation | Method and system for controlling electric actuators |
DE102012022207B3 (en) * | 2012-11-13 | 2014-01-09 | Audi Ag | A method for providing route information by means of at least one motor vehicle |
US9884533B2 (en) * | 2013-02-28 | 2018-02-06 | Tenneco Automotive Operating Company Inc. | Autonomous control damper |
US9399383B2 (en) | 2013-02-28 | 2016-07-26 | Tenneco Automotive Operating Company Inc. | Damper with integrated electronics |
US9217483B2 (en) | 2013-02-28 | 2015-12-22 | Tenneco Automotive Operating Company Inc. | Valve switching controls for adjustable damper |
US20140265560A1 (en) * | 2013-03-15 | 2014-09-18 | Levant Power Corporation | System and method for using voltage bus levels to signal system conditions |
US9879746B2 (en) | 2013-03-15 | 2018-01-30 | Tenneco Automotive Operating Company Inc. | Rod guide system and method with multiple solenoid valve cartridges and multiple pressure regulated valve assemblies |
US9879748B2 (en) | 2013-03-15 | 2018-01-30 | Tenneco Automotive Operating Company Inc. | Two position valve with face seal and pressure relief port |
CA2902430C (en) | 2013-03-15 | 2020-09-01 | Uber Technologies, Inc. | Methods, systems, and apparatus for multi-sensory stereo vision for robotics |
US10465925B2 (en) * | 2013-12-17 | 2019-11-05 | Belimo Holding Ag | Systems and methods for fault detection using smart valves |
US9733643B2 (en) | 2013-12-20 | 2017-08-15 | Agjunction Llc | Hydraulic interrupter safety system and method |
EP3126167A1 (en) | 2014-04-02 | 2017-02-08 | Levant Power Corporation | Active safety suspension system |
DE102015205369B4 (en) * | 2014-04-04 | 2019-08-22 | Ford Global Technologies, Llc | Method for operating a suspension system |
US11635075B1 (en) | 2014-06-25 | 2023-04-25 | ClearMotion, Inc. | Gerotor pump with bearing |
WO2016019091A1 (en) * | 2014-07-31 | 2016-02-04 | Cnh Industrial America Llc | Active force/vibration feedback control method and apparatus for a movable machine |
US10851816B1 (en) | 2014-08-19 | 2020-12-01 | ClearMotion, Inc. | Apparatus and method for active vehicle suspension |
JP6482789B2 (en) * | 2014-08-19 | 2019-03-13 | Kyb株式会社 | Suspension control device |
DE102014219977A1 (en) * | 2014-10-01 | 2016-04-07 | Bayerische Motoren Werke Aktiengesellschaft | Method and system for controlling an actuator of an active damper system |
US9892296B2 (en) | 2014-11-12 | 2018-02-13 | Joseph E. Kovarik | Method and system for autonomous vehicles |
WO2016080070A1 (en) * | 2014-11-17 | 2016-05-26 | 日立オートモティブシステムズ株式会社 | Automatic driving system |
US9440508B2 (en) * | 2014-11-25 | 2016-09-13 | Seth M. LACHICA | Active vehicle suspension system and method for managing drive energy |
US10246094B2 (en) * | 2014-12-09 | 2019-04-02 | Ford Global Technologies, Llc | Autonomous vehicle cornering maneuver |
US10308352B2 (en) * | 2014-12-12 | 2019-06-04 | Borealis Technical Limited | Monitoring system for aircraft drive wheel system |
EP3247577B1 (en) | 2015-01-23 | 2020-03-04 | Clearmotion, Inc. | Method and apparatus for controlling an actuator |
DE102015201411A1 (en) * | 2015-01-28 | 2016-07-28 | Robert Bosch Gmbh | Motor-pump unit for a brake system |
DE102015101248A1 (en) * | 2015-01-28 | 2016-07-28 | Fraba B.V. | Magnet-based rotation angle measuring system |
CN107206860B (en) | 2015-02-06 | 2020-03-10 | 伯恩斯公司 | Vehicle chassis level sensor |
KR20160117894A (en) * | 2015-04-01 | 2016-10-11 | 현대자동차주식회사 | Device and method for controlling air suspension system |
US9505404B2 (en) * | 2015-04-10 | 2016-11-29 | Jaguar Land Rover Limited | Collision avoidance system |
US9937765B2 (en) * | 2015-04-28 | 2018-04-10 | Ram Sivaraman | Method of adapting an automobile suspension in real-time |
DE102015005964A1 (en) * | 2015-05-08 | 2016-11-10 | Man Truck & Bus Ag | Method for controlling or controlling the damper force of adjustable dampers in motor vehicles, in particular in commercial vehicles |
DE102015208787B4 (en) * | 2015-05-12 | 2018-10-04 | Zf Friedrichshafen Ag | Adjustable spring carrier |
KR102373365B1 (en) * | 2015-05-29 | 2022-03-11 | 주식회사 만도 | Electronic control suspension apparatus having multiple stage switch and method for controlling damping force thereof |
KR102096334B1 (en) | 2015-06-03 | 2020-04-02 | 클리어모션, 아이엔씨. | Methods and systems for controlling body motion and passenger experience |
US10131446B1 (en) * | 2015-07-16 | 2018-11-20 | Near Earth Autonomy, Inc. | Addressing multiple time around (MTA) ambiguities, particularly for lidar systems, and particularly for autonomous aircraft |
KR20170015115A (en) | 2015-07-30 | 2017-02-08 | 삼성전자주식회사 | Autonomous vehicle and method for controlling the autonomous vehicle |
KR20170015114A (en) | 2015-07-30 | 2017-02-08 | 삼성전자주식회사 | Autonomous vehicle and method for controlling the autonomous vehicle |
US9869560B2 (en) | 2015-07-31 | 2018-01-16 | International Business Machines Corporation | Self-driving vehicle's response to a proximate emergency vehicle |
US9785145B2 (en) | 2015-08-07 | 2017-10-10 | International Business Machines Corporation | Controlling driving modes of self-driving vehicles |
US9483948B1 (en) | 2015-08-07 | 2016-11-01 | International Business Machines Corporation | Automated control of interactions between self-driving vehicles and pedestrians |
US9721397B2 (en) | 2015-08-11 | 2017-08-01 | International Business Machines Corporation | Automatic toll booth interaction with self-driving vehicles |
US9718471B2 (en) | 2015-08-18 | 2017-08-01 | International Business Machines Corporation | Automated spatial separation of self-driving vehicles from manually operated vehicles |
US9481366B1 (en) | 2015-08-19 | 2016-11-01 | International Business Machines Corporation | Automated control of interactions between self-driving vehicles and animals |
US10564297B2 (en) * | 2015-08-20 | 2020-02-18 | Trimble Inc. | Cordless inertial vehicle navigation with elevation data input |
US9896100B2 (en) | 2015-08-24 | 2018-02-20 | International Business Machines Corporation | Automated spatial separation of self-driving vehicles from other vehicles based on occupant preferences |
US10235817B2 (en) | 2015-09-01 | 2019-03-19 | Ford Global Technologies, Llc | Motion compensation for on-board vehicle sensors |
JP6555474B2 (en) * | 2015-09-01 | 2019-08-07 | 三菱自動車工業株式会社 | In-vehicle information processing equipment |
US9731726B2 (en) | 2015-09-02 | 2017-08-15 | International Business Machines Corporation | Redirecting self-driving vehicles to a product provider based on physiological states of occupants of the self-driving vehicles |
DE102015011517B3 (en) * | 2015-09-03 | 2016-09-08 | Audi Ag | Method for determining a current level position of a vehicle |
EP3352402B1 (en) * | 2015-09-15 | 2021-01-20 | LG Electronics Inc. | Resource selection method for v2x operation of terminal in wireless communication system, and terminal using method |
US9513632B1 (en) | 2015-09-16 | 2016-12-06 | International Business Machines Corporation | Driving mode alerts from self-driving vehicles |
US9566986B1 (en) | 2015-09-25 | 2017-02-14 | International Business Machines Corporation | Controlling driving modes of self-driving vehicles |
DE202015105246U1 (en) * | 2015-10-05 | 2017-01-09 | Ebm-Papst St. Georgen Gmbh & Co. Kg | Electric motor with control electronics |
US9723473B2 (en) * | 2015-10-14 | 2017-08-01 | Toyota Jidosha Kabushiki Kaisha | Millimeter wave communication system |
US9481367B1 (en) | 2015-10-14 | 2016-11-01 | International Business Machines Corporation | Automated control of interactions between self-driving vehicles and animals |
US9834224B2 (en) | 2015-10-15 | 2017-12-05 | International Business Machines Corporation | Controlling driving modes of self-driving vehicles |
US9944291B2 (en) | 2015-10-27 | 2018-04-17 | International Business Machines Corporation | Controlling driving modes of self-driving vehicles |
US9751532B2 (en) | 2015-10-27 | 2017-09-05 | International Business Machines Corporation | Controlling spacing of self-driving vehicles based on social network relationships |
US10607293B2 (en) | 2015-10-30 | 2020-03-31 | International Business Machines Corporation | Automated insurance toggling for self-driving vehicles |
US10176525B2 (en) | 2015-11-09 | 2019-01-08 | International Business Machines Corporation | Dynamically adjusting insurance policy parameters for a self-driving vehicle |
US9791861B2 (en) | 2015-11-12 | 2017-10-17 | International Business Machines Corporation | Autonomously servicing self-driving vehicles |
US10030961B2 (en) | 2015-11-27 | 2018-07-24 | General Electric Company | Gap measuring device |
US9681568B1 (en) | 2015-12-02 | 2017-06-13 | Ge Energy Power Conversion Technology Ltd | Compact stacked power modules for minimizing commutating inductance and methods for making the same |
US10243604B2 (en) | 2015-12-08 | 2019-03-26 | Uber Technologies, Inc. | Autonomous vehicle mesh networking configuration |
US10036642B2 (en) | 2015-12-08 | 2018-07-31 | Uber Technologies, Inc. | Automated vehicle communications system |
US9603158B1 (en) | 2015-12-08 | 2017-03-21 | Uber Technologies, Inc. | Optimizing communication for automated vehicles |
US9432929B1 (en) | 2015-12-08 | 2016-08-30 | Uber Technologies, Inc. | Communication configuration system for a fleet of automated vehicles |
US9879621B2 (en) * | 2015-12-08 | 2018-01-30 | Ford Global Technologies, Llc | Fuel vapor flow based on road conditions |
US10050760B2 (en) | 2015-12-08 | 2018-08-14 | Uber Technologies, Inc. | Backend communications system for a fleet of autonomous vehicles |
US10061326B2 (en) | 2015-12-09 | 2018-08-28 | International Business Machines Corporation | Mishap amelioration based on second-order sensing by a self-driving vehicle |
DE102015016555B4 (en) | 2015-12-18 | 2020-06-04 | Audi Ag | Method for operating a damper of a motor vehicle |
GB2545652B (en) * | 2015-12-18 | 2019-06-05 | Jaguar Land Rover Ltd | Control unit for an active suspension system |
US10906371B2 (en) | 2015-12-24 | 2021-02-02 | ClearMotion, Inc. | Integrated multiple actuator electro-hydraulic units |
US10315578B2 (en) * | 2016-01-14 | 2019-06-11 | Faraday&Future Inc. | Modular mirror assembly |
US9836973B2 (en) | 2016-01-27 | 2017-12-05 | International Business Machines Corporation | Selectively controlling a self-driving vehicle's access to a roadway |
JP6531839B2 (en) * | 2016-01-29 | 2019-06-26 | 日産自動車株式会社 | Driving control method for vehicle and driving control device for vehicle |
