PATENT DOCUMENT

Publication Number: US-10759246-B1
Application Number: US-201815907386-A
Country: US
Kind Code: B1

Title: Active suspension system with electropermanent magnets

Abstract:
A stability control system that detects a change in a vehicle operating characteristic and sends a stabilizing command to an actuator system based on identifying the change is described. The actuator system applies a first magnetic field having a predetermined strength to an electropermanent magnet for a predetermined duration based on receiving the stabilizing command. The first magnetic field transitions the electropermanent magnet from a first state to a second state. The electropermanent magnet generates a second magnetic field in the second state. The second magnetic field modifies at least one of a spring constant or a mechanical resistance of a suspension component within a suspension system of the vehicle, and the electropermanent magnet retains the second state after the predetermined duration in absence of the first magnetic field.

Claims:
What is claimed is: 
     
       1. A method of stabilizing a vehicle, comprising:
 identifying, by a control system, a change in a vehicle operating characteristic; 
 outputting, by the control system, a stabilizing command to an actuator system based on identifying the change in the vehicle operating characteristic; and 
 applying, by the actuator system, a first magnetic field having a predetermined strength to an electropermanent magnet for a predetermined duration based on receiving the stabilizing command, wherein:
 the first magnetic field transitions the electropermanent magnet from a first state to a second state, 
 the electropermanent magnet does not generate a magnetic field in the first state, 
 the electropermanent magnet generates a second magnetic field in the second state, 
 the second magnetic field modifies at least one of a spring constant or a mechanical resistance of a suspension component within a suspension system of the vehicle, and 
 the electropermanent magnet retains the second state after the predetermined duration in absence of the first magnetic field. 
 
 
     
     
       2. The method of  claim 1 , wherein the change in the vehicle operating characteristic is a reduction in wheel speeds to a level that indicates a lack of an external harmonic or oscillatory input to the vehicle. 
     
     
       3. The method of  claim 2 , further comprising:
 based on the second magnetic field modifying the spring constant to lock a position of a movable portion of the suspension component, changing, by the actuator system, a magnitude of a third magnetic field acting upon an electromagnet within the suspension component. 
 
     
     
       4. The method of  claim 1 , wherein the change in the vehicle operating characteristic is an increase or a decrease in an external harmonic or oscillatory input to the vehicle consistent with a change in ride characteristics of the vehicle. 
     
     
       5. The method of  claim 4 , wherein the predetermined strength of the first magnetic field is based on a magnitude of the change in the vehicle operating characteristic. 
     
     
       6. The method of  claim 1 , wherein the predetermined duration of the first magnetic field is based on an amount of energy required to transition the electropermanent magnet from the first state to the second state. 
     
     
       7. The method of  claim 1 , wherein a strength of the second magnetic field is based on the predetermined strength and the predetermined duration of the first magnetic field. 
     
     
       8. A suspension component for an active suspension system, comprising:
 a first component that includes an electropermanent magnet, the electropermanent magnet having a first state and a second state; 
 a second component that includes a permanent magnet that magnetically interacts with the first component, wherein the magnetic interaction between the first component and the second component defines a damping characteristic that affects relative motion of the first component and the second component; and 
 a controller that is operable to supply a current pulse to the electropermanent magnet to switch an active state of the electropermanent magnet between the first state and the second state, wherein the electropermanent magnet retains the active state after cessation of the current pulse. 
 
     
     
       9. The suspension component of  claim 8 , wherein the electropermanent magnet includes a first permanent magnet material, a second permanent magnet material that is different from the first permanent magnet material, and a coil. 
     
     
       10. The suspension component of  claim 9 , wherein the first permanent magnet material has a larger magnetic coercivity than the second permanent magnet material. 
     
     
       11. The suspension component of  claim 10 , wherein the current pulse changes a magnetic polarity of the second permanent magnet material to switch the active state of the electropermanent magnet between the first state and the second state. 
     
     
       12. The suspension component of  claim 9 , wherein the current pulse from the controller is applied to the coil of the electropermanent magnet. 
     
