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CN114655092B - System and method for seat vibration cancellation - Google Patents

System and method for seat vibration cancellation Download PDF

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Publication number
CN114655092B
CN114655092B CN202111589870.3A CN202111589870A CN114655092B CN 114655092 B CN114655092 B CN 114655092B CN 202111589870 A CN202111589870 A CN 202111589870A CN 114655092 B CN114655092 B CN 114655092B
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CN
China
Prior art keywords
filter
accelerometer
seat
frequency
output
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Application number
CN202111589870.3A
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Chinese (zh)
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CN114655092A (en
Inventor
B·G·毛斯特
B·H·赫尔布雷希
C·R·道格拉斯
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Steering Solutions IP Holding Corp
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Steering Solutions IP Holding Corp
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Priority claimed from US17/133,585 external-priority patent/US11427115B2/en
Application filed by Steering Solutions IP Holding Corp filed Critical Steering Solutions IP Holding Corp
Publication of CN114655092A publication Critical patent/CN114655092A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/50—Seat suspension devices
    • B60N2/501—Seat suspension devices actively controlled suspension, e.g. electronic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/50—Seat suspension devices
    • B60N2/502—Seat suspension devices attached to the base of the seat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/50—Seat suspension devices
    • B60N2/506—Seat guided by rods
    • B60N2/508—Scissors-like structure
    • 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
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Seats For Vehicles (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

A method for eliminating seat vibration, comprising: receiving a plurality of accelerometer measurements from an accelerometer; and applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements having a frequency above a first threshold frequency. The method further comprises the steps of: applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency; and applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat. The method further comprises the steps of: determining an absolute magnitude of the accelerometer measurement output; and selectively controlling the motor based on the absolute magnitude of the accelerometer measurement output.

Description

System and method for seat vibration cancellation
Cross Reference to Related Applications
This section of the continuing patent application claims priority from U.S. patent application Ser. No. 16/676,086, filed on even date 11/6 of 2019, the contents of which are incorporated herein by reference in their entirety.
Technical Field
The present disclosure relates to seats, and in particular, to systems and methods for seat vibration cancellation.
Background
Vehicles, such as automobiles, trucks, sport utility vehicles, cross-country vehicles, minivans, ridable industrial equipment (e.g., floor sweepers, ground sweepers, forklifts, commercial lawnmowers, etc.), boats, aircraft, helicopters, trucks, mining, agriculture, forestry, and/or other suitable vehicles, typically include seats for an operator to sit on while operating the vehicle. During operation of such vehicles, an operator may experience various vibrations while sitting on the seat due to various forces acting on the seat.
Typically, such vehicles include various pressure reducing components adapted to reduce pressure on the operator, which may allow the operator to operate the vehicle for a longer period of time, resulting in higher production output. The various pressure reducing components of the vehicle may include airbags, mechanical cushioning devices, and the like. The various pressure reducing components of the vehicle may be adapted to isolate the operator from various vibrations experienced while operating the vehicle.
Disclosure of Invention
The present disclosure relates generally to seat vibration cancellation.
One aspect of the disclosed embodiments includes a system for eliminating seat vibration. The system includes an electric motor in mechanical communication with a control arm. The system also includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receiving a plurality of accelerometer measurements from an accelerometer, the accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat; applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency; applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency; applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat; determining an absolute magnitude of the accelerometer measurement output; and selectively controlling the motor based on the absolute magnitude of the accelerometer measurement output.
Another aspect of the disclosed embodiments includes a method for eliminating seat vibration. The method comprises the following steps: receiving a plurality of accelerometer measurements from an accelerometer, the accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat; and applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements having a frequency above a first threshold frequency. The method further comprises the steps of: applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency; and applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat. The method further comprises the steps of: determining an absolute magnitude of the accelerometer measurement output; and selectively controlling the motor based on the absolute magnitude of the accelerometer measurement output.
Another aspect of the disclosed embodiments includes a vehicle seating apparatus. The apparatus includes a brushless servomotor in mechanical communication with a control arm that extends from a seat top plate to a base mounting plate. The device further includes a controller configured to: receiving a plurality of accelerometer measurements from an accelerometer, the accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat, the accelerometer being disposed on a base mounting plate of the seat; applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency; applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency; applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat; determining an absolute magnitude of the accelerometer measurement output; determining a scaling value corresponding to the absolute magnitude of the accelerometer measurement output and the predetermined range; identifying a speed damping value corresponding to the accelerometer measurement output; applying the scaling value to the speed damping value; and selectively controlling the motor based on the absolute magnitude of the accelerometer measurement output and the speed damping value.
These and other aspects of the disclosure are disclosed in the following detailed description of the embodiments, appended claims and drawings.
Drawings
The disclosure is best understood from the following detailed description when read with the accompanying drawing figures. It is emphasized that, according to common practice, the various features of the drawing are not to scale. On the contrary, the dimensions of the various features are arbitrarily expanded or reduced for clarity.