US9902311B2 (en) | 2016-02-22 | 2018-02-27 | Uber Technologies, Inc. | Lighting device for a vehicle |
US9969326B2 (en) | 2016-02-22 | 2018-05-15 | Uber Technologies, Inc. | Intention signaling for an autonomous vehicle |
US10239529B2 (en) | 2016-03-01 | 2019-03-26 | Ford Global Technologies, Llc | Autonomous vehicle operation based on interactive model predictive control |
LU92990B1 (en) | 2016-03-09 | 2017-09-19 | Ovalo Gmbh | Actuator system for a motor vehicle |
US10077007B2 (en) * | 2016-03-14 | 2018-09-18 | Uber Technologies, Inc. | Sidepod stereo camera system for an autonomous vehicle |
US10389202B2 (en) * | 2016-03-22 | 2019-08-20 | American Precision Industries, Inc. | Contaminant-resistant motors for surgical instruments |
JP7055105B2 (en) | 2016-04-22 | 2022-04-15 | クリアモーション,インコーポレイテッド | Methods and equipment for on-center steering and fast reaction vehicles |
DE102016207659A1 (en) * | 2016-05-03 | 2017-11-09 | Robert Bosch Gmbh | Actuator device for a vehicle, brake system |
US9849883B2 (en) * | 2016-05-04 | 2017-12-26 | Ford Global Technologies, Llc | Off-road autonomous driving |
US10685391B2 (en) | 2016-05-24 | 2020-06-16 | International Business Machines Corporation | Directing movement of a self-driving vehicle based on sales activity |
DE102016009081A1 (en) * | 2016-07-26 | 2018-02-01 | Man Truck & Bus Ag | Method and device for controlling or regulating a cab storage |
DE102016116856A1 (en) | 2016-09-08 | 2018-03-08 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | System and method for adjusting a height of at least a part of a commercial vehicle |
US10093322B2 (en) | 2016-09-15 | 2018-10-09 | International Business Machines Corporation | Automatically providing explanations for actions taken by a self-driving vehicle |
US10643256B2 (en) | 2016-09-16 | 2020-05-05 | International Business Machines Corporation | Configuring a self-driving vehicle for charitable donations pickup and delivery |
US20180079272A1 (en) * | 2016-09-20 | 2018-03-22 | Apple Inc. | Motion minimization systems and methods |
US10191493B2 (en) * | 2016-09-27 | 2019-01-29 | Baidu Usa Llc | Vehicle position point forwarding method for autonomous vehicles |
KR102518534B1 (en) * | 2016-11-30 | 2023-04-07 | 현대자동차주식회사 | Apparatus and mehtod for recognizing position of vehicle |
DE102016225253A1 (en) * | 2016-12-16 | 2018-06-21 | Robert Bosch Gmbh | Method for detecting the rack position in a steering system with electric servomotor |
US10906545B2 (en) | 2016-12-22 | 2021-02-02 | Blackberry Limited | Adjusting mechanical elements of cargo transportation units |
WO2018125848A1 (en) * | 2016-12-30 | 2018-07-05 | DeepMap Inc. | Route generation using high definition maps for autonomous vehicles |
US10259452B2 (en) | 2017-01-04 | 2019-04-16 | International Business Machines Corporation | Self-driving vehicle collision management system |
US10363893B2 (en) | 2017-01-05 | 2019-07-30 | International Business Machines Corporation | Self-driving vehicle contextual lock control system |
US10529147B2 (en) | 2017-01-05 | 2020-01-07 | International Business Machines Corporation | Self-driving vehicle road safety flare deploying system |
CN110168879B (en) * | 2017-01-13 | 2021-08-10 | 日本电产株式会社 | Sensor magnet assembly and motor |
JP2018114819A (en) * | 2017-01-18 | 2018-07-26 | Ntn株式会社 | Suspension device for vehicle |
US10480552B2 (en) | 2017-01-27 | 2019-11-19 | ClearMotion, Inc. | Accumulator with secondary gas chamber |
US10703359B2 (en) * | 2017-01-27 | 2020-07-07 | Ford Global Technologies, Llc | Controlling vehicle orientation |
EP3580075A4 (en) | 2017-02-12 | 2021-01-20 | Clearmotion, Inc. | Hydraulic actuator with a frequency dependent relative pressure ratio |
US10293818B2 (en) | 2017-03-07 | 2019-05-21 | Uber Technologies, Inc. | Teleassistance data prioritization for self-driving vehicles |
US10202126B2 (en) | 2017-03-07 | 2019-02-12 | Uber Technologies, Inc. | Teleassistance data encoding for self-driving vehicles |
US10152060B2 (en) | 2017-03-08 | 2018-12-11 | International Business Machines Corporation | Protecting contents of a smart vault being transported by a self-driving vehicle |
US11009875B2 (en) | 2017-03-09 | 2021-05-18 | Waymo Llc | Preparing autonomous vehicles for turns |
EP3606772A4 (en) * | 2017-04-05 | 2021-05-19 | ClearMotion, Inc. | Active force cancellation at structural interfaces |
CA3058715C (en) | 2017-04-06 | 2022-07-19 | Kongsberg Inc. | Power steering system and a method of operating same |
US11491841B2 (en) | 2017-05-05 | 2022-11-08 | Fox Factory, Inc. | System for minimizing data transmission latency between a sensor and a suspension controller of a vehicle |
US10543836B2 (en) * | 2017-05-22 | 2020-01-28 | Ford Global Technologies, Llc | Torque converter control for a variable displacement engine |
US10588233B2 (en) | 2017-06-06 | 2020-03-10 | Tenneco Automotive Operating Company Inc. | Damper with printed circuit board carrier |
US10479160B2 (en) | 2017-06-06 | 2019-11-19 | Tenneco Automotive Operating Company Inc. | Damper with printed circuit board carrier |
CN111132856A (en) * | 2017-06-30 | 2020-05-08 | 超级高铁技术公司 | Active control system |
US10493622B2 (en) | 2017-07-14 | 2019-12-03 | Uatc, Llc | Systems and methods for communicating future vehicle actions to be performed by an autonomous vehicle |
US10737544B2 (en) | 2017-07-24 | 2020-08-11 | Ford Global Technologies, Llc | Systems and methods to control a suspension of a vehicle |
IT201700101028A1 (en) * | 2017-09-08 | 2019-03-08 | Magneti Marelli Spa | BIDIRECTIONAL ENERGY CONVERSION SYSTEM OF DC-DC TYPE OPERATING BETWEEN A LOW VOLTAGE SYSTEM AND A HIGH VOLTAGE SYSTEM OF A VEHICLE INCLUDING A STAGE OF ENERGY RECOVERY AND ITS PROCEDURE |
IT201700101020A1 (en) * | 2017-09-08 | 2019-03-08 | Magneti Marelli Spa | CONVERSION SYSTEM OF DC-DC TYPE ENERGY OPERATING BETWEEN A LOW VOLTAGE SYSTEM AND A HIGH VOLTAGE SYSTEM OF A VEHICLE INCLUDING AN ENERGY RECOVERY STAGE AND ITS PROCEDURE |
EP3534113B1 (en) | 2017-09-13 | 2022-11-02 | ClearMotion, Inc. | Road surface-based vehicle control |
RU175985U1 (en) * | 2017-09-27 | 2017-12-26 | Акционерное общество "Электромашиностроительный завод "ЛЕПСЕ" | CONTACTLESS ELECTRIC MACHINE |
US10933710B2 (en) | 2017-09-29 | 2021-03-02 | Fox Factory, Inc. | Modular electronic damping control |
US10692377B1 (en) * | 2017-10-06 | 2020-06-23 | Zoox, Inc. | Enhanced travel modes for vehicles |
DE102017218648A1 (en) * | 2017-10-19 | 2019-04-25 | Robert Bosch Gmbh | Drive unit, in particular hydraulic unit of an electronically slip-controllable vehicle brake system |
DE102017219585A1 (en) * | 2017-11-03 | 2019-05-09 | Zf Friedrichshafen Ag | Method for adjusting a comfort of a vehicle, control device and vehicle |
US10967862B2 (en) | 2017-11-07 | 2021-04-06 | Uatc, Llc | Road anomaly detection for autonomous vehicle |
US10802932B2 (en) | 2017-12-04 | 2020-10-13 | Nxp Usa, Inc. | Data processing system having lockstep operation |
US10493990B2 (en) * | 2017-12-15 | 2019-12-03 | Tenneco Automotive Operating Company Inc. | Systems and methods for ride control blending in electric vehicles |
DE102017223331A1 (en) * | 2017-12-20 | 2019-06-27 | Audi Ag | Control of a chassis component of a vehicle |
GB2571100A (en) * | 2018-02-15 | 2019-08-21 | Airbus Operations Ltd | Controller for an aircraft braking system |
EP3759373A4 (en) | 2018-02-27 | 2022-03-16 | ClearMotion, Inc. | Through tube active suspension actuator |
US10757340B2 (en) | 2018-03-09 | 2020-08-25 | Pony Ai Inc. | Adaptive filter system for self-driving vehicle |
GB201803947D0 (en) * | 2018-03-12 | 2018-04-25 | Evectek Ltd | Electric vehicle with an electro-hydraulic propulsion system |
US11104345B2 (en) | 2018-04-18 | 2021-08-31 | Rivian Ip Holdings, Llc | Methods, systems, and media for determining characteristics of roads |
US10800403B2 (en) * | 2018-05-14 | 2020-10-13 | GM Global Technology Operations LLC | Autonomous ride dynamics comfort controller |
US20200001914A1 (en) * | 2018-06-27 | 2020-01-02 | GM Global Technology Operations LLC | Test method and metrics to evaluate quality of road feedback to driver in a steer-by-wire system |
CN108832760B (en) * | 2018-07-09 | 2024-01-23 | 天津市拓达车辆配件有限公司 | Fine-tuning damping equipment for brushless direct-current motor |
US11535159B2 (en) | 2018-07-18 | 2022-12-27 | Faraday & Future Inc. | System and methods for mounting a peripheral vehicular device |
EP3626489A1 (en) | 2018-09-19 | 2020-03-25 | Thermo King Corporation | Methods and systems for energy management of a transport climate control system |
EP3626490A1 (en) | 2018-09-19 | 2020-03-25 | Thermo King Corporation | Methods and systems for power and load management of a transport climate control system |
US11034213B2 (en) | 2018-09-29 | 2021-06-15 | Thermo King Corporation | Methods and systems for monitoring and displaying energy use and energy cost of a transport vehicle climate control system or a fleet of transport vehicle climate control systems |
US11273684B2 (en) | 2018-09-29 | 2022-03-15 | Thermo King Corporation | Methods and systems for autonomous climate control optimization of a transport vehicle |
US11440366B1 (en) | 2018-10-03 | 2022-09-13 | ClearMotion, Inc. | Frequency dependent pressure and/or flow fluctuation mitigation in hydraulic systems |
US10843700B2 (en) | 2018-10-17 | 2020-11-24 | Aptiv Technologies Limited | Vehicle system and method for steep slope site avoidance |
US11186273B2 (en) * | 2018-10-30 | 2021-11-30 | Toyota Motor North America, Inc. | Vehicle data processing systems and methods using one or more local processors |
US11059352B2 (en) | 2018-10-31 | 2021-07-13 | Thermo King Corporation | Methods and systems for augmenting a vehicle powered transport climate control system |
US10926610B2 (en) | 2018-10-31 | 2021-02-23 | Thermo King Corporation | Methods and systems for controlling a mild hybrid system that powers a transport climate control system |
US10875497B2 (en) | 2018-10-31 | 2020-12-29 | Thermo King Corporation | Drive off protection system and method for preventing drive off |
US11022451B2 (en) | 2018-11-01 | 2021-06-01 | Thermo King Corporation | Methods and systems for generation and utilization of supplemental stored energy for use in transport climate control |
WO2020095768A1 (en) | 2018-11-09 | 2020-05-14 | Kyb株式会社 | Electric pump |
US10432127B1 (en) | 2018-11-15 | 2019-10-01 | Goodrich Corporation | Method of dissipating regenerative energy in cargo handling systems |
WO2020142829A1 (en) * | 2018-11-29 | 2020-07-16 | Isabrem Ltd. | Fuel efficiency optimization apparatus and method for hybrid tractor trailer vehicles |