     
       13. The suspension component of  claim 12 , wherein application of the current pulse to the coil generates a magnetic field that causes the electropermanent magnet to switch the active state between the first state and the second state. 
     
     
       14. The suspension component of  claim 8 , wherein the electropermanent magnet does not generate a magnetic field in the first state and the electropermanent magnet generates a magnetic field in the second state. 
     
     
       15. The suspension component of  claim 8 , wherein the controller supplies the current pulse in response to detection of a change in a vehicle operating characteristic, and wherein the electropermanent magnet modifies at least one of a spring constant or a mechanical resistance of the suspension component in the active state. 
     
     
       16. A suspension component, comprising:
 a first component that includes a first magnetic section that includes an electropermanent magnet and a second magnetic section that includes an electromagnet; 
 a second component that includes an alternating polarity permanent magnet having sections that alternate in polarity along an axial length of the second component, wherein magnetic interaction of the alternating polarity permanent magnet with the first magnetic section and the second magnetic section affects relative motion of the first component and the second component; and 
 a controller that is operable to supply a current pulse to the electropermanent magnet of the first magnetic section to switch an active state of the electropermanent magnet between a first state and a second state, 
 wherein the second component is locked relative to the first component when the active state of the electropermanent magnet is the first state, 
 wherein the controller supplies the current pulse in response to detection of a change in a vehicle operating characteristic, and 
 wherein the electropermanent magnet retains the active state after cessation of the current pulse. 
 
     
     
       17. The suspension component of  claim 16 , wherein the second component is not locked relative to the first component when the active state of the electropermanent magnet is the second state. 
     
     
       18. The suspension component of  claim 16 , wherein:
 the electropermanent magnet includes a first permanent magnet material, a second permanent magnet material that is different from the first permanent magnet material, and a coil, 
 the first permanent magnet material has a larger magnetic coercivity than the second permanent magnet material, and 
 the current pulse is applied to the coil of the electropermanent magnet, and application of the current pulse to the coil generates a magnetic field that causes the electropermanent magnet to switch the active state between the first state and the second state by changing a magnetic polarity of the second permanent magnet material. 
 
     
     
       19. The suspension component of  claim 15 , wherein the change in the vehicle operating characteristic is a reduction in wheel speeds to a level that indicates a lack of an external harmonic or oscillatory input to the vehicle. 
     
     
       20. The suspension component of  claim 15 , wherein the change in the vehicle operating characteristic is an increase or a decrease in an external harmonic or oscillatory input to the vehicle consistent with a change in ride characteristics of the vehicle.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of U.S. Provisional Application No. 62/468,515, filed on Mar. 8, 2017, entitled “Active Suspension System with Electropermanent Magnets,” the content of which is incorporated herein by reference in its entirety for all purposes. 
    