Fig. 1 generally illustrates a vibration canceling system according to the principles of the present disclosure.
Fig. 2 generally illustrates a vibration canceling controller system in accordance with the principles of the present disclosure.
Fig. 3 is a flow chart generally illustrating a seat vibration cancellation method according to the principles of the present disclosure.
Fig. 4 is a flow chart generally illustrating an alternative seat vibration cancellation method in accordance with the principles of the present disclosure.
Detailed Description
The following discussion is directed to various embodiments of the invention. Although one or more of these embodiments may be preferred, the embodiments disclosed should not be read as or otherwise used to limit the scope of the disclosure, including the claims. In addition, those skilled in the art will understand that the following description has broad application, and the discussion of any embodiment is meant only to be exemplary of that embodiment, and not intended to intimate that the scope of the disclosure, including the claims, is limited to that embodiment.
As described, vehicles, such as automobiles, trucks, sport utility vehicles, cross-country vehicles, minivans, ride-on industrial equipment (e.g., floor washers, floor sweepers, forklift trucks, commercial lawnmowers, etc.), boats, aircraft, helicopters, trucks, mining, agriculture, forestry, and/or other suitable vehicles, typically include seats for an operator to sit on while operating the vehicle. During operation of the vehicle, an operator may experience various vibrations while sitting on the seat due to various forces acting on the seat. For example, engine vibrations and various forces exerted on the vehicle (such as forces generated by various characteristics of the path the vehicle is traversing) may cause various vibrations to act on the vehicle's seat.
Typically, such vehicles include various pressure reducing components adapted to reduce pressure on the operator, which may allow the operator to operate the vehicle for a longer period of time, resulting in higher production output. The various pressure reducing components of the vehicle may include airbags, mechanical cushioning devices, and the like. The various pressure reducing components of the vehicle may be adapted to isolate the operator from various vibrations experienced while operating the vehicle. The pressure reducing component may provide comfort to the operator and may be an effective passive isolation of vibrations to the operator. However, such typical pressure reducing components do not provide active vibration cancellation and may increase the manufacturing costs of a typical vehicle.
Accordingly, systems and methods configured to provide both passive and active vibration cancellation, such as those described herein, may be desirable. The systems and methods described herein may be configured to sense a floor acceleration of a portion of a vehicle floor disposed near or below a seat. The systems and methods described herein may be configured to determine and provide a canceling force to a seat top plate of a seat to control movement of the seat prior to vibration and other forces acting on the seat.
In some embodiments, the systems and methods described herein may be configured to provide an operator interface. The operator interface may include a selectable switch (e.g., such as a three-position selector switch or other suitable selectable switch), a digital interface switch (e.g., such as on a display of a vehicle or other suitable display), or other suitable operator interface. In some embodiments, the systems and methods described herein may be configured to receive operator preferences from an operator interface (e.g., based on operator selections). The operator preference may indicate a preferred mode of operation. The operator modes may include comfort mode, general mode, steady mode, or other suitable modes. The systems and methods described herein may be configured to adjust the cancellation force provided to the seat top panel based on operator preferences (e.g., to provide ride stability selected by the operator).
In some embodiments, the systems and methods described herein may be configured to determine a motor position and a motor speed of a motor associated with a seat of a vehicle. The systems and methods described herein may be configured to determine an amount of torque to be applied to a seat top plate of a seat via a motor to reduce or eliminate severe mechanical stop shocks. Torque may be determined based on motor position and motor speed. For example, the amount of torque may include a sum of motor position and motor speed such that the amount of torque is transferred to the seat top plate via the motor to counteract an impact on the seat.
In some embodiments, the systems and methods described herein may be configured to receive a first accelerometer measurement from a first accelerometer. The systems and methods described herein may be configured to receive a second accelerometer measurement from a second accelerometer. The systems and methods described herein may be configured to determine an anti-torque value based on the first accelerometer measurement and the second accelerometer measurement. The systems and methods described herein may be configured to selectively control an electric motor using an anti-torque value.
In some embodiments of the systems and methods described herein, the motor may comprise a brushless servo motor or other suitable motor. In some embodiments of the systems and methods described herein, the first accelerometer is disposed on the seat top plate. In some embodiments of the systems and methods described herein, the second accelerometer is disposed on the base mounting plate. In some embodiments of the systems and methods described herein, the control arm is adapted to exert a force on the seat top plate that corresponds to the reactive torque value. In some embodiments, the systems and methods described herein may be configured to selectively adjust the reactive torque value based on operator preferences. In some embodiments of the systems and methods described herein, the operator preferences correspond to the desired ride patterns of the operator. In some embodiments, the systems and methods described herein may be configured to determine a motor position of a motor. In some embodiments, the systems and methods described herein may be configured to determine a motor speed of a motor. In some embodiments, the systems and methods described herein may be configured to selectively adjust the reactive torque value based on motor position and motor speed.