US11428536B2 (en) * | 2018-12-19 | 2022-08-30 | Nvidia Corporation | Navigable boundary generation for autonomous vehicles |
US11709231B2 (en) * | 2018-12-21 | 2023-07-25 | Infineon Technologies Ag | Real time gating and signal routing in laser and detector arrays for LIDAR application |
US11554638B2 (en) | 2018-12-28 | 2023-01-17 | Thermo King Llc | Methods and systems for preserving autonomous operation of a transport climate control system |
US11072321B2 (en) | 2018-12-31 | 2021-07-27 | Thermo King Corporation | Systems and methods for smart load shedding of a transport vehicle while in transit |
US11421656B2 (en) * | 2019-01-03 | 2022-08-23 | Lucomm Technologies, Inc. | Generative system |
US11635734B2 (en) * | 2019-01-10 | 2023-04-25 | Dalian University Of Technology | Interval error observer-based aircraft engine active fault tolerant control method |
FR3092010B1 (en) * | 2019-01-25 | 2021-01-22 | Zodiac Fluid Equipment | Magnetic head for magnetic detector of metal particles and magnetic detector provided with such a head. |
US11285844B2 (en) | 2019-01-31 | 2022-03-29 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicle seat with morphing portions |
US11084349B2 (en) | 2019-01-31 | 2021-08-10 | Tenneco Automotive Operating Company Inc. | Leaf spring and actuator control systems and methods |
US11370330B2 (en) * | 2019-03-22 | 2022-06-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicle seat with morphing portions |
FI129942B (en) * | 2019-03-25 | 2022-11-15 | Eee Innovations Oy | Enhancement of map data |
FI129920B (en) * | 2019-03-25 | 2022-10-31 | Eee Innovations Oy | Vehicle positioning |
CN113646194A (en) * | 2019-03-27 | 2021-11-12 | 日立安斯泰莫株式会社 | Suspension control device |
US11752901B2 (en) | 2019-03-28 | 2023-09-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicle seat with tilting seat portion |
AU2020202306A1 (en) * | 2019-04-02 | 2020-10-22 | The Raymond Corporation | Systems and methods for an arbitration controller to arbitrate multiple automation requests on a material handling device |
US11560185B2 (en) * | 2019-04-12 | 2023-01-24 | Honda Motor Co., Ltd. | System and method for controlling deployment of a vehicle air dam |
US11286925B2 (en) * | 2019-04-23 | 2022-03-29 | Peopleflo Manufacturing, Inc. | Electronic apparatus and method for optimizing the use of motor-driven equipment in a control loop system |
CN110138246B (en) * | 2019-05-30 | 2020-11-13 | 东北电力大学 | Impedance remodeling method based on three-level Dual-Buck circuit |
DE102019116086A1 (en) * | 2019-06-13 | 2020-12-17 | WABCO Global GmbH | Device and method for braking a vehicle with a front load-bearing device |
US20200408533A1 (en) * | 2019-06-28 | 2020-12-31 | DeepMap Inc. | Deep learning-based detection of ground features using a high definition map |
DE102019118384A1 (en) * | 2019-07-08 | 2021-01-14 | Rapa Automotive Gmbh & Co. Kg | MPE AXLE SET WITH A COMMON ECU |
US20210031760A1 (en) * | 2019-07-31 | 2021-02-04 | Nissan North America, Inc. | Contingency Planning and Safety Assurance |
US11001267B2 (en) | 2019-08-01 | 2021-05-11 | Lear Corporation | Method and system for proactively adjusting vehicle occupant biometric monitor in view of upcoming road conditions |
DE102019122907A1 (en) * | 2019-08-27 | 2021-03-04 | Bayerische Motoren Werke Aktiengesellschaft | Operating assistance procedures for a vehicle, control unit and vehicle |
US11135894B2 (en) | 2019-09-09 | 2021-10-05 | Thermo King Corporation | System and method for managing power and efficiently sourcing a variable voltage for a transport climate control system |
US11420495B2 (en) | 2019-09-09 | 2022-08-23 | Thermo King Corporation | Interface system for connecting a vehicle and a transport climate control system |
EP3789221A1 (en) | 2019-09-09 | 2021-03-10 | Thermo King Corporation | Prioritized power delivery for facilitating transport climate control |
CN112467720A (en) | 2019-09-09 | 2021-03-09 | 冷王公司 | Optimized power distribution for a transport climate control system between one or more power supply stations |
US11376922B2 (en) | 2019-09-09 | 2022-07-05 | Thermo King Corporation | Transport climate control system with a self-configuring matrix power converter |
US11203262B2 (en) | 2019-09-09 | 2021-12-21 | Thermo King Corporation | Transport climate control system with an accessory power distribution unit for managing transport climate control loads |
US11214118B2 (en) | 2019-09-09 | 2022-01-04 | Thermo King Corporation | Demand-side power distribution management for a plurality of transport climate control systems |
US11458802B2 (en) | 2019-09-09 | 2022-10-04 | Thermo King Corporation | Optimized power management for a transport climate control energy source |
US10985511B2 (en) | 2019-09-09 | 2021-04-20 | Thermo King Corporation | Optimized power cord for transferring power to a transport climate control system |
US11541882B2 (en) * | 2019-09-24 | 2023-01-03 | Volvo Car Corporation | Low-impact collision detection |
US20210107650A1 (en) * | 2019-10-15 | 2021-04-15 | Mike Elias Bandak | Aerial firefighting system |
CN114466764A (en) * | 2019-10-31 | 2022-05-10 | 康明斯公司 | Method and system for controlling pole switches in an electric motor |
TWI716175B (en) * | 2019-10-31 | 2021-01-11 | 東元電機股份有限公司 | Current response compensating system and method thereof |
US11305602B2 (en) * | 2019-11-04 | 2022-04-19 | GM Global Technology Operations LLC | Vehicle detection and isolation system for detecting spring and stabilizing bar associated degradation and failures |
US11207937B2 (en) | 2019-11-20 | 2021-12-28 | DRiV Automotive Inc. | Suspension system for a vehicle |
CN110962519B (en) * | 2019-11-25 | 2022-11-25 | 福建省汽车工业集团云度新能源汽车股份有限公司 | Active suspension control method with intelligent adjusting function for electric automobile |
CN110861462B (en) * | 2019-12-02 | 2022-10-04 | 西安科技大学 | Image recognition-based whole vehicle intelligent hybrid suspension coordination control system |
KR20210076289A (en) * | 2019-12-13 | 2021-06-24 | 현대자동차주식회사 | Electronic control suspension control method and apparatus |
US11489431B2 (en) | 2019-12-30 | 2022-11-01 | Thermo King Corporation | Transport climate control system power architecture |
WO2021138700A1 (en) * | 2020-01-05 | 2021-07-08 | Eva, Llc | Automated steering control mechanism and system for wheeled vehicles |
JP7298515B2 (en) | 2020-03-04 | 2023-06-27 | トヨタ自動車株式会社 | Vehicle preview damping control device and vehicle preview damping control method |
DE102020106642B4 (en) | 2020-03-11 | 2022-12-22 | Ford Global Technologies, Llc | Method for controlling vertical vibration damping of at least one wheel of a vehicle and vehicle with vertical vibration damping of at least one wheel |
US11830302B2 (en) | 2020-03-24 | 2023-11-28 | Uatc, Llc | Computer system for utilizing ultrasonic signals to implement operations for autonomous vehicles |
DE102021105566A1 (en) | 2020-03-24 | 2021-09-30 | Honeywell International Inc. | ROTARY ENCODER |
JP7354916B2 (en) | 2020-04-28 | 2023-10-03 | トヨタ自動車株式会社 | Vehicle vibration damping control device, vibration damping control system, vibration damping control method, and data providing device. |
US11529953B2 (en) | 2020-04-30 | 2022-12-20 | Ford Global Technologies, Llc | Adjust operational parameters based on identified roadway irregularities |
JP7188413B2 (en) * | 2020-06-04 | 2022-12-13 | トヨタ自動車株式会社 | Vehicle damping control device and method |
JP7180638B2 (en) | 2020-06-08 | 2022-11-30 | トヨタ自動車株式会社 | VEHICLE RUNNING STATE CONTROL DEVICE AND METHOD |
JP7180640B2 (en) * | 2020-06-10 | 2022-11-30 | トヨタ自動車株式会社 | Vehicle damping control device and damping control method |
KR20210156885A (en) * | 2020-06-17 | 2021-12-28 | 현대자동차주식회사 | Control system when Brake-By-wire device |
JP7314869B2 (en) * | 2020-06-24 | 2023-07-26 | トヨタ自動車株式会社 | Vehicle damping control device and method |
JP7252521B2 (en) | 2020-06-29 | 2023-04-05 | トヨタ自動車株式会社 | Vehicle damping control device and method |
US11772496B2 (en) * | 2020-08-26 | 2023-10-03 | Anusheel Nahar | Regenerative braking system of an automobile and a method to operate |
US11605249B2 (en) | 2020-09-14 | 2023-03-14 | Dish Wireless L.L.C. | Using automatic road hazard detection to categorize automobile collision |
JP7314897B2 (en) | 2020-10-07 | 2023-07-26 | トヨタ自動車株式会社 | VEHICLE PREVIEW DAMAGE CONTROL DEVICE AND METHOD |
JP7307404B2 (en) * | 2020-10-07 | 2023-07-12 | トヨタ自動車株式会社 | Damping control device and data management device |
JP7367652B2 (en) | 2020-10-07 | 2023-10-24 | トヨタ自動車株式会社 | Vehicle preview vibration damping control device and method |
JP7314899B2 (en) | 2020-10-14 | 2023-07-26 | トヨタ自動車株式会社 | Vibration control device |
JP7306362B2 (en) | 2020-10-19 | 2023-07-11 | トヨタ自動車株式会社 | Database creation method for vehicle preview damping control |
JP7251538B2 (en) * | 2020-10-19 | 2023-04-04 | トヨタ自動車株式会社 | VEHICLE CONTROL METHOD AND CONTROL DEVICE |
JP7322855B2 (en) | 2020-10-23 | 2023-08-08 | トヨタ自動車株式会社 | Road surface information creation device and vehicle control system |
US20220212678A1 (en) * | 2020-10-27 | 2022-07-07 | ClearMotion, Inc. | Systems and methods for vehicle control using terrain-based localization |
JP7314902B2 (en) * | 2020-10-29 | 2023-07-26 | トヨタ自動車株式会社 | VEHICLE CONTROL METHOD AND CONTROL DEVICE |
JP7314904B2 (en) | 2020-10-30 | 2023-07-26 | トヨタ自動車株式会社 | Vibration control device |
JP7328626B2 (en) | 2020-10-30 | 2023-08-17 | トヨタ自動車株式会社 | Vehicle damping control system |
CN112417619B (en) * | 2020-11-23 | 2021-10-08 | 江苏大学 | Pump unit optimal operation adjusting system and method based on digital twinning |
JP7406182B2 (en) | 2020-12-11 | 2023-12-27 | トヨタ自動車株式会社 | Related value information update system and related value information update method |
CN113014462A (en) * | 2021-02-22 | 2021-06-22 | 上海节卡机器人科技有限公司 | Data conversion method, device, controller and circuit thereof |
US11932072B2 (en) * | 2021-03-08 | 2024-03-19 | DRiV Automotive Inc. | Suspension control system and method with event detection based on unsprung mass acceleration data and pre-emptive road data |
DE202021101206U1 (en) | 2021-03-10 | 2022-06-15 | Dana Italia S.R.L. | Hydraulically suspended vehicle axle assembly and vehicle axle assembly incorporating this assembly |
JP2022147002A (en) * | 2021-03-23 | 2022-10-06 | 本田技研工業株式会社 | Damper control device |
CN115520193A (en) * | 2021-06-10 | 2022-12-27 | 罗伯特·博世有限公司 | Method, device and computer program product for operating a vehicle |