    
     TECHNICAL FIELD 
     The application relates generally to active suspension systems and more particularly to active suspension systems using electropermanent magnets. 
     BACKGROUND 
     Vehicle suspension systems are designed to provide vehicle stability, that is, the ability of a vehicle to maintain its intended course, while at the same time isolating the vehicle body from changes in a driving surface that impact passenger ride feel and passenger comfort. For a smooth ride, a suspension system with tunable springs and dampers allows adjustment to the characteristics of the driving surface. Traditional forms of an active suspension can provide a smooth rider on a variety of driving surfaces, but some topologies require a large, constant current draw to maintain suspension height. An active suspension system that performs well without requiring a large, constant current draw would expend less energy and maintain or improve ride feel and comfort for passengers over traditional active suspension systems. 
     SUMMARY 
     One aspect of the disclosure is a method of stabilizing a vehicle. The method includes identifying, by a control system, a change in a vehicle operating characteristic; outputting, by the control system, a stabilizing command to an actuator system based on identifying the change in the vehicle operating characteristic; and applying, by the actuator system, a first magnetic field having a predetermined strength to an electropermanent magnet for a predetermined duration based on receiving the stabilizing command. The first magnetic field transitions the electropermanent magnet from a first state to a second state, the electropermanent magnet generates a second magnetic field in the second state, the second magnetic field modifies at least one of a spring constant or a mechanical resistance of a suspension component within a suspension system of the vehicle, and the electropermanent magnet retains the second state after the predetermined duration in absence of the first magnetic field. 
     Another aspect of the disclosure is a suspension component for an active suspension system. The suspension component includes a first component that includes an electropermanent magnet, the electropermanent magnet having a first state and a second state, and a second component, wherein magnetic interaction between the first component and the second component defines a damping characteristic that affects relative motion of the first component and the second component. A controller is operable to supply a current pulse to the electropermanent magnet to switch an active state of the electropermanent magnet between the first state and the second state, wherein the electropermanent magnet retains the active state after cessation of the current pulse. 
     Another aspect of the disclosure is a suspension component. The suspension component includes a first component that includes a first magnetic section that includes an electropermanent magnet and a second magnetic section that includes an electromagnet, and a second component that includes an alternating polarity permanent magnet having sections of that alternate in polarity along an axial length of the second component. Magnetic interaction of the alternating polarity permanent magnet with the first magnetic section and the second magnetic section affects relative motion of the first component and the second component. A controller is operable to supply a current pulse to the electropermanent magnet of the first magnetic section to switch an active state of the electropermanent magnet between a first state and a second state, wherein the electropermanent magnet retains the active state after cessation of the current pulse. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustration showing a vehicle. 
         FIG. 2  is an illustration showing a vehicle control system. 
         FIG. 3  is an ideal mass-spring-damper system. 
         FIG. 4  is an illustration of an electropermanent magnet. 
         FIG. 5  is a plot of magnetic flux density v. magnetic field intensity for the electropermanent magnet of  FIG. 4 . 
         FIG. 6  is a cross-section of a damper for use in an active suspension system. 
         FIG. 7  is a cross-section of a spring for use in an active suspension system. 
         FIG. 8  is a cross-section of another spring for use in an active suspension system. 
         FIG. 9  is a flowchart describing a method of vehicle stabilization using an active suspension system. 
         FIG. 10  is a hardware configuration for a controller device. 
     
    
    