In some embodiments, the systems and methods described herein may be configured to cancel floor vibrations before the vibrations reach the vehicle operator. The systems and methods described herein may be configured to compensate for mechanical resonance of a vehicle seat. The systems and methods described herein may be configured to counteract instability by operating at a resonant frequency.
In some embodiments, the systems and methods described herein may be configured to receive a plurality of accelerometer measurements from an accelerometer, the accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat. The systems and methods described herein may be configured to apply a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency. In some embodiments, the first filter comprises a low pass filter. In some embodiments, the first threshold corresponds to a cutoff frequency of the first filter. The cutoff frequency may correspond to a result of a product of a resonance frequency of the vibration of the at least one component of the seat and a predetermined value. The predetermined value may include 3 or other suitable value.
In some embodiments, the systems and methods described herein may be configured to apply a second filter to the output of a first filter to remove accelerometer measurements having a frequency of the output of the first filter that is higher than a second threshold frequency. In some embodiments, the second filter comprises a low pass filter. In some embodiments, the second threshold corresponds to a cutoff frequency of the second filter. The cutoff frequency may correspond to a result of a product of a resonance frequency of vibration of the at least one component of the seat and a predetermined value. The predetermined value may include 2 or other suitable value. In some embodiments, the first filter and the second filter are configured in a cascade arrangement.
The systems and methods described herein may be configured to apply a third filter to an output of the second filter to generate an accelerometer measurement output having a center frequency that corresponds to a resonant frequency of vibration of the at least one component of the seat. In some embodiments, the third filter may comprise a narrow notch band pass filter. In some embodiments, the filter bandwidth of the third filter is less than a product of a resonant frequency of vibration of the at least one component of the seat and 0.1.
The systems and methods described herein may be configured to determine an absolute magnitude of accelerometer measurement output. In some embodiments, the systems and methods described herein may be configured to determine an absolute magnitude of an accelerometer measurement output by applying an averaging filter to the accelerometer measurement output. The systems and methods described herein may be configured to determine a scaling value corresponding to an absolute magnitude of accelerometer measurement output and a predetermined range. The predetermined range may include 0.0 to 1.0 or other suitable range.
In some embodiments, the systems and methods described herein may be configured to identify a speed damping value corresponding to an accelerometer measurement output. The systems and methods described herein may be configured to apply a scaling value to a speed damping value. The systems and methods described herein may be configured to selectively control the motor based on the absolute magnitude of the accelerometer measurement output and the speed damping value.
Fig. 1 generally illustrates a vibration canceling system 10 in accordance with the principles of the present disclosure. The system 10 may be associated with a seat. The seat and/or system 10 may be disposed within a vehicle such as those described herein. The system 10 may include a seat top plate 12 and a base mounting plate 14. The seat top panel 12 may be configured to engage a bottom or lower portion of the seat. The base mounting plate 14 may be configured to secure the system 10 and seat to a portion of the floor of a vehicle.
The system 10 may include a motor 16 disposed on the base mounting plate 14. It should be appreciated that the motor 16 may be disposed in any suitable location other than the base mounting plate 14. The motor 16 may comprise any suitable motor. For example, the motor 16 may include a brushless servomotor or other suitable motor. The system 10 includes a controller 18. The controller 18 may be configured to selectively control the motor 16. For example, the controller 18 may be configured to determine various torque values, as will be described. The controller 18 may use the determined torque value to control the motor 16. For example, the controller 18 may instruct the motor 16 to rotate at a speed corresponding to the determined torque value. The motor 16 may be moved in response to instructions from the controller 18.
The motor 16 may be in mechanical communication with a gearbox 20. The gearbox 20 may include any suitable gearbox, such as a worm gear or other suitable gearbox. When the motor 16 rotates in response to a command from the controller 18, gears within the gearbox 20 actuate. Gearbox 20 may include a plurality of gears having any suitable gear ratio. Gearbox 20 may be configured to reduce the rotational speed and increase the torque provided by motor 16. When the gears of the gearbox 20 are actuated, a link arm 22 connected to the gearbox 20 via a lever arm 24 moves, which may actuate a lifting mechanism 26.
The lift mechanism 26 may include one or more control arms 26'. In some embodiments, the control arm 26' may be arranged such that the lift mechanism 26 comprises a scissor lift mechanism, however the lift mechanism 26 may comprise any suitable lift mechanism. As the link arm 22 moves, the control arm 26' of the lift mechanism 26 exerts a force on the seat top plate 12. The force exerted by the control arm 26' of the lift mechanism 26 on the seat top 12 corresponds to the determined torque applied by the controller 18 to the motor 16.
In some embodiments, the system 10 includes an accelerometer 28 disposed on the seat top plate 12 and an accelerometer 30 disposed on the base mounting plate 14. Although only accelerometer 28 and accelerometer 30 are described, system 10 may include any suitable number of accelerometers, including fewer or more accelerometers or sensors than those described herein. The accelerometer 28 and accelerometer 30 may comprise any suitable accelerometer. The accelerometer 28 and accelerometer 30 may be configured to measure acceleration forces acting on the seat top plate 12 and the base mounting plate 14, respectively.