FR3124437B1 (en) * | 2021-06-25 | 2023-10-13 | Renault Sas | Method for controlling a vehicle equipped with at least one suspension controlled by learning. |
DE102021116460A1 (en) * | 2021-06-25 | 2022-12-29 | Bühler Motor GmbH | Bearing arrangement for a pump motor |
US11859571B2 (en) | 2021-07-21 | 2024-01-02 | Ford Global Technologies, Llc | Methods for a road surface metric |
JP2023037113A (en) | 2021-09-03 | 2023-03-15 | トヨタ自動車株式会社 | Vehicle and control method of vehicular suspension |
DE102021123306B3 (en) | 2021-09-09 | 2023-01-05 | Audi Ag | Vehicle with a curve tilting function |
DE102021210043A1 (en) | 2021-09-10 | 2023-03-16 | Vitesco Technologies Germany Gmbh | Pump, in particular gear oil pump with a modular structure |
JP2023042372A (en) * | 2021-09-14 | 2023-03-27 | トヨタ自動車株式会社 | Map data, map update method, vehicle control method and vehicle control system |
JP2023042329A (en) * | 2021-09-14 | 2023-03-27 | トヨタ自動車株式会社 | Map data, map update method, vehicle control method and vehicle control system |
US11897379B2 (en) | 2021-10-20 | 2024-02-13 | Toyota Motor Engineering & Manufacturing North America, Inc. | Seat with shape memory material member actuation |
DE102021211978A1 (en) | 2021-10-25 | 2023-04-27 | Continental Automotive Technologies GmbH | SYSTEM AND METHOD FOR STABILIZING ONE OR MORE SENSORS ON A VEHICLE |
US11959448B2 (en) | 2022-02-04 | 2024-04-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Trail driving engine start-stop judgment systems and methods |
WO2024059522A1 (en) * | 2022-09-12 | 2024-03-21 | ClearMotion, Inc. | Dynamic groundhook control in a vehicle using an active suspension system |
KR102616457B1 (en) * | 2023-06-16 | 2023-12-21 | 에이디어스 주식회사 | Air Suspension Operation Planning Generation Device for Autonomous Vehicles |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4868477A (en) * | 1987-06-23 | 1989-09-19 | The Superior Electric Company | Method and apparatus for controlling torque and torque ripple in a variable reluctance motor |
US4992715A (en) * | 1987-08-04 | 1991-02-12 | Hitachi, Ltd. | Torque control apparatus for rotating motor machine |
US5616999A (en) * | 1994-02-10 | 1997-04-01 | Nippondenso Co., Ltd. | Torque detecting apparatus for reducing torque ripple in an AC motor |
US5844388A (en) * | 1996-03-29 | 1998-12-01 | Sgs-Thomson Microelectronics S.R.L. | Drive systems for a brushless motor employing predefined driving profiles stored in a nonvolatile memory |
US5852355A (en) * | 1996-05-23 | 1998-12-22 | Switched Reluctance Drives Limited | Output smoothing in a switched reluctance machine |
US5962999A (en) * | 1997-07-30 | 1999-10-05 | Matsushita Electric Industrial | Method of controlling a torque ripple of a motor having interior permanent magnets and a controller using the same method |
US20080265808A1 (en) * | 2004-07-10 | 2008-10-30 | Malcolm Eric Sparey | Motor Drive Voltage-Boost Control |
US20110062904A1 (en) * | 2009-09-11 | 2011-03-17 | Denso Corporation | Alternating current motor control system |
US20120063922A1 (en) * | 2010-09-14 | 2012-03-15 | Jatco Ltd | Motor control apparatus/method for electric oil pump |
Family Cites Families (295)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US998128A (en) | 1910-02-03 | 1911-07-18 | Thomas C Neal | Combined air pump and cushion. |
US1116293A (en) | 1914-02-02 | 1914-11-03 | Joseph G Waters | Apparatus for transforming energy. |
US1290293A (en) | 1918-04-15 | 1919-01-07 | American Motor Spring Patents Company | Shock-absorber and suspension for vehicles. |
US2194530A (en) | 1938-01-05 | 1940-03-26 | Servel Inc | Vehicle refrigeration |
GB652732A (en) | 1943-04-16 | 1951-05-02 | British Thomson Houston Co Ltd | Improvements relating to regulators for dynamo electric machines |
FR1089112A (en) | 1952-12-08 | 1955-03-15 | Siegener Eisenbahnbedarf Ag | Vehicle suspension |
US2958292A (en) | 1956-10-22 | 1960-11-01 | Allis Chalmers Mfg Co | Canned motor |
US2942581A (en) | 1958-03-12 | 1960-06-28 | Fisher Governor Co | Hydraulic operator |
GB1070783A (en) | 1963-06-17 | 1967-06-01 | Ass Elect Ind | Improvements relating to power transfer circuit arrangements |
US3507580A (en) | 1967-05-12 | 1970-04-21 | Landon H Howard | Energy generator |
US3515889A (en) | 1967-08-14 | 1970-06-02 | Lamphere Jean K | Power generation apparatus |
US3540482A (en) | 1967-09-25 | 1970-11-17 | Bendix Corp | Accumulator inlet fitting |
US3559027A (en) | 1967-09-27 | 1971-01-26 | Harold B Arsem | Electric shock absorber |
US3610611A (en) * | 1970-03-13 | 1971-10-05 | Gen Motors Corp | Automatic vehicle leveling system with electronic time delay |
US3688859A (en) | 1970-10-08 | 1972-09-05 | Fma Inc | Vehicular air compression system |
US3805833A (en) | 1971-10-20 | 1974-04-23 | G Teed | Back-suction diverter valve |
DE2217536C2 (en) | 1972-04-12 | 1974-05-09 | Carl Schenck Maschinenfabrik Gmbh, 6100 Darmstadt | Arrangement for regulating a dynamic test system, in particular for a hydraulically driven one |
US3800202A (en) | 1972-04-24 | 1974-03-26 | J Oswald | Cemf dependent regenerative braking for dc motor |
FR2152111A6 (en) | 1972-09-05 | 1973-04-20 | Ferrara Guy | |
US3921746A (en) | 1972-12-28 | 1975-11-25 | Alexander J Lewus | Auxiliary power system for automotive vehicle |
US4295538A (en) | 1974-03-21 | 1981-10-20 | Lewus Alexander J | Auxiliary power system for automotive vehicle |
US3947004A (en) | 1974-12-23 | 1976-03-30 | Tayco Developments, Inc. | Liquid spring, vehicle suspension system and method for producing a low variance in natural frequency over a predetermined load range |
US4032829A (en) | 1975-08-22 | 1977-06-28 | Schenavar Harold E | Road shock energy converter for charging vehicle batteries |
FR2346176A1 (en) | 1975-10-31 | 1977-10-28 | Milleret Michel | Vehicle braking energy recovery system - has hydraulic or pneumatic recuperator supplying fluid to motor which drives generator |
US4033580A (en) | 1976-01-15 | 1977-07-05 | Paris Irwin S | Elastic type exercising |
IT1093284B (en) | 1977-02-11 | 1985-07-19 | Cableform Ltd | IMPROVEMENTS RELATED TO PULSE CHECKS |
JPS586364B2 (en) | 1977-08-10 | 1983-02-04 | 株式会社日立製作所 | Braking control system for chopper electric cars |
US5794439A (en) | 1981-11-05 | 1998-08-18 | Lisniansky; Robert Moshe | Regenerative adaptive fluid control |
US4480709A (en) | 1982-05-12 | 1984-11-06 | Commanda Ephrem E | Fluid powered generator |
US4625993A (en) | 1983-01-21 | 1986-12-02 | Group Lotus Public Limited Company | Vehicle suspension system |
JPS59187124A (en) | 1983-04-06 | 1984-10-24 | Chiyoda Chem Eng & Constr Co Ltd | Vibration damping device |
IT1164365B (en) | 1983-08-04 | 1987-04-08 | Alfa Romeo Auto Spa | OSCILLATION SHOCK ABSORBER DEVICE FOR A VEHICLE |
US4770438A (en) | 1984-01-20 | 1988-09-13 | Nissan Motor Co., Ltd. | Automotive suspension control system with road-condition-dependent damping characteristics |
US4500827A (en) | 1984-06-11 | 1985-02-19 | Merritt Thomas D | Linear reciprocating electrical generator |
US4729459A (en) | 1984-10-01 | 1988-03-08 | Nippon Soken, Inc. | Adjustable damping force type shock absorber |
DE3524862A1 (en) | 1985-04-12 | 1986-10-30 | Robert Bosch Gmbh, 7000 Stuttgart | DEVICE FOR DAMPING MOTION PROCESSES |
JPS61287808A (en) | 1985-06-14 | 1986-12-18 | Nissan Motor Co Ltd | Suspension control device for vehicle |
US4740711A (en) | 1985-11-29 | 1988-04-26 | Fuji Electric Co., Ltd. | Pipeline built-in electric power generating set |
US5657840A (en) | 1986-06-05 | 1997-08-19 | Lizell; Magnus B. | Method and apparatus for absorbing mechanical shock |
JP2575379B2 (en) | 1987-03-24 | 1997-01-22 | 日産自動車株式会社 | Active suspension device |
JPS6430816A (en) | 1987-07-24 | 1989-02-01 | Toyota Motor Corp | Active suspension for vehicle |
JPH0192526A (en) * | 1987-09-30 | 1989-04-11 | Isuzu Motors Ltd | Turbocharger provided with electric rotary machine |
US4815575A (en) | 1988-04-04 | 1989-03-28 | General Motors Corporation | Electric, variable damping vehicle suspension |
US4857755A (en) | 1988-09-27 | 1989-08-15 | Comstock W Kenneth | Constant power system and method |
CA1336616C (en) | 1988-10-05 | 1995-08-08 | I. Davis Roy | Electrically powered active suspension for a vehicle |
US5060959A (en) | 1988-10-05 | 1991-10-29 | Ford Motor Company | Electrically powered active suspension for a vehicle |
US4908553A (en) | 1988-12-20 | 1990-03-13 | Eaton Corporation | Magnetic regenerative braking system |
US4887699A (en) | 1989-02-10 | 1989-12-19 | Lord Corporation | Vibration attenuating method utilizing continuously variable semiactive damper |
US4921080A (en) | 1989-05-08 | 1990-05-01 | Lin Chien H | Hydraulic shock absorber |
US4981309A (en) | 1989-08-31 | 1991-01-01 | Bose Corporation | Electromechanical transducing along a path |
EP0417695B1 (en) | 1989-09-11 | 1997-12-10 | Toyota Jidosha Kabushiki Kaisha | Suspension control system |
US5183127A (en) * | 1989-09-13 | 1993-02-02 | Mazda Motor Corporation | Suspension-traction total control system |
DE3937987A1 (en) | 1989-11-15 | 1991-05-16 | Bosch Gmbh Robert | VEHICLE SUSPENSION I |
US5046309A (en) | 1990-01-22 | 1991-09-10 | Shin Caterpillar Mitsubishi Ltd. | Energy regenerative circuit in a hydraulic apparatus |
JPH03123981U (en) | 1990-03-30 | 1991-12-17 | ||
DE4014466A1 (en) | 1990-05-07 | 1991-11-14 | Bosch Gmbh Robert | VEHICLE SUSPENSION |
KR100201267B1 (en) | 1990-05-16 | 1999-06-15 | 가와모토 노부히코 | Regeneration braking apparatus of an electric car |
NL9001394A (en) | 1990-06-19 | 1992-01-16 | P G Van De Veen Consultancy B | CONTROLLED SILENCER. |
US5091679A (en) | 1990-06-20 | 1992-02-25 | General Motors Corporation | Active vehicle suspension with brushless dynamoelectric actuator |
US5203199A (en) | 1990-10-12 | 1993-04-20 | Teledyne Industries, Inc. | Controlled acceleration platform |
US5102161A (en) | 1991-03-07 | 1992-04-07 | Trw Inc. | Semi-active suspension system with energy saving valve |
US5145206A (en) | 1991-03-07 | 1992-09-08 | Trw Inc. | Semi-active suspension system with energy saving actuator |
US5098119A (en) | 1991-03-22 | 1992-03-24 | Trw Inc. | Semi-active suspension system with energy saving |
US5497324A (en) | 1991-05-20 | 1996-03-05 | General Motors Corporation | Vehicle suspension system with gain scheduling |
US5572425A (en) | 1991-06-18 | 1996-11-05 | Ford Motor Company | Powered active suspension system responsive to anticipated power demand |
US5232242A (en) | 1991-06-18 | 1993-08-03 | Ford Motor Company | Power consumption limiting means for an active suspension system |