     DETAILED DESCRIPTION 
     Improvements to active suspension systems that reduce energy usage by leveraging electropermanent (EP) magnets or other variable flux magnets are described herein. 
       FIG. 1  shows a vehicle  100  that has a vehicle body  102 . The vehicle body  102  may include internal structural portions and external portions that are aesthetic and/or structural in nature. As examples, the vehicle body  102  may include one or more of a unibody, a frame, a subframe, a monocoque, and body panels. 
     The vehicle  100  includes road wheels  104 . Four of the road wheels  104  are included in the illustrated example, but other implementations are possible. The road wheels  104  contact the surface on which the vehicle  100  is travelling, and the characteristics of the road wheels  104  are responsible, in part, for the amount of friction available. The road wheels  104  may include tires, such as conventional pneumatic tires formed in part from synthetic rubber, or may include other friction-enhancing structures. 
     The vehicle  100  includes suspension components  106 . The suspension components  106  typically include numerous individual components, many of which are associated with one or more of the road wheels  104 . The suspension components  106  may include components that are operable to control characteristics of the motion of the road wheels  104  relative to the vehicle body  102 , such as shocks, struts, springs, dampers, and sway bars. The suspension components  106  may include either or both of non-adjustable passive components or adjustable active components that allow modification of suspension characteristics during operation of the vehicle  100 . The suspension components  106  may include sensors that output signals indicative of the operating characteristics of some or all of the suspension components  106  at a given time. The suspension components  106  may also include actuators that are able to cause modification of operating characteristics of the suspension components  106  in response to control signals. 
     The vehicle  100  includes steering components  108 . The steering components  108  are operable to modify a steering angle of some or all of the road wheels  104  relative to the vehicle body  102 . As one example, the steering components  108  may be or include a conventional rack and pinion arrangement. In some examples, the steering components  108  are operable to control the steering angles of the road wheels  104  independently. The steering components  108  may include one or more sensors to output signals indicative of the steering angles of the road wheels  104 . The steering components  108  may include actuators operable to cause adjustment of the steering angles of the road wheels  104  in response to control signals. 
     The vehicle  100  includes braking components  110 . The braking components  110  include components that are operable to slow the speeds of the road wheels  104 , such as conventional disk brakes. Other types of components may be utilized to slow the speeds of the road wheels. The braking components  110  also include components that cause and control application of braking forces. These components may include, as examples, a brake control module, a master cylinder, and a brake booster. The braking components  110  may be operable to apply braking to each of the road wheels  104  individually. The braking components  110  may include sensors that output signals that are indicative of the current operating characteristics of the braking components  110 . The braking components  110  may also include actuators that are operable to cause and control application of braking forces in response to control signals. 
     The vehicle  100  includes propulsion components  112 . The propulsion components  112  may be referred to as a powertrain. The propulsion components  112  include a prime mover that is operable to convert stored energy into driving force and components that are operable to supply this force to some or all of the road wheels  104  in order to propel the vehicle  100 . As one example, the propulsion components  112  may include an internal combustion engine that burns liquid fuel. As another example, the propulsion components  112  may include an electric motor that utilizes electrical energy that is stored in batteries or supplied by a generator. 
     The vehicle  100  includes an electronic control unit  114 . Although a single electronic control unit  114  is shown, the same functions may be implemented using multiple electronic control units, such as individual electronic control units associated with each of the various components of the vehicle  100 . The electronic control unit  114  may be in electrical communication with components including the suspension components  106 , the steering components  108 , the braking components  110 , and the propulsion components  112  to transmit commands to the components and/or to receive information from the components. The electronic control unit  114  may include a memory and a processor that is operable to execute instructions that are stored in the memory in order to perform operations as will be described herein. 
     The vehicle  100  includes sensors  116  that are in communication with the electronic control unit  114 . The sensors  116  monitor and report information regarding operating characteristics of the vehicle  100 . Some of the sensors  116  may be incorporated in the suspension components  106 , the steering components  108 , the braking components  110 , and the propulsion components  112 . 