As depicted, the system 10 includes a controller 18. The controller 18 may include any suitable controller or processor, such as those described herein. As generally shown in fig. 2, the controller 18 may be configured to execute instructions stored on a memory, such as the memory 32. The memory 32 may include a single disk or multiple disks (e.g., hard drives) and include a storage management module that manages one or more partitions within the memory 32. In some embodiments, memory 32 may include flash memory, semiconductor (solid state) memory, and the like. The memory 32 may include Random Access Memory (RAM), read Only Memory (ROM), or a combination thereof.
The instructions stored on the memory 32, when executed by the controller 18, cause the controller 18 to at least control or eliminate the operator's perception of vibrations acting on the vehicle seat. For example, the controller 18 receives a first accelerometer measurement from the accelerometer 28 and a second accelerometer measurement from the accelerometer 30. Accelerometer measurements are indicative of the forces currently acting on the seat top plate 12 and the base mounting plate 14, respectively. The controller 18 may be configured to determine the reactive torque value based on the first accelerometer measurement and the second accelerometer measurement. The reactive torque value corresponds to a torque value that, when used by the controller 18 to control the motor 16, generates a force that is opposite in direction and of the same or substantially the same magnitude as the vibration acting on the seat top plate 12.
As described above, the controller 18 controls the motor 16 according to the reactive torque value. When the motor 16 rotates according to the reactive torque value, the gears of the gear box 20 are actuated, thereby moving the link arm 22. The control arm 26 'moves or actuates in response to movement of the link arm 22, which causes the lift mechanism 26 to apply a force opposite to the vibration acting on the seat top plate 12, which may reduce or eliminate the operator's perception of the vibration acting on the seat top plate 12.
In some embodiments, the controller 18 may determine the reactive torque value according to the following algorithm:
Where X is an input variable for each mathematical formula in the algorithm, such as an accelerometer measurement, and K is a unique calibratable tuning constant defined for the mathematical formula in the algorithm. In the above, each variable may be tunable and/or weighted. The controller 18 may determine the reactive torque value based on a sum of the first accelerometer measurement and the second accelerometer measurement.
In some embodiments, the controller 18 may be in communication with an operator interface 34. Operator interface 34 may include any suitable interface. For example, the operator interface 34 may include a selectable switch (e.g., such as a three-position selector switch or other suitable selectable switch), a digital interface switch (e.g., such as on a display of a vehicle, a mobile device display, or other suitable display), or other suitable operator interface. Controller 18 may be configured to receive operator preferences from operator interface 34. The operator preference may indicate a preferred mode of operation. For example, an operator of the vehicle may use the operator interface 34 to select a preferred or desired mode of operation. The operator modes may include comfort mode, general mode, steady mode, or other suitable modes. The controller 18 may selectively adjust the reactive torque value based on operator preferences. For example, the controller 18 may increase or decrease the reactive torque value based on the operator preference to provide more or less vibration cancellation (e.g., to provide a seating experience through vibration cancellation corresponding to the operator preference).
In some embodiments, the controller 18 may be configured to selectively adjust the reactive torque value based on the motor position and motor speed of the motor 16 in order to control or eliminate severe mechanical end stop impact on the seat (e.g., via the seat top panel 12). For example, the controller 18 may determine a motor position of the motor 16. The controller 18 may receive the motor position from a position sensor or other suitable sensor disposed proximate to the motor 16 and configured to determine the motor position of the motor 16. The controller 18 may determine the motor speed of the motor 16. For example, the controller 18 may receive the motor speed from a speed sensor or other suitable sensor disposed proximate to the motor 16 and configured to determine the motor speed of the motor 16.
In some embodiments, the controller 18 converts the motor position to a normalized seat displacement value corresponding to the displacement of the seat, the normalized seat displacement value ranging from-100% to +100%. The controller 18 determines the sum of the motor position and the motor speed. The controller 18 determines a torque value and/or selectively adjusts an anti-torque value based on a sum of the motor position and the motor speed. The controller 18 uses the determined torque value or the adjusted counter torque value to control the motor 16 to reduce or eliminate severe mechanical end stop impact on the seat top 12.
In some embodiments, the controller 18 continues to monitor accelerometer measurements, motor position, and/or motor speed in order to continuously reduce or eliminate the operator's perception of vibrations acting on the seat via the seat top panel 12.
In some embodiments, the controller 18 may be configured to cancel floor vibrations before the vibrations reach the vehicle operator. For example, the controller 18 may receive a plurality of accelerometer measurements associated with accelerations corresponding to vibrations of at least the base mounting plate 14 and/or any other suitable component of the seat from the accelerometer 30. It should be appreciated that although accelerometer 30 is described, controller 18 may receive a plurality of accelerometer measurements from any suitable accelerometer, such as accelerometer 28 or other suitable accelerometer. In some embodiments, the controller 18 may be configured to remove long-term offsets of components of vibration or acceleration corresponding to accelerometer measurements.