US5205326A (en) | 1991-08-23 | 1993-04-27 | Hydraulic Power Systems, Inc. | Pressure response type pulsation damper noise attenuator and accumulator |
US5276622A (en) | 1991-10-25 | 1994-01-04 | Lord Corporation | System for reducing suspension end-stop collisions |
US5360445A (en) * | 1991-11-06 | 1994-11-01 | International Business Machines Corporation | Blood pump actuator |
JP3049136B2 (en) | 1991-12-09 | 2000-06-05 | マツダ株式会社 | Vehicle suspension device |
JPH0550195U (en) | 1991-12-09 | 1993-07-02 | 株式会社昭和製作所 | Hydraulic shock absorber with power generation function |
US5337560A (en) | 1992-04-02 | 1994-08-16 | Abdelmalek Fawzy T | Shock absorber and a hermetically sealed scroll gas expander for a vehicular gas compression and expansion power system |
US5425436A (en) | 1992-08-26 | 1995-06-20 | Nippondenso Co., Ltd. | Automotive suspension control system utilizing variable damping force shock absorber |
US5291960A (en) | 1992-11-30 | 1994-03-08 | Ford Motor Company | Hybrid electric vehicle regenerative braking energy recovery system |
US5295563A (en) | 1993-03-01 | 1994-03-22 | General Motors Corporation | Active suspension actuator with control flow through the piston rod |
US5570286A (en) | 1993-12-23 | 1996-10-29 | Lord Corporation | Regenerative system including an energy transformer which requires no external power source to drive same |
US5529152A (en) | 1994-07-08 | 1996-06-25 | Aimrite Systems International, Inc. | Variable constant force hydraulic components and systems |
JP2738819B2 (en) | 1994-08-22 | 1998-04-08 | 本田技研工業株式会社 | Power generation control device for hybrid vehicle |
JPH0865809A (en) | 1994-08-25 | 1996-03-08 | Yamaha Motor Co Ltd | Motor controller for motor driven vehicle |
JP3125603B2 (en) | 1994-10-07 | 2001-01-22 | トヨタ自動車株式会社 | Suspension control device |
EP0706906A3 (en) | 1994-10-12 | 1997-07-02 | Unisia Jecs Corp | Apparatus and method for controlling damping force characteristic of vehicular suspension system |
JP3089958B2 (en) | 1994-12-06 | 2000-09-18 | 三菱自動車工業株式会社 | Electric vehicle braking control device |
JPH08226377A (en) | 1994-12-09 | 1996-09-03 | Fuotsukusu Hetsudo:Kk | Surge generator |
US5590734A (en) | 1994-12-22 | 1997-01-07 | Caires; Richard | Vehicle and method of driving the same |
US5480186A (en) | 1994-12-23 | 1996-01-02 | Ford Motor Company | Dynamic roll control system for a motor vehicle |
US7085637B2 (en) * | 1997-10-22 | 2006-08-01 | Intelligent Technologies International, Inc. | Method and system for controlling a vehicle |
JP3387287B2 (en) | 1995-09-19 | 2003-03-17 | 日産自動車株式会社 | Regenerative charging control device |
DE19535752A1 (en) | 1995-09-26 | 1997-03-27 | Peter Dipl Ing Mumm | Control of independent power generation system |
JP3454036B2 (en) | 1995-11-13 | 2003-10-06 | トヨタ自動車株式会社 | Hybrid drive |
US5659205A (en) | 1996-01-11 | 1997-08-19 | Ebara International Corporation | Hydraulic turbine power generator incorporating axial thrust equalization means |
IT1289322B1 (en) | 1996-01-19 | 1998-10-02 | Carlo Alberto Zenobi | DEVICE FOR OBTAINING ELECTRICITY FROM THE DYNAMIC ACTIONS ARISING FROM THE RELATIVE MOTION BETWEEN VEHICLES AND THE GROUND |
US5682980A (en) | 1996-02-06 | 1997-11-04 | Monroe Auto Equipment Company | Active suspension system |
AU2055697A (en) | 1996-02-26 | 1997-09-10 | Board Of Regents, The University Of Texas System | Constant force suspension, near constant force suspension, and associated control algorithms |
US5717303A (en) | 1996-03-04 | 1998-02-10 | Tenergy, L.L.C. | DC motor drive assembly including integrated charger/controller/regenerator circuit |
JP3118414B2 (en) | 1996-05-22 | 2000-12-18 | 株式会社豊田中央研究所 | Vehicle sprung unsprung relative speed calculation device |
JP3689829B2 (en) | 1996-10-04 | 2005-08-31 | 株式会社日立製作所 | Suspension control device |
US5892293A (en) | 1997-01-15 | 1999-04-06 | Macrosonix Corporation | RMS energy conversion |
US6025665A (en) * | 1997-02-21 | 2000-02-15 | Emerson Electric Co. | Rotating machine for use in a pressurized fluid system |
ES2206785T3 (en) * | 1997-05-16 | 2004-05-16 | Conception Et Developpement Michelin | SUSPENSION DEVICE INCLUDING A SPRING CORRECTOR. |
US6092618A (en) | 1997-10-31 | 2000-07-25 | General Motors Corporation | Electro-hydraulic power steering control with fluid temperature and motor speed compensation of power steering load signal |
US5941328A (en) | 1997-11-21 | 1999-08-24 | Lockheed Martin Corporation | Electric vehicle with variable efficiency regenerative braking depending upon battery charge state |
JPH11166474A (en) | 1997-12-01 | 1999-06-22 | Kotou Unyu Kk | Generator using reciprocating motion |
US6049746A (en) | 1998-04-01 | 2000-04-11 | Lord Corporation | End stop control method |
DE29809485U1 (en) | 1998-05-28 | 1998-09-10 | Kraemer & Grebe Kg | Wolf for chopping frozen and fresh meat |
US5925951A (en) * | 1998-06-19 | 1999-07-20 | Sundstrand Fluid Handling Corporation | Electromagnetic shield for an electric motor |
US6349543B1 (en) | 1998-06-30 | 2002-02-26 | Robert Moshe Lisniansky | Regenerative adaptive fluid motor control |
JP3787038B2 (en) | 1998-09-10 | 2006-06-21 | トヨタ自動車株式会社 | Elastic support device, vehicle elastic support device, and control device for vehicle suspension device |
US6502837B1 (en) * | 1998-11-11 | 2003-01-07 | Kenmar Company Trust | Enhanced computer optimized adaptive suspension system and method |
US6282453B1 (en) | 1998-12-02 | 2001-08-28 | Caterpillar Inc. | Method for controlling a work implement to prevent interference with a work machine |
US6575264B2 (en) * | 1999-01-29 | 2003-06-10 | Dana Corporation | Precision electro-hydraulic actuator positioning system |
AU757591B2 (en) | 1999-04-12 | 2003-02-27 | Kinetic Pty Limited | Active ride control for a vehicle suspension system |
US6190319B1 (en) * | 1999-06-21 | 2001-02-20 | International Business Machines Corporation | Self calibrating linear position sensor |
CA2279435A1 (en) | 1999-07-30 | 2001-01-30 | Michael Alexander Duff | Linear actuator |
US6227817B1 (en) * | 1999-09-03 | 2001-05-08 | Magnetic Moments, Llc | Magnetically-suspended centrifugal blood pump |
US7195250B2 (en) | 2000-03-27 | 2007-03-27 | Bose Corporation | Surface vehicle vertical trajectory planning |
DE10019532C2 (en) | 2000-04-20 | 2002-06-27 | Zf Sachs Ag | Suspension system for motor vehicles |
JP2001311452A (en) | 2000-04-28 | 2001-11-09 | Tokico Ltd | Electromagnetic suspension control system |
WO2001089066A1 (en) | 2000-05-17 | 2001-11-22 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Small power generating device and water faucet device |
US6394238B1 (en) | 2000-05-25 | 2002-05-28 | Husco International, Inc. | Regenerative suspension for an off-road vehicle |
EP1188587B1 (en) | 2000-05-25 | 2008-04-16 | Husco International, Inc. | Regenerative suspension for an off-road vehicle |
US6731019B2 (en) | 2000-08-07 | 2004-05-04 | Ocean Power Technologies, Inc. | Apparatus and method for optimizing the power transfer produced by a wave energy converter (WEC) |
US6467748B1 (en) * | 2000-09-05 | 2002-10-22 | Deere & Company | Hydraulic circuit for active suspension system |
CN100341227C (en) | 2000-09-06 | 2007-10-03 | 日本电产三协株式会社 | Small-sized hydroelectric power generating apparatus |
US6915600B2 (en) | 2000-09-12 | 2005-07-12 | Yanmar Co., Ltd. | Hydraulic circuit of excavating and slewing working vehicle |
US6397134B1 (en) | 2000-09-13 | 2002-05-28 | Delphi Technologies, Inc. | Vehicle suspension control with enhanced body control in steering crossover |
US6644590B2 (en) | 2000-09-15 | 2003-11-11 | General Dynamics Advanced Information Systems, Inc. | Active system and method for vibration and noise reduction |
US6834737B2 (en) | 2000-10-02 | 2004-12-28 | Steven R. Bloxham | Hybrid vehicle and energy storage system and method |
JP3582479B2 (en) | 2000-11-21 | 2004-10-27 | 日産自動車株式会社 | Vehicle battery charge control device |
US6441508B1 (en) | 2000-12-12 | 2002-08-27 | Ebara International Corporation | Dual type multiple stage, hydraulic turbine power generator including reaction type turbine with adjustable blades |
US6573675B2 (en) | 2000-12-27 | 2003-06-03 | Transportation Techniques Llc | Method and apparatus for adaptive energy control of hybrid electric vehicle propulsion |
DE10104851A1 (en) * | 2001-02-03 | 2002-08-22 | Zf Lenksysteme Gmbh | Pump system with a hydraulic pump, in particular for a steering system |
US7571683B2 (en) | 2001-03-27 | 2009-08-11 | General Electric Company | Electrical energy capture system with circuitry for blocking flow of undesirable electrical currents therein |
US6973880B2 (en) | 2001-03-27 | 2005-12-13 | General Electric Company | Hybrid energy off highway vehicle electric power storage system and method |
CA2343489C (en) | 2001-04-05 | 2007-05-22 | Electrofuel, Inc. | Energy storage device for loads having variable power rates |
US6952060B2 (en) | 2001-05-07 | 2005-10-04 | Trustees Of Tufts College | Electromagnetic linear generator and shock absorber |
DE10126933B4 (en) | 2001-06-01 | 2004-08-26 | Continental Aktiengesellschaft | Method for regulating or controlling the damper force of adjustable dampers on vehicles |
US6575484B2 (en) | 2001-07-20 | 2003-06-10 | Husco International, Inc. | Dual mode regenerative suspension for an off-road vehicle |
JP2003035254A (en) | 2001-07-24 | 2003-02-07 | Sony Corp | Power source device |
US6752250B2 (en) * | 2001-09-27 | 2004-06-22 | Northrop Grumman Corporation | Shock, vibration and acoustic isolation system |
US6679504B2 (en) | 2001-10-23 | 2004-01-20 | Liquidspring Technologies, Inc. | Seamless control of spring stiffness in a liquid spring system |
FR2831226B1 (en) * | 2001-10-24 | 2005-09-23 | Snecma Moteurs | AUTONOMOUS ELECTROHYDRAULIC ACTUATOR |
US6631960B2 (en) | 2001-11-28 | 2003-10-14 | Ballard Power Systems Corporation | Series regenerative braking torque control systems and methods |
US6650985B2 (en) * | 2001-12-28 | 2003-11-18 | Case, Llc | Skid steer vehicle having anti-rolling system |
US6452535B1 (en) | 2002-01-29 | 2002-09-17 | Ford Global Technologies, Inc. | Method and apparatus for impact crash mitigation |
CN1370926A (en) | 2002-02-01 | 2002-09-25 | 张玉森 | Electrically driven vehicle device to collecting vibration-reducing energy and converting inti electric energy and its method |
US7008200B2 (en) | 2002-02-05 | 2006-03-07 | The Texas A&M University System | Gerotor apparatus for a quasi-isothermal brayton cycle engine |