       FIG. 2  shows a control system  218  that may be implemented in the vehicle  100 . The functions of the control system  218  may be implemented using a controller  220  that includes a memory and a processor that is operable to execute instructions that are stored in the memory, such as the electronic control unit  114  of  FIG. 1 . The controller  220  is responsible for implementing vehicle responses based, for example, on decision-making algorithms in an autonomous system and/or on driver inputs to the vehicle  100 . 
     For example, the controller  220  can receive information from the sensors  116  and make decisions regarding operation of the vehicle  100 . Information received from the sensors  116  may include information representing the roadway on which the vehicle  100  is travelling including objects and obstacles on the roadway. This information may identify terrain type of the environment, lane and roadway boundaries, or may be usable to allow identification of terrain type and roadway and lane boundaries. The information received from the sensors  116  may also include information regarding a current operating characteristic or condition of the vehicle  100 . As an example, this information may include spring constants, mechanical resistance, and/or other damping characteristics for some of the suspension components  106 . As another example, this information may include slip angle, friction, and wheel speeds for each of the road wheels  104  of the vehicle  100 . 
     Decision making algorithms may include, for example, modifying operating characteristics of various components of the vehicle  100  based on the information received from the sensors  116 . As an example, if a terrain change is detected ahead of the vehicle  100 , the controller  220  may send commands to an actuator system  222  to change performance and/or properties of various actuated components to better provide comfort to the passengers within the vehicle  100  while the vehicle  100  traverses the changed terrain. 
     The actuator system  222  may incorporate systems that directly modify operating characteristics of the vehicle  100 . The components of the actuator system  222  may be controlled by commands received from the controller  220 . In the illustrated example, the actuator system  222  includes a suspension system  224 , a steering system  226 , a propulsion system  228 , and a braking system  230 , though other systems are possible. 
     The suspension system  224  is operable to exercise control over, coordinate operation of, and receive information from the suspension components  106 . The steering system  226  is operable to exercise control over, coordinate operation of, and receive information from the steering components  108 . The propulsion system  228  is operable to exercise control over, coordinate operation of, and receive information from the propulsion components  112 . The braking system  230  is operable to exercise control over, coordinate operation of, and receive information from the braking components  110 . The suspension system  224 , the steering system  226 , the propulsion system  228 , and the braking system  230  may each respond to and execute commands received from the controller  220  and may each transmit information to the controller  220 , such as information received from the sensors  116 . 
     For example, the controller  220  may send commands to the actuator system  222  to change spring constants for at least some of the suspension components  106  within the suspension system  224  in a manner that changes a ride feel or stiffness of the vehicle  100 . Changing spring constants or mechanical resistance (collectively referred to as “damping characteristics”) can decrease movement of the vehicle  100  based on harmonic or oscillatory inputs to the vehicle  100  as captured by the sensors  116 . Changing spring constants or mechanical resistance can also occur in response to driver inputs, for example, to change ride feel. In another example, the controller  220  may send commands to the actuator system  222  to improve lateral stability, yaw stability, and/or roll stability by modifying some of the steering components  108  within the steering system  226 . In another example, the actuator system  222  may control some of the braking components  110  in the braking system  230  to apply the brakes. 
       FIG. 3  is an ideal mass-spring-damper system  336  used to describe harmonic motion. An idealized vehicle  338  can have a mass m. An idealized spring  340  can have a spring constant k. An idealized damper  342  can have a mechanical resistance c. The spring  340  and the damper  342  can represent one or more components within a suspension system of the vehicle  338  that minimize oscillatory input from a ground surface to the vehicle  338 . Movement of the vehicle  338 , the spring  340 , and the damper  342  occurs in a single direction indicated by x in this ideal system  336 . 
     Movement, or changes in x, are driven by forces acting upon the vehicle  338  under Newton&#39;s Law (F v ), Hooke&#39;s Law (F s ), and a general theory of mechanical resistance or damping (F d ) per the equation: F v +F s +F d =0. In this example, 
                 F   v     =     m   ⁢         d   2     ⁢   x       d   ⁢     t   2             ,       F   s     =   kx     ,       and   ⁢           ⁢     F   d       =     c   ⁢         d   ⁢   x       d   ⁢   t       .               
In other words, harmonic motion experienced by the vehicle  338  having the mass m will be based on the spring constant k of the spring  340  and the mechanical resistance c of the damper  342 . Hence, changes to these values will change motion of the vehicle  338  in a manner that modifies ride feel.
 