The controller 18 may be configured to remove the high frequency data and smooth out the data corresponding to the accelerometer measurements. For example, the controller 18 may apply a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency. In some embodiments, the first filter comprises a low pass filter or other suitable filter. The first threshold corresponds to a cutoff frequency of the first filter. The cutoff frequency may correspond to a result of a product of a resonant frequency of vibration of the at least one base mounting plate 14 and a predetermined value. The predetermined value may include 3 or other suitable value.
In some embodiments, the controller 18 may be configured to provide additional removal of high frequency data and further smooth out data corresponding to accelerometer measurements. For example, the controller 18 may apply a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency. The second filter may comprise a low pass filter or other suitable filter. The second threshold may correspond to a cut-off frequency of the second filter. The cutoff frequency may correspond to a result of a product of at least a resonant frequency of vibration of the base mounting plate 14 and a predetermined value. The predetermined value may include 2 or other suitable value. In some embodiments, the first filter and the second filter are configured in a cascaded arrangement, which may allow for increased frequency roll-off, thereby providing improved frequency isolation.
In some embodiments, the controller 18 may be configured to use the output of the second filter to isolate the input of the motor 16 near the resonant frequency of vibration of the base mounting plate 14. For example, the controller 18 may apply a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to the resonant frequency of vibration of the base mounting plate 14. The third filter may comprise a narrow notch band pass filter or other suitable filter. The third filter may include a filter bandwidth that is less than a product of a resonant frequency of vibration of the base mounting plate 14 and a predetermined value. The predetermined value may include 0.1 or other suitable value.
In some embodiments, the controller 18 may be configured to convert the accelerometer measurement output (which may include a waveform or other suitable output, for example) to an absolute magnitude using an accumulator or other suitable mechanism. For example, the controller 18 may determine the absolute magnitude of the accelerometer measurement output by applying an averaging filter to the accelerometer measurement output.
In some embodiments, the controller 18 may be configured to perform a gain unity restriction function on the absolute magnitude of the accelerometer measurement output. For example, the controller 18 may determine a scaling value corresponding to an absolute magnitude of the accelerometer measurement output and a predetermined range. For example, the controller 18 may scale and limit the absolute magnitude of the accelerometer measurement data to values within a predetermined range. The predetermined range may include 0.0 to 1.0 or other suitable range.
In some embodiments, the controller 18 may be configured to apply a scaling value to the tunable motor speed damping output. For example, the controller 18 may identify a speed damping value that corresponds to the accelerometer measurement output. The controller 18 may identify the speed damping value by retrieving the speed damping value from a lookup table, database, or other suitable location or source. The controller 18 may apply a scaling value to the speed damping value. The controller 18 may selectively control the motor 16 based on the absolute magnitude of the accelerometer measurement output and the speed damping value.
In some embodiments, the controller 18 may perform the methods described herein. However, the methods described herein as being performed by the controller 18 are not intended to be limiting, and any type of software executing on a controller may perform the methods described herein without departing from the scope of the present disclosure. For example, a controller (such as a processor executing software within a computing device) may perform the methods described herein.
Fig. 3 is a flow chart generally illustrating a vibration canceling method 300 in accordance with the principles of the present disclosure. At 302, the method 300 receives a first accelerometer measurement. For example, the controller 18 may receive a first accelerometer measurement from one of the accelerometer 28 and the accelerometer 30.
At 304, the method 300 receives a second accelerometer measurement. For example, the controller 18 may receive a second accelerometer measurement from the other of the accelerometer 28 and the accelerometer 30.
At 306, the method 300 determines an anti-torque value. For example, the controller 18 may determine the reactive torque value based on the first accelerometer measurement and the second accelerometer measurement. In some embodiments, the controller 18 determines the reactive torque value based on the motor position and motor speed of the motor 16. In some embodiments, the controller 18 may determine the reactive torque value based on the first accelerometer measurement and the second accelerometer measurement, and may adjust the reactive torque value based on the motor position and the motor speed. In some embodiments, as described, the controller 18 receives operator preferences. The controller 18 may adjust the reactive torque value or any determined torque value based on operator preferences.
At 308, method 300 controls the motor using the reactive torque value. For example, the controller 18 uses the reactive torque value to control the motor 16. When the motor 16 rotates in response to the reactive torque value, the gears of the gearbox 20 actuate, which drives the lever arm 24, thereby moving the link arm 22. Movement of the link arm 22 drives the lifting mechanism 26 which applies a force corresponding to the reaction torque value to the seat top plate 12. The force exerted on the seat top panel 12 may reduce or eliminate the operator's perception of vibrations acting on the seat.
Fig. 4 is a flow chart generally illustrating an alternative vibration canceling method 400 in accordance with the principles of the present disclosure. At 402, method 400 receives a plurality of accelerometer measurements from an accelerometer. For example, the controller 18 may receive a plurality of accelerometer measurements from the accelerometer 30 or other suitable accelerometer. The plurality of accelerometer measurements may be associated with accelerations corresponding to vibrations of the base mounting plate 14.