KR100427364B1 (en) | 2002-03-06 | 2004-04-14 | 현대자동차주식회사 | Battery system current measuring system of electric vehicle |
DE20209120U1 (en) | 2002-06-12 | 2003-10-16 | Hemscheidt Fahrwerktech Gmbh | Suspension device for motor vehicles |
US7156406B2 (en) | 2002-10-25 | 2007-01-02 | Ina- Schaeffler Kg | Anti-roll bar for the chassis of a motor vehicle |
US6886650B2 (en) | 2002-11-13 | 2005-05-03 | Deere & Company | Active seat suspension control system |
GB0226843D0 (en) | 2002-11-16 | 2002-12-24 | Cnh Uk Ltd | cab support system for an agricultural vehicle |
JP2004190845A (en) | 2002-12-13 | 2004-07-08 | Shin Caterpillar Mitsubishi Ltd | Drive device for working machine |
US6841970B2 (en) | 2002-12-20 | 2005-01-11 | Mark Zabramny | Dual-use generator and shock absorber assistant system |
CN100444495C (en) | 2003-01-24 | 2008-12-17 | 三菱电机株式会社 | Battery power circuit |
EP2154028B8 (en) | 2003-02-17 | 2015-12-09 | Denso Corporation | Vehicle power supply system |
JP4131395B2 (en) | 2003-02-21 | 2008-08-13 | 株式会社デンソー | Regenerative braking device for vehicle |
US7087342B2 (en) | 2003-04-15 | 2006-08-08 | Visteon Global Technologies, Inc. | Regenerative passive and semi-active suspension |
US6920951B2 (en) | 2003-04-17 | 2005-07-26 | Visteon Global Technologies, Inc. | Regenerative damping method and apparatus |
US20040212273A1 (en) | 2003-04-24 | 2004-10-28 | Gould Len Charles | Heat engine and generator set incorporating multiple generators for synchronizing and balancing |
US20040211631A1 (en) | 2003-04-24 | 2004-10-28 | Hsu William W. | Hydraulic damper |
US6765389B1 (en) | 2003-06-12 | 2004-07-20 | Delphi Technologies, Inc. | Method of computing AC impedance of an energy system |
US20050017462A1 (en) * | 2003-07-23 | 2005-01-27 | Kroppe William J. | Suspension system |
NZ547034A (en) | 2003-08-12 | 2008-03-28 | Graeme Kershaw Robertson | Shock absorber assembly |
DE10337620B4 (en) | 2003-08-16 | 2017-09-28 | Daimler Ag | Motor vehicle with a pre-safe system |
US6964325B2 (en) | 2003-09-15 | 2005-11-15 | Tenneco Automotive Operating Company Inc. | Integrated tagging system for an electronic shock absorber |
US20060090462A1 (en) | 2003-11-14 | 2006-05-04 | Kazunori Yoshino | Energy regeneration system for working machinery |
US7438164B2 (en) | 2003-12-08 | 2008-10-21 | Tenneco Automotive Operating Company Inc. | Solenoid actuated continuously variable servo valve for adjusting damping in shock absorbers and struts |
US7333882B2 (en) | 2004-02-12 | 2008-02-19 | Hitachi, Ltd. | Suspension control apparatus |
JP2005253126A (en) | 2004-03-01 | 2005-09-15 | Nissan Motor Co Ltd | Brake controller of hybrid vehicle and vehicle mounting that controller |
US8380416B2 (en) | 2004-03-18 | 2013-02-19 | Ford Global Technologies | Method and apparatus for controlling brake-steer in an automotive vehicle in reverse |
CN2707546Y (en) | 2004-04-16 | 2005-07-06 | 江苏大学 | Energy feeding back type semi-active suspension |
GB0410355D0 (en) * | 2004-05-10 | 2004-06-09 | Delphi Tech Inc | Vehicle roll control system |
US7335999B2 (en) | 2004-06-15 | 2008-02-26 | Honeywell International, Inc. | Fluid actuated rotating device including a low power generator |
US7202577B2 (en) | 2004-06-17 | 2007-04-10 | Bose Corporation | Self-cooling actuator |
US7421954B2 (en) | 2004-06-18 | 2008-09-09 | Bose Corporation | Active suspension controller |
US7427072B2 (en) | 2004-06-18 | 2008-09-23 | Bose Corporation | Active vehicle suspension |
JP4134964B2 (en) | 2004-08-02 | 2008-08-20 | 株式会社デンソー | Power generation control device |
US6944544B1 (en) | 2004-09-10 | 2005-09-13 | Ford Global Technologies, Llc | Adaptive vehicle safety system for collision compatibility |
US7051526B2 (en) | 2004-10-01 | 2006-05-30 | Moog Inc. | Closed-system electrohydraulic actuator |
WO2006047353A2 (en) | 2004-10-25 | 2006-05-04 | Davis Family Irrevocable Trust, With A Trustee Of Richard Mccown | Compressible fluid independent active suspension |
US7983813B2 (en) | 2004-10-29 | 2011-07-19 | Bose Corporation | Active suspending |
US20060108860A1 (en) | 2004-11-23 | 2006-05-25 | Delaware Capital Formation | Brake energy recovery system |
AU2005311758B2 (en) * | 2004-12-01 | 2011-11-10 | Concentric Rockford Inc. | Hydraulic drive system |
US7702440B2 (en) | 2005-02-08 | 2010-04-20 | Ford Global Technologies | Method and apparatus for detecting rollover of an automotive vehicle based on a lateral kinetic energy rate threshold |
GB2425160B (en) | 2005-04-12 | 2010-11-17 | Perpetuum Ltd | An Electromechanical Generator for, and method of, Converting Mechanical Vibrational Energy into Electrical Energy |
JP4525918B2 (en) | 2005-04-15 | 2010-08-18 | トヨタ自動車株式会社 | Damping force generating system and vehicle suspension system including the same |
JP4114679B2 (en) | 2005-05-24 | 2008-07-09 | トヨタ自動車株式会社 | Vehicle damping force control device |
TWI279970B (en) | 2005-07-20 | 2007-04-21 | Delta Electronics Inc | Configuration and controlling method of boost circuit having pulse-width modulation limiting controller |
JP4852919B2 (en) | 2005-07-25 | 2012-01-11 | アイシン・エィ・ダブリュ株式会社 | Vehicle ride control system and vehicle ride control method |
US20070045067A1 (en) * | 2005-08-26 | 2007-03-01 | Husco International, Inc. | Hydraulic circuit with a pilot operated check valve for an active vehicle suspension system |
US7286919B2 (en) | 2005-10-17 | 2007-10-23 | Gm Global Technology Operations, Inc. | Method and apparatus for controlling damping of a vehicle suspension |
US7261171B2 (en) | 2005-10-24 | 2007-08-28 | Towertech Research Group | Apparatus and method for converting movements of a vehicle wheel to electricity for charging a battery of the vehicle |
US20070089924A1 (en) | 2005-10-24 | 2007-04-26 | Towertech Research Group | Apparatus and method for hydraulically converting movement of a vehicle wheel to electricity for charging a vehicle battery |
US7823891B2 (en) | 2005-11-29 | 2010-11-02 | Bose Corporation | Active vehicle suspension system |
DE102006010508A1 (en) | 2005-12-20 | 2007-08-09 | Robert Bosch Gmbh | Vehicle with a drive motor for driving a traction drive and a working hydraulics |
US8269359B2 (en) | 2006-01-17 | 2012-09-18 | Uusi, Llc | Electronic control for a hydraulically driven generator |
US8269360B2 (en) | 2006-01-17 | 2012-09-18 | Uusi, Llc | Electronic control for a hydraulically driven auxiliary power source |
DE102006002983B4 (en) * | 2006-01-21 | 2016-09-15 | Bayerische Motoren Werke Aktiengesellschaft | Active chassis system of a vehicle |
JP4380640B2 (en) * | 2006-02-09 | 2009-12-09 | トヨタ自動車株式会社 | Vehicle stabilizer system |
AU2007223733B2 (en) | 2006-03-09 | 2013-01-10 | The Regents Of The University Of California | Power generating leg |
TWM299089U (en) | 2006-04-28 | 2006-10-11 | Shui-Chuan Chiao | Wireless adjustment controller for damping of shock absorber on a vehicle |
US7887033B2 (en) | 2006-06-06 | 2011-02-15 | Deere & Company | Suspension system having active compensation for vibration |
ES2315965T3 (en) | 2006-06-23 | 2009-04-01 | Fondazione Torino Wireless | SUSPENSION TILT MODULE FOR WHEELED VEHICLES AND A WHEEL VEHICLE EQUIPPED WITH SUCH SUSPENSION Tilt MODULE. |
JP4828325B2 (en) | 2006-07-03 | 2011-11-30 | カヤバ工業株式会社 | Shock absorber controller |
EP1878598A1 (en) | 2006-07-13 | 2008-01-16 | Fondazione Torino Wireless | Regenerative suspension for a vehicle |
CN201002520Y (en) | 2006-11-09 | 2008-01-09 | 宋杨 | Hydraulic energy-feeding type vibration damping suspension for vehicle |
US8067863B2 (en) | 2007-01-18 | 2011-11-29 | Bose Corporation | Detent force correcting |
US8448432B2 (en) * | 2007-02-13 | 2013-05-28 | The Board Of Regents Of The University Of Texas System | Actuators |
DE102007008736A1 (en) * | 2007-02-22 | 2008-08-28 | Wabco Gmbh | Method for controlling a compressor and device for carrying out the method |
JP5129493B2 (en) * | 2007-03-12 | 2013-01-30 | 日立建機株式会社 | Travel control device for work vehicle |
JP5046690B2 (en) | 2007-03-12 | 2012-10-10 | 日立建機株式会社 | Control device for work vehicle |
US8285447B2 (en) * | 2007-03-20 | 2012-10-09 | Enpulz, L.L.C. | Look ahead vehicle suspension system |
EP1974965A1 (en) | 2007-03-26 | 2008-10-01 | C.R.F. Società Consortile per Azioni | System for controlling damping and roll and pitch body movements of a motor vehicle, having adjustable hydraulic actuators |
US8032281B2 (en) | 2007-03-29 | 2011-10-04 | Ford Global Technologies | Vehicle control system with advanced tire monitoring |
US7948224B2 (en) | 2007-03-30 | 2011-05-24 | Hong Kong Applied Science And Technology Research Institute Co. Ltd. | Feedback controller having multiple feedback paths |
US7656055B2 (en) | 2007-04-12 | 2010-02-02 | Rosalia Torres | Hydro-wind power generating turbine system and retrofitting method |
BRPI0704656A2 (en) | 2007-04-19 | 2008-12-02 | Seahorse Wave Energy | Hybrid plant for the generation of electricity by sea waves |
DE102007026956A1 (en) * | 2007-06-12 | 2008-12-18 | Kuka Innotec Gmbh | Method and system for robot-guided depalletizing of tires |
US20100217491A1 (en) | 2007-07-02 | 2010-08-26 | Equos Research Co., Ltd. | Camber angle controlling device |
US8022674B2 (en) | 2007-07-10 | 2011-09-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | State of charge control method and systems for vehicles |
US8323008B2 (en) * | 2007-08-30 | 2012-12-04 | Micropump, Inc., A Unit Of Idex Corporation | Pumps and pump-heads comprising internal pressure-absorbing member |
JP2009115301A (en) | 2007-11-09 | 2009-05-28 | Toyota Motor Corp | Shock absorber controlling device |
JP4968005B2 (en) * | 2007-11-13 | 2012-07-04 | トヨタ自動車株式会社 | Suspension control device |
EP2065295A1 (en) * | 2007-11-27 | 2009-06-03 | TNO Bedrijven B.V. | Suspension assembly for suspending a cabin of a truck or the like vehicle |
US8589049B2 (en) * | 2007-12-03 | 2013-11-19 | Lockheed Martin Corporation | GPS-based system and method for controlling vehicle characteristics based on terrain |
US20090192674A1 (en) | 2008-01-24 | 2009-07-30 | Gerald Frank Simons | Hydraulically propelled - gryoscopically stabilized motor vehicle |
US7847444B2 (en) | 2008-02-26 | 2010-12-07 | Gm Global Technology Operations, Inc. | Electric motor assembly with stator mounted in vehicle powertrain housing and method |
US7938217B2 (en) | 2008-03-11 | 2011-05-10 | Physics Lab Of Lake Havasu, Llc | Regenerative suspension with accumulator systems and methods |
US8392030B2 (en) | 2008-04-17 | 2013-03-05 | Levant Power Corporation | System and method for control for regenerative energy generators |