       FIG. 4  is an illustration of an electropermanent (EP) magnet. The EP magnet can include a pair of rods  444 ,  446  formed of different permanent magnet materials that are capped with soft-metal poles  448 ,  450 , wrapped with a coil  452 , and situated proximate to a ferromagnetic object  454 . One of the rods  444  can be formed of a hard magnetic material, such as a combination of Neodymium, Iron, Boron (e.g., Nd 2 Fe 14 B or NdFeB), and the other of the rods  446  can be formed of a semi-hard magnetic material, such as Alnico V. 
     As shown on the left side of  FIG. 4 , sending a current pulse through the coil  452  in the negative direction switches the polarization of the rod  446  of semi-hard magnetic material so it is opposite of the polarization of the rod  444  of hard magnetic material. The polarization of the rod  444  of hard magnetic material is unchanged because it has a larger magnetic coercivity than the rod  446  of semi-hard magnetic material. With the rods  444 ,  446  having opposite polarization, magnetic flux circulates along the rods  444 ,  446  but does not leave the soft-metal poles  448 ,  450 , and thus, does not exert force on the ferromagnetic object  454 . This flux pattern continues after the current in the coil  452  is returned to zero. This is consistent with an “off” state of the EP magnet. 
     As shown on the right side of  FIG. 4 , sending a current pulse through the coil  452  in the positive direction switches the polarization of the rod  446  of semi-hard magnetic material so it is aligned with the polarization of the rod  444  of hard magnetic material. In this state, magnetic flux from both of the rods  444 ,  446  flows through the soft-metal poles  448 ,  450  and to the ferromagnetic object  454 , attracting it. The attraction continues after the current in the coil  452  is set to zero. This is consistent with an “on” state of the EP magnet. No power is required to maintain the respective external magnetic fields in either the “off” state or the “on” state. 
     The current pulses that change the state of the EP magnet between the “off” state and the “on” state may be described as momentary current pulses. Although these current pulses are momentary (i.e., current is supplied for a finite duration), the effect of the current pulse on the state of the EP magnet is not dependent on its continued application, and the state changes between the “off” state and the “on” state remain indefinitely after cessation of the current pulse. Thus, supply of a current pulse to the EP magnet is operable to switch an active state of the EP magnet between a first state (e.g., the “off” state) and a second state (e.g., the “on” state), and the EP magnet retains the active state after cessation of the current pulse. The only power required is that to do mechanical work or to change between the states of the EP magnet as described further in respect to  FIG. 5 . 
       FIG. 5  is a plot of magnetic flux density (B) v. magnetic field intensity (H) for the EP magnet of  FIG. 4 . The plot shown is a combination of B/H plots for the semi-hard magnetic material Alnico V and the hard magnetic material NdFeB. As described in reference to  FIG. 4 , passing a current through the coil  452  imposes a magnetic field (H) across the rods  444 ,  446 . The resulting magnetic flux density (B) passes through the air gap between the modules giving rise to an attractive force. While a positive current is flowing through the coil  452 , it induces a positive magnetic field intensity (H) indicated by the point  556 . When the positive current is removed, the magnetic field intensity (H) softens to zero as shown by the point  558 , and only a positive magnetic flux density (B) remains. Again, this is the “on” state of the EP magnet. 
     When the system has the “on” state as shown by the point  558 , passing a negative current through the coil  452  induces a negative magnetic field intensity (−H) as indicated by the point  560 . When the negative current is removed, the magnetic field intensity (−H) softens to zero as shown by the point  562 , and zero or no positive magnetic flux density (B) remains. Again, this is the “off” state of the EP magnet. The process can be repeated to move the EP magnet between the “off” state and the “on” state. 
     The energy required to switch between the “off” state and the “on” state for an EP magnet scales with volume. Though the instantaneous power draw to send positive or negative current through the coil  452  for the EP magnet is higher than for an equivalently sized electromagnet, the time to make the switch is very short. EP magnets can thus result in energy savings if switching occurs somewhat infrequently as would be the case when using an EP magnet as part of one of the suspension components  106  in the suspension system  224 . Note, though EP magnets are specifically discussed throughout this specification, any other type of variable flux magnet may be used as well. A variable flux magnet is a magnet that allows tuning of the relative strength of the magnetic flux density (B) being produced by the variable flux magnet. 
       FIG. 6  is a cross-sectional view of a damper  664  for use in an active suspension system, such as the suspension system  224  described in respect to  FIG. 2 . The damper  664  includes a static component  666  and a moving component  668 . The static component  666  includes an EP magnet formed of a pair of rods  644 ,  646  of different permanent magnet materials surrounded or wrapped by a coil  652 . The rods  644 ,  646  and the coil  652  can be situated generally adjacent to the moving component  668 . One of the rods  644  can be formed of a hard magnetic material, such as NdFeB, and the other of the rods  646  can be formed of a semi-hard magnetic material, such as Alnico V. The moving component  668  can be formed of a solid ferromagnetic material or include fluids saturated with magnetic materials. 
     A mechanical resistance of the damper  664  can be modified by changing a state of the EP magnet from a first state (e.g., an “off” state) to a second state (e.g., an “on” state). This change in state of the EP magnet can be driven, for example, by the controller  220  detecting a change in a vehicle operating characteristic. For example, the sensors  