At 404, the method 400 applies a first filter to the plurality of accelerometer measurements. For example, the controller 18 may apply a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency.
At 406, the method 400 may apply a second filter to the output of the first filter. For example, the controller 18 may apply a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency.
At 408, the method 400 may apply a third filter to the output of the second filter to generate an accelerometer measurement output. For example, the controller 18 may apply a third filter to the output of the second filter to generate the accelerometer measurement output. The accelerometer measurement output may include a center frequency corresponding to a resonant frequency of vibration of the base mounting plate 14.
At 410, the method 400 determines an absolute magnitude of the accelerometer measurement output. For example, the controller 18 may determine an absolute magnitude of the accelerometer measurement output. The controller 18 may determine a scaling value corresponding to the absolute magnitude of the accelerometer measurement output and the predetermined range. The controller 18 may identify a speed damping value corresponding to the accelerometer measurement output. The controller 18 may apply a scaling value to the speed damping value.
At 412, the method 400 may control the motor based at least on the absolute magnitude of the accelerometer measurement output. For example, the controller 18 may selectively control the motor 16 based on the absolute magnitude of the accelerometer measurement output and the speed damping value.
In some embodiments, a system for eliminating seat vibration includes a motor in mechanical communication with a control arm. The system also includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receiving a first accelerometer measurement from a first accelerometer; receiving a second accelerometer measurement from a second accelerometer; determining an anti-torque value based on the first accelerometer measurement and the second accelerometer measurement; and selectively controlling the motor using the reactive torque value.
In some embodiments, the motor comprises a brushless servomotor. In some embodiments, the first accelerometer is disposed on the seat top plate. In some embodiments, the second accelerometer is disposed on the base mounting plate. In some embodiments, the control arm is adapted to exert a force on the seat top plate corresponding to the reaction torque value. In some embodiments, the instructions further cause the processor to selectively adjust the reactive torque value based on operator preferences. In some embodiments, the operator preference corresponds to a desired ride pattern of the operator. In some embodiments, the instructions further cause the processor to determine a motor position and a motor speed of the motor, and selectively adjust the reactive torque value based on the motor position and the motor speed.
In some embodiments, a method for canceling seat vibration includes receiving a first accelerometer measurement. The method also includes receiving a second accelerometer measurement. The method also includes determining a reactive torque value based on the first accelerometer measurement and the second accelerometer measurement. The method further includes selectively controlling the motor using the reactive torque value.
In some embodiments, the motor comprises a brushless servomotor. In some embodiments, the first accelerometer measurement corresponds to a seat top panel. In some embodiments, the second accelerometer measurement corresponds to a base mounting plate. In some embodiments, the method further comprises applying a force on the seat top panel corresponding to the reactive torque value. In some embodiments, the method further comprises selectively adjusting the reactive torque value based on operator preferences. In some embodiments, the operator preference corresponds to a desired ride pattern of the operator. In some embodiments, the method further includes determining a motor position and a motor speed of the motor, and selectively adjusting the reactive torque value based on the motor position and the motor speed.
In some embodiments, the vehicle seating apparatus includes a brushless servo motor and a controller. The brushless servo motor is in mechanical communication with a control arm that extends from the seat top plate to the base mounting plate. The controller is configured to: receiving a first accelerometer measurement from a first accelerometer disposed on the seat top panel; receiving a second accelerometer measurement from a second accelerometer disposed on the base mounting plate; determining an anti-torque value based on the first accelerometer measurement and the second accelerometer measurement; and selectively controlling the brushless servo motor using the control arm to apply a force corresponding to the reactive torque value to the seat top plate.
In some embodiments, the controller is further configured to selectively adjust the reactive torque value based on operator preferences. In some embodiments, the operator preference corresponds to a desired ride pattern of the operator. In some embodiments, the controller is further configured to determine a motor position and a motor speed of the brushless servo motor, and selectively adjust the reactive torque value based on the motor position and the motor speed.
In some embodiments, a system for eliminating seat vibration includes a motor in mechanical communication with a control arm. The system also includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receiving a plurality of accelerometer measurements from an accelerometer, the accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat; applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency; applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency; applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat; determining an absolute magnitude of the accelerometer measurement output; and selectively controlling the motor based on the absolute magnitude of the accelerometer measurement output.