US8376100B2 (en) | 2008-04-17 | 2013-02-19 | Levant Power Corporation | Regenerative shock absorber |
US8839920B2 (en) | 2008-04-17 | 2014-09-23 | Levant Power Corporation | Hydraulic energy transfer |
DE102009002849A1 (en) * | 2008-07-11 | 2010-01-14 | Deere & Company, Moline | Drive system for a feed conveyor of a harvester |
EP2156970A1 (en) | 2008-08-12 | 2010-02-24 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | Multi-point hydraulic suspension system for a land vehicle |
US8080888B1 (en) | 2008-08-12 | 2011-12-20 | Sauer-Danfoss Inc. | Hydraulic generator drive system |
US7963529B2 (en) | 2008-09-08 | 2011-06-21 | Bose Corporation | Counter-rotating motors with linear output |
US8453441B2 (en) * | 2008-11-06 | 2013-06-04 | Purdue Research Foundation | System and method for pump-controlled cylinder cushioning |
US8075002B1 (en) * | 2008-11-18 | 2011-12-13 | Am General Llc | Semi-active suspension system |
WO2010067682A1 (en) * | 2008-12-08 | 2010-06-17 | Ntn株式会社 | Centrifugal pump device |
DE102009022328A1 (en) | 2008-12-10 | 2010-06-17 | Daimler Ag | damper device |
DE102009027939A1 (en) | 2009-02-03 | 2010-08-05 | Robert Bosch Gmbh | Method for suspension control of a motor vehicle, and device for implementation |
US8063498B2 (en) | 2009-02-27 | 2011-11-22 | GM Global Technology Operations LLC | Harvesting energy from vehicular vibrations |
US8143766B2 (en) | 2009-02-27 | 2012-03-27 | GM Global Technology Operations LLC | Harvesting energy from vehicular vibrations using piezoelectric devices |
US7936113B2 (en) | 2009-02-27 | 2011-05-03 | GM Global Technology Operations LLC | Harvesting energy from vehicular vibrations using piezoelectric devices |
US8253281B2 (en) | 2009-02-27 | 2012-08-28 | GM Global Technology Operations LLC | Energy harvesting apparatus incorporated into shock absorber |
WO2010111376A1 (en) | 2009-03-25 | 2010-09-30 | Nikhil Bhat | Energy harvesting system |
EP2415621B1 (en) | 2009-03-31 | 2015-03-25 | Toyota Jidosha Kabushiki Kaisha | Damping force control apparatus |
JP5115625B2 (en) | 2009-04-06 | 2013-01-09 | トヨタ自動車株式会社 | Vehicle stabilizer device |
US8453809B2 (en) | 2009-04-16 | 2013-06-04 | Oneiric Systems, Inc. | Shock absorber having unidirectional fluid flow |
US9222538B2 (en) | 2009-04-16 | 2015-12-29 | Oneiric Systems, Inc. | Shock absorber having unidirectional fluid flow |
US20100308589A1 (en) | 2009-05-27 | 2010-12-09 | Rohrer Technologies, Inc. | Heaving ocean wave energy converter |
JP5463263B2 (en) | 2009-11-30 | 2014-04-09 | 日立オートモティブシステムズ株式会社 | Suspension control device for vehicle |
JP5306974B2 (en) | 2009-12-02 | 2013-10-02 | 日立オートモティブシステムズ株式会社 | Electric oil pump |
US8356861B2 (en) | 2010-01-26 | 2013-01-22 | Bose Corporation | Active suspension seat skirt |
CN101749353B (en) | 2010-01-27 | 2011-10-19 | 武汉理工大学 | Electrohydraulic energy-regenerative type shock absorber |
JP2011174494A (en) | 2010-02-23 | 2011-09-08 | Takeuchi Seisakusho:Kk | Hydraulic control device |
JP5287787B2 (en) * | 2010-04-16 | 2013-09-11 | 株式会社デンソー | Electric device |
US20110293450A1 (en) * | 2010-06-01 | 2011-12-01 | Micropump, Inc. | Pump magnet housing with integrated sensor element |
US8844392B2 (en) * | 2010-06-09 | 2014-09-30 | Gm Global Technology Operations, Llc | Electro-hydraulic and electro-mechanical control system for a dual clutch transmission |
US9035477B2 (en) | 2010-06-16 | 2015-05-19 | Levant Power Corporation | Integrated energy generating damper |
JP5571519B2 (en) | 2010-09-27 | 2014-08-13 | 日立オートモティブシステムズ株式会社 | Body posture control device |
JP5692588B2 (en) * | 2010-12-28 | 2015-04-01 | 株式会社デンソー | Drive device |
JP5927766B2 (en) | 2011-03-11 | 2016-06-01 | 株式会社ジェイテクト | Electric pump unit |
US20120233991A1 (en) | 2011-03-16 | 2012-09-20 | Purdue Research Foundtion | Multi-function machines, hydraulic systems therefor, and methods for their operation |
JP5969979B2 (en) * | 2011-03-28 | 2016-08-17 | ソーラテック コーポレイション | Rotation drive device and centrifugal pump device using the same |
US9067501B2 (en) * | 2011-04-01 | 2015-06-30 | Caterpillar Inc. | System and method for adjusting balance of operation of hydraulic and electric actuators |
DE102011100307A1 (en) * | 2011-05-03 | 2012-11-08 | Daimler Ag | Land bound passenger vehicle with a decoupling device and method for decoupling a body of the land-based passenger vehicle |
JP5789131B2 (en) | 2011-05-31 | 2015-10-07 | 日立オートモティブシステムズ株式会社 | Shock absorber and suspension device |
TWI558066B (en) * | 2011-06-10 | 2016-11-11 | 艾克西弗洛克斯控股私營有限公司 | Electric machine |
US8616563B2 (en) | 2011-08-25 | 2013-12-31 | Stealth Innovative Systems, Llc | Device for adjusting the height of a vehicle |
JP2014531357A (en) * | 2011-09-06 | 2014-11-27 | ジャガー ランド ローバー リミテッドJaguar Land Rover Limited | Suspension control device |
US20130081382A1 (en) * | 2011-09-30 | 2013-04-04 | Bryan E. Nelson | Regeneration configuration for closed-loop hydraulic systems |
US8966889B2 (en) | 2011-11-01 | 2015-03-03 | Tenneco Automotive Operating Company Inc. | Energy harvesting passive and active suspension |
US8641053B2 (en) | 2012-02-27 | 2014-02-04 | Bose Corporation | Actuator assembly |
US8744694B2 (en) | 2012-04-17 | 2014-06-03 | Bose Corporation | Active suspension seat and vehicle operation interlocks |
US8938333B2 (en) | 2012-06-27 | 2015-01-20 | Bose Corporation | Active wheel damping |
US9102209B2 (en) | 2012-06-27 | 2015-08-11 | Bose Corporation | Anti-causal vehicle suspension |
DE102012013462A1 (en) | 2012-07-09 | 2014-01-09 | Zf Friedrichshafen Ag | Energy recuperating fluid vibration damper |
US20140012468A1 (en) | 2012-07-09 | 2014-01-09 | Ford Global Technologies, Llc | Real-Time Center-of-Gravity Height Estimation |
US20140095022A1 (en) | 2012-10-03 | 2014-04-03 | Thomas J. Cashman | Active Suspension System |
US8820064B2 (en) | 2012-10-25 | 2014-09-02 | Tenneco Automotive Operating Company Inc. | Recuperating passive and active suspension |
EP2933161B1 (en) * | 2012-12-11 | 2019-09-25 | Toyota Jidosha Kabushiki Kaisha | Vehicle state detection device |
US8892304B2 (en) | 2013-01-08 | 2014-11-18 | Ford Global Technologies, Llc | Adaptive crash height adjustment using active suspensions |
US8788146B1 (en) * | 2013-01-08 | 2014-07-22 | Ford Global Technologies, Llc | Adaptive active suspension system with road preview |
US8825292B2 (en) | 2013-01-10 | 2014-09-02 | Ford Global Technologies, Llc | Suspension control system to facilitate wheel motions during parking |
WO2014145018A2 (en) | 2013-03-15 | 2014-09-18 | Levant Power Corporation | Active vehicle suspension improvements |
US9174508B2 (en) | 2013-03-15 | 2015-11-03 | Levant Power Corporation | Active vehicle suspension |
US9145905B2 (en) | 2013-03-15 | 2015-09-29 | Oshkosh Corporation | Independent load sensing for a vehicle hydraulic system |
US9702349B2 (en) | 2013-03-15 | 2017-07-11 | ClearMotion, Inc. | Active vehicle suspension system |
US9809078B2 (en) | 2013-03-15 | 2017-11-07 | ClearMotion, Inc. | Multi-path fluid diverter valve |
WO2014176371A2 (en) | 2013-04-23 | 2014-10-30 | Levant Power Corporation | Active suspension with structural actuator |
US9199563B2 (en) | 2013-06-04 | 2015-12-01 | Bose Corporation | Active suspension of a motor vehicle passenger seat |
US9108484B2 (en) | 2013-07-25 | 2015-08-18 | Tenneco Automotive Operating Company Inc. | Recuperating passive and active suspension |
US20150059325A1 (en) * | 2013-09-03 | 2015-03-05 | Caterpillar Inc. | Hybrid Apparatus and Method for Hydraulic Systems |
US20150114739A1 (en) | 2013-10-31 | 2015-04-30 | Curtis Arnold Newman | Hydraulic Hybrid Vehicle |
US9702424B2 (en) | 2014-10-06 | 2017-07-11 | ClearMotion, Inc. | Hydraulic damper, hydraulic bump-stop and diverter valve |
-
2014
- 2014-03-14 WO PCT/US2014/029654 patent/WO2014145018A2/en active Application Filing
- 2014-03-14 EP EP19200776.3A patent/EP3626485A1/en active Pending
- 2014-03-14 EP EP14763789.6A patent/EP2968709B1/en active Active
- 2014-04-01 US US14/242,612 patent/US10160276B2/en active Active
- 2014-04-01 US US14/242,658 patent/US9707814B2/en active Active
- 2014-04-01 US US14/242,705 patent/US9694639B2/en active Active
- 2014-04-01 US US14/242,636 patent/US20140294601A1/en not_active Abandoned
- 2014-04-01 US US14/242,691 patent/US20140297116A1/en not_active Abandoned
-
2017
- 2017-12-05 US US15/832,517 patent/US10828953B2/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4868477A (en) * | 1987-06-23 | 1989-09-19 | The Superior Electric Company | Method and apparatus for controlling torque and torque ripple in a variable reluctance motor |
US4992715A (en) * | 1987-08-04 | 1991-02-12 | Hitachi, Ltd. | Torque control apparatus for rotating motor machine |
US5616999A (en) * | 1994-02-10 | 1997-04-01 | Nippondenso Co., Ltd. | Torque detecting apparatus for reducing torque ripple in an AC motor |
US5844388A (en) * | 1996-03-29 | 1998-12-01 | Sgs-Thomson Microelectronics S.R.L. | Drive systems for a brushless motor employing predefined driving profiles stored in a nonvolatile memory |
US5852355A (en) * | 1996-05-23 | 1998-12-22 | Switched Reluctance Drives Limited | Output smoothing in a switched reluctance machine |
US5962999A (en) * | 1997-07-30 | 1999-10-05 | Matsushita Electric Industrial | Method of controlling a torque ripple of a motor having interior permanent magnets and a controller using the same method |
US20080265808A1 (en) * | 2004-07-10 | 2008-10-30 | Malcolm Eric Sparey | Motor Drive Voltage-Boost Control |
US20110062904A1 (en) * | 2009-09-11 | 2011-03-17 | Denso Corporation | Alternating current motor control system |
US20120063922A1 (en) * | 2010-09-14 | 2012-03-15 | Jatco Ltd | Motor control apparatus/method for electric oil pump |
Cited By (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9597939B2 (en) | 2008-04-17 | 2017-03-21 | ClearMotion, Inc. | Hydraulic energy transfer |
US9260011B2 (en) | 2008-04-17 | 2016-02-16 | Levant Power Corporation | Hydraulic energy transfer |
US9035477B2 (en) | 2010-06-16 | 2015-05-19 | Levant Power Corporation | Integrated energy generating damper |
US9689382B2 (en) | 2010-06-16 | 2017-06-27 | ClearMotion, Inc. | Integrated energy generating damper |
US9597940B2 (en) | 2013-03-15 | 2017-03-21 | ClearMotion, Inc. | Active vehicle suspension |
US9550404B2 (en) | 2013-03-15 | 2017-01-24 | Levant Power Corporation | Active suspension with on-demand energy flow |
US10029534B2 (en) | 2013-03-15 | 2018-07-24 | ClearMotion, Inc. | Hydraulic actuator with on-demand energy flow |
