Patent ID: 7270335

Claim:
A method of controlling an electric motor of an electromagnetic suspension apparatus for an automotive vehicle employing a motor-driven electromagnetic actuator interleaved between a sprung mass and an unsprung mass and arranged in parallel with a suspension spring element, and a motor controller that calculates a displacement input transmitted to the electromagnetic actuator and controls the motor to bring a suspension damping force closer to a desired damping force suited for the displacement input, the method comprising: controlling a driving state of the motor, while compensating for an internal inertia force of the electromagnetic actuator, wherein a driving current value of the motor is controlled based on the internal inertia force and an external inertia force exerted on the vehicle owing to a reaction torque based on a motor rotation angle of a motor rotor of the motor, a dampening torque based on a motor angular velocity of the motor rotor of the motor, and a vehicle-body-inertia compensating torque based on a motor angular acceleration of the motor rotor, to control the driving state of the motor, while compensating for the internal inertia force of the electromagnetic actuator.