In some embodiments, the first filter comprises a low pass filter, and wherein the first threshold corresponds to a cutoff frequency of the first filter, the cutoff frequency corresponding to a result of a product of a resonant frequency of vibration of the at least one component of the seat and a predetermined value. In some embodiments, the predetermined value is 3. In some embodiments, the second filter comprises a low pass filter, and wherein the second threshold corresponds to a cutoff frequency of the second filter, the cutoff frequency corresponding to a result of a product of a resonant frequency of vibration of the at least one component of the seat and a predetermined value. In some embodiments, the predetermined value is 2. In some embodiments, the first filter and the second filter are configured in a cascade arrangement. In some embodiments, the third filter comprises a narrow notch band pass filter. In some embodiments, the filter bandwidth of the third filter is less than a product of a resonant frequency of vibration of the at least one component of the seat and 0.1. In some embodiments, the instructions further cause the processor to determine an absolute magnitude of the accelerometer measurement output by applying an averaging filter to the accelerometer measurement output. In some embodiments, the instructions further cause the processor to: determining a scaling value corresponding to the absolute magnitude of the accelerometer measurement output and the predetermined range; identifying a speed damping value corresponding to the accelerometer measurement output; applying the scaling value to the speed damping value; and further selectively controlling the motor based on the speed damping value. In some embodiments, the predetermined range includes 0.0 to 1.0.
In some embodiments, a method for eliminating seat vibration includes: receiving a plurality of accelerometer measurements from an accelerometer, the accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat; and applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements having a frequency above a first threshold frequency. The method further comprises the steps of: applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency; and applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat. The method further comprises the steps of: determining an absolute magnitude of the accelerometer measurement output; and selectively controlling the motor based on the absolute magnitude of the accelerometer measurement output.
In some embodiments, the first filter comprises a low pass filter, and wherein the first threshold corresponds to a cutoff frequency of the first filter, the cutoff frequency corresponding to a result of a product of a resonant frequency of vibration of the at least one component of the seat and a predetermined value. In some embodiments, the predetermined value is 3. In some embodiments, the second filter comprises a low pass filter, and wherein the second threshold corresponds to a cutoff frequency of the second filter, the cutoff frequency corresponding to a result of a product of a resonant frequency of vibration of the at least one component of the seat and a predetermined value. In some embodiments, the predetermined value is 2. In some embodiments, the first filter and the second filter are configured in a cascade arrangement. In some embodiments, the third filter comprises a narrow notch band pass filter. In some embodiments, the filter bandwidth of the third filter is less than a product of a resonant frequency of vibration of the at least one component of the seat and 0.1.
In some embodiments, a vehicle seating apparatus includes a brushless servomotor in mechanical communication with a control arm extending from a seat top plate to a base mounting plate. The device further includes a controller configured to: receiving a plurality of accelerometer measurements from an accelerometer, the accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat, the accelerometer being disposed on a base mounting plate of the seat; applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency; applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency; applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat; determining an absolute magnitude of the accelerometer measurement output; determining a scaling value corresponding to the absolute magnitude of the accelerometer measurement output and the predetermined range; identifying a speed damping value corresponding to the accelerometer measurement output; applying the scaling value to the speed damping value; and selectively controlling the motor based on the absolute magnitude of the accelerometer measurement output and the speed damping value.
The above discussion is meant to be illustrative of the principles and various embodiments of the present invention. Numerous variations and modifications will become apparent to those skilled in the art once the above disclosure is fully appreciated. It is to be understood that the following claims are intended to embrace all such variations and modifications.
The term "example" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other aspects or designs. Rather, the use of the term "example" is intended to present concepts in a concrete fashion. The term "or" as used in this disclosure is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise or clear from context, "X includes a or B" is intended to mean any of the natural inclusive permutations. That is, if X includes A; x comprises B; or X includes A and B, then "X includes A or B" is satisfied under any of the above conditions. In addition, the articles "a" and "an" as used in the present application and the appended claims should generally be construed to mean "one or more" unless specified otherwise or clear from context to be directed to a singular form. Furthermore, the use of the terms "one embodiment" or "an embodiment" throughout are not intended to denote the same example or embodiment unless so described.
The systems, algorithms, methods, instructions, etc. described herein may be implemented in hardware, software, or any combination thereof. The hardware may include, for example, a computer, an Intellectual Property (IP) core, an Application Specific Integrated Circuit (ASIC), a programmable logic array, an optical processor, a programmable logic controller, microcode, a microcontroller, a server, a microprocessor, a digital signal processor, or any other suitable circuit. In the claims, the term "processor" should be understood to include any of the foregoing hardware, alone or in combination. The terms "signal" and "data" may be used interchangeably.
As used herein, the term module may include packaged-function hardware units designed for use with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), processing circuitry configured to perform specific functions, and stand-alone hardware or software components interfacing with a larger system. For example, a module may include an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, gates, and other types of hardware, or a combination thereof. In other embodiments, a module may include a memory storing instructions executable by the controller to implement features of the module.
Furthermore, in one aspect, for example, the systems described herein may be implemented using a general-purpose computer or general-purpose processor with a computer program that, when executed, implements any of the corresponding methods, algorithms, and/or instructions described herein. Additionally or alternatively, for example, a special purpose computer/processor may be utilized that may contain other hardware for carrying out any of the methods, algorithms, or instructions described herein.