US9676244B2 (en) | 2013-03-15 | 2017-06-13 | ClearMotion, Inc. | Integrated active suspension smart valve |
US9440507B2 (en) | 2013-03-15 | 2016-09-13 | Levant Power Corporation | Context aware active suspension control system |
US9694639B2 (en) | 2013-03-15 | 2017-07-04 | ClearMotion, Inc. | Distributed active suspension control system |
US10160276B2 (en) | 2013-03-15 | 2018-12-25 | ClearMotion, Inc. | Contactless sensing of a fluid-immersed electric motor |
US9702349B2 (en) | 2013-03-15 | 2017-07-11 | ClearMotion, Inc. | Active vehicle suspension system |
US9707814B2 (en) | 2013-03-15 | 2017-07-18 | ClearMotion, Inc. | Active stabilization system for truck cabins |
US9809078B2 (en) | 2013-03-15 | 2017-11-07 | ClearMotion, Inc. | Multi-path fluid diverter valve |
US9174508B2 (en) | 2013-03-15 | 2015-11-03 | Levant Power Corporation | Active vehicle suspension |
US9855814B2 (en) | 2013-04-23 | 2018-01-02 | ClearMotion, Inc. | Active suspension with structural actuator |
US9702424B2 (en) | 2014-10-06 | 2017-07-11 | ClearMotion, Inc. | Hydraulic damper, hydraulic bump-stop and diverter valve |
US10317894B2 (en) | 2015-02-13 | 2019-06-11 | Fluid Handling Llc | No flow detection means for sensorless pumping control applications |
US10987617B2 (en) | 2016-04-05 | 2021-04-27 | Hamilton Sundstrand Corporation | Pressure detection system immune to pressure ripple effects |
US10954935B2 (en) | 2016-04-19 | 2021-03-23 | ClearMotion, Inc. | Active hydraulic ripple cancellation methods and systems |
US11879451B2 (en) | 2016-04-19 | 2024-01-23 | ClearMotion, Inc. | Active hydraulic ripple cancellation methods and systems |
US11480199B2 (en) | 2016-06-02 | 2022-10-25 | ClearMotion, Inc. | Systems and methods for managing noise in compact high speed and high force hydraulic actuators |
US11815110B2 (en) | 2016-06-02 | 2023-11-14 | ClearMotion, Inc. | Systems and methods for managing noise in compact high speed and high force hydraulic actuators |
US10465612B2 (en) | 2017-04-03 | 2019-11-05 | Hamilton Sundstrand Corporation | Aircraft fluid control system having a pressure sensor |
US10907631B2 (en) * | 2018-08-01 | 2021-02-02 | Rolls-Royce Corporation | Pump ripple pressure monitoring for incompressible fluid systems |
US11619560B2 (en) | 2019-10-18 | 2023-04-04 | Hamilton Sundstrand Corporation | Pressure ripple mitigation in pressure sensors |
CN111016567A (en) * | 2019-12-30 | 2020-04-17 | 东风小康汽车有限公司重庆分公司 | Automatic switching method and device for automobile driving modes |
EP4299904A1 (en) * | 2022-06-28 | 2024-01-03 | Robert Bosch GmbH | Method for controlling variable-speed fluid pumps |
Also Published As
Publication number | Publication date |
---|---|
US9694639B2 (en) | 2017-07-04 |
US20140294625A1 (en) | 2014-10-02 |
US20180154723A1 (en) | 2018-06-07 |
WO2014145018A2 (en) | 2014-09-18 |
US20140297117A1 (en) | 2014-10-02 |
US9707814B2 (en) | 2017-07-18 |
US20140297113A1 (en) | 2014-10-02 |
EP2968709B1 (en) | 2019-10-02 |
US10828953B2 (en) | 2020-11-10 |
US20140297116A1 (en) | 2014-10-02 |
EP3626485A1 (en) | 2020-03-25 |
EP2968709A2 (en) | 2016-01-20 |
WO2014145018A3 (en) | 2015-01-29 |
EP2968709A4 (en) | 2017-08-09 |
US10160276B2 (en) | 2018-12-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20140294601A1 (en) | Active adaptive hydraulic ripple cancellation algorithm and system | |
KR101521487B1 (en) | Dynamometer system | |
EP2485388B1 (en) | Reduction of noise and vibrations of an electromechanical transducer by using a modified stator coil drive signal comprising harmonic components | |
CN109219922B (en) | Speed estimation device for AC motor, driving device for AC motor, refrigerant compressor, and refrigeration cycle device | |
US10199976B2 (en) | Vibration and noise manipulation in switched reluctance machine drivetrains | |
CN106030080B (en) | For operating the method and apparatus for carrying out the method that are attached to the internal combustion engine of generator | |
US8800302B2 (en) | Driving an active vibration balancer to minimize vibrations at the fundamental and harmonic frequencies | |
US20140015497A1 (en) | Balancing Vibrations At Harmonic Frequencies By Injecting Harmonic Balancing Signals Into The Armature Of A Linear Motor/Alternator Coupled To A Stirling Machine | |
EP2912335B1 (en) | Mechanical devices and method of creating prescribed vibration | |
JP5800108B2 (en) | Periodic disturbance automatic suppression device | |
CN110959071B (en) | Method for regulating the output pressure of a hydraulic drive system, use of the method and hydraulic drive system | |
CN103452773B (en) | Method for the torsional oscillation vibration damping in transmission components | |
CN107210697B (en) | The drive dynamic control device of multiple winding motor | |
EP2552012A1 (en) | Reduction of noise and vibrations of an electromechanical transducer by using a modified stator coil drive signal comprising harmonic components | |
CN104251201A (en) | Pump control system based on frequency converter, pump control method based on frequency converter and pump system | |
EP2851586B1 (en) | Hydraulic transmission | |
CN106655958A (en) | Permanent magnet motor torque compensation method and device | |
CN114123895B (en) | Vibration suppression method and device, servo driver and servo driving system | |
JP2015170208A (en) | Control device, control method and control program | |
JP6809958B2 (en) | Electric motor control device | |
CN102331716B (en) | Method for regulating control parameters of electrohydraulic linear velocity servo system | |
JP7012901B2 (en) | AC motor speed estimation device, AC motor drive device, refrigerant compressor and refrigeration cycle device | |
CN102563182B (en) | Method for adjusting control parameters of servo controller for electro-hydraulic linear displacement servo system | |
KR102228592B1 (en) | Positioning control device of actuator with wave gear device by H∞ control | |
JP6640659B2 (en) | Control device for power converter, power conversion system, compressor drive system, flywheel power generation system, and control method for power converter |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: LEVANT POWER CORPORATION, MASSACHUSETTS Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:O'SHEA, COLIN PATRICK;SAWYER, TYSON DAVID;GIOVANARDI, MARCO;REEL/FRAME:032614/0669 Effective date: 20140402 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |
|
AS | Assignment |
Owner name: FRANKLIN STRATEGIC SERIES - FRANKLIN SMALL CAP GROWTH FUND, CALIFORNIA Free format text: PATENT SECURITY AGREEMENT;ASSIGNOR:CLEARMOTION, INC.;REEL/FRAME:058644/0007 Effective date: 20211221 Owner name: FRANKLIN TEMPLETON INVESTMENT FUNDS - FRANKLIN U.S. OPPORTUNITIES FUND, CALIFORNIA Free format text: PATENT SECURITY AGREEMENT;ASSIGNOR:CLEARMOTION, INC.;REEL/FRAME:058644/0007 Effective date: 20211221 Owner name: FRANKLIN STRATEGIC SERIES - FRANKLIN GROWTH OPPORTUNITIES FUND, CALIFORNIA Free format text: PATENT SECURITY AGREEMENT;ASSIGNOR:CLEARMOTION, INC.;REEL/FRAME:058644/0007 Effective date: 20211221 Owner name: WIL FUND I, L.P., CALIFORNIA Free format text: PATENT SECURITY AGREEMENT;ASSIGNOR:CLEARMOTION, INC.;REEL/FRAME:058644/0007 Effective date: 20211221 Owner name: ACADIA WOODS PARTNERS, LLC, NEW YORK Free format text: PATENT SECURITY AGREEMENT;ASSIGNOR:CLEARMOTION, INC.;REEL/FRAME:058644/0007 Effective date: 20211221 Owner name: NEWVIEW CAPITAL FUND I, L.P., CALIFORNIA Free format text: PATENT SECURITY AGREEMENT;ASSIGNOR:CLEARMOTION, INC.;REEL/FRAME:058644/0007 Effective date: 20211221 |
|
AS | Assignment |
Owner name: ACADIA WOODS PARTNERS, LLC, NEW YORK Free format text: AMENDED & RESTATED PATENT SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:059361/0433 Effective date: 20220310 |
|
AS | Assignment |
Owner name: BRILLIANCE JOURNEY LIMITED, VIRGIN ISLANDS, BRITISH Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: THE PRIVATE SHARES FUND, CALIFORNIA Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: TEW LIMITED PARTNERSHIP, MARYLAND Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: FHW LIMITED PARTNERSHIP, MARYLAND Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: MICROSOFT GLOBAL FINANCE, WASHINGTON Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: BRIDGESTONE AMERICAS, INC., TENNESSEE Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: WIL FUND I, L.P., CALIFORNIA Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: NEWVIEW CAPITAL FUND I, LP, CALIFORNIA Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: FRANKLIN STRATEGIC SERIES - FRANKLIN SMALL CAP GROWTH FUND, CALIFORNIA Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: FRANKLIN TEMPLETON INVESTMENT FUNDS - FRANKLIN U.S. OPPORTUNITIES FUND, CALIFORNIA Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: FRANKLIN STRATEGIC SERIES - FRANKLIN GROWTH OPPORTUNITIES FUND, CALIFORNIA Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 Owner name: ACADIA WOODS PARTNERS, LLC, NEW YORK Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE ADDING ASSIGNEE PREVIOUSLY RECORDED AT REEL: 059361 FRAME: 0433. ASSIGNOR(S) HEREBY CONFIRMS THE SECURITY AGREEMENT;ASSIGNORS:CLEARMOTION, INC.;CLEARMOTION ACQUISITION I LLC;REEL/FRAME:060130/0001 Effective date: 20220310 |
|
AS | Assignment |
Owner name: CLEARMOTION ACQUISITION I LLC, MASSACHUSETTS Free format text: TERMINATION OF AMENDED & RESTATED PATENT SECURITY AGREEMENT;ASSIGNOR:ACADIA WOODS PARTNERS, LLC;REEL/FRAME:062687/0713 Effective date: 20220906 Owner name: CLEARMOTION, INC., MASSACHUSETTS Free format text: TERMINATION OF AMENDED & RESTATED PATENT SECURITY AGREEMENT;ASSIGNOR:ACADIA WOODS PARTNERS, LLC;REEL/FRAME:062687/0713 Effective date: 20220906 |
|
AS | Assignment |
Owner name: CLEARMOTION ACQUISITION I LLC, MASSACHUSETTS Free format text: TERMINATION OF AMENDED & RESTATED PATENT SECURITY AGREEMENT;ASSIGNORS:FRANKLIN STRATEGIC SERIES - FRANKLIN GROWTH OPPORTUNITIES FUND ;FRANKLIN STRATEGIC SERIES - FRANKLIN SMALL CAP GROWTH FUND ;FRANKLIN TEMPLETON INVESTMENT FUNDS - FRANKLIN U.S. OPPORTUNITIES FUND ;AND OTHERS;REEL/FRAME:062705/0684 Effective date: 20220906 Owner name: CLEARMOTION, INC., MASSACHUSETTS Free format text: TERMINATION OF AMENDED & RESTATED PATENT SECURITY AGREEMENT;ASSIGNORS:FRANKLIN STRATEGIC SERIES - FRANKLIN GROWTH OPPORTUNITIES FUND ;FRANKLIN STRATEGIC SERIES - FRANKLIN SMALL CAP GROWTH FUND ;FRANKLIN TEMPLETON INVESTMENT FUNDS - FRANKLIN U.S. OPPORTUNITIES FUND ;AND OTHERS;REEL/FRAME:062705/0684 Effective date: 20220906 |