Furthermore, all or part of the embodiments of the present disclosure may take the form of a computer program product accessible from, for example, a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be any apparatus that can, for example, tangibly contain, store, communicate, or transport the program for use by or in connection with any processor. The medium may be, for example, an electronic, magnetic, optical, electromagnetic or semiconductor device. Other suitable media are also available.
The foregoing examples, implementations and aspects have been described in order to allow easy understanding of the present disclosure and are not limiting of the present disclosure. On the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which scope is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures as is permitted under the law.

Claims (20)

1. A system for eliminating seat vibration, the system comprising:
a motor in mechanical communication with the control arm;
A processor; and
A memory comprising instructions that when executed by the processor cause the processor to:
receiving a plurality of accelerometer measurements from an accelerometer, the plurality of accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat;
applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency;
Applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency;
applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat;
determining an absolute magnitude of the accelerometer measurement output; and
The motor is selectively controlled based on an absolute magnitude of the accelerometer measurement output.
2. The system of claim 1, wherein the first filter comprises a low pass filter, and wherein the first threshold frequency corresponds to a cutoff frequency of the first filter, the cutoff frequency corresponding to a result of a product of a resonant frequency of vibration of the at least one component of the seat and a predetermined value.
3. The system of claim 2, wherein the predetermined value is 3.
4. The system of claim 1, wherein the second filter comprises a low pass filter, and wherein the second threshold frequency corresponds to a cutoff frequency of the second filter, the cutoff frequency corresponding to a result of a product of a resonant frequency of vibration of the at least one component of the seat and a predetermined value.
5. The system of claim 4, wherein the predetermined value is 2.
6. The system of claim 1, wherein the first filter and the second filter are configured in a cascade arrangement.
7. The system of claim 1, wherein the third filter comprises a narrow notch band pass filter.
8. The system of claim 7, wherein a filter bandwidth of the third filter is less than a product of a resonant frequency of vibration of the at least one component of the seat and 0.1.
9. The system of claim 1, wherein the instructions further cause the processor to: an absolute magnitude of the accelerometer measurement output is determined by applying an averaging filter to the accelerometer measurement output.
10. The system of claim 1, wherein the instructions further cause the processor to:
determining a scaling value corresponding to the absolute magnitude of the accelerometer measurement output and a predetermined range;
identifying a speed damping value corresponding to the accelerometer measurement output;
Applying the scaled value to the speed damping value; and
The motor is further selectively controlled based on the speed damping value.
11. The system of claim 10, wherein the predetermined range comprises 0.0 to 1.0.
12. A method for eliminating seat vibration, the method comprising:
receiving a plurality of accelerometer measurements from an accelerometer, the accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of the seat;
applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency;
Applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency;
applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat;
determining an absolute magnitude of the accelerometer measurement output; and
The motor is selectively controlled based on the absolute magnitude of the accelerometer measurement output.
13. The method of claim 12, wherein the first filter comprises a low pass filter, and wherein the first threshold frequency corresponds to a cutoff frequency of the first filter, the cutoff frequency corresponding to a result of a product of a resonant frequency of vibration of the at least one component of the seat and a predetermined value.
14. The method of claim 13, wherein the predetermined value is 3.
15. The method of claim 12, wherein the second filter comprises a low pass filter, and wherein the second threshold frequency corresponds to a cutoff frequency of the second filter, the cutoff frequency corresponding to a result of a product of a resonant frequency of vibration of the at least one component of the seat and a predetermined value.
16. The method of claim 15, wherein the predetermined value is 2.
17. The method of claim 12, wherein the first filter and the second filter are configured in a cascade arrangement.
18. The method of claim 12, wherein the third filter comprises a narrow notch band pass filter.
19. The method of claim 18, wherein a filter bandwidth of the third filter is less than a product of a resonant frequency of vibration of the at least one component of the seat and 0.1.
20. A vehicle seating apparatus comprising:
A brushless servo motor in mechanical communication with a control arm extending from the seat top plate to the base mounting plate;
a controller configured to:
Receiving a plurality of accelerometer measurements from an accelerometer, the plurality of accelerometer measurements being associated with an acceleration corresponding to vibration of at least one component of a seat, the accelerometer being disposed on the base mounting plate of the seat;
applying a first filter to the plurality of accelerometer measurements to remove accelerometer measurements of the plurality of accelerometer measurements that have a frequency above a first threshold frequency;
Applying a second filter to the output of the first filter to remove accelerometer measurements having frequencies of the output of the first filter above a second threshold frequency;
applying a third filter to the output of the second filter to generate an accelerometer measurement output having a center frequency corresponding to a resonant frequency of vibration of the at least one component of the seat;
determining an absolute magnitude of the accelerometer measurement output;
determining a scaling value corresponding to the absolute magnitude of the accelerometer measurement output and a predetermined range;
identifying a speed damping value corresponding to the accelerometer measurement output;
Applying the scaled value to the speed damping value; and
The motor is selectively controlled based on the absolute magnitude of the accelerometer measurement output and the speed damping value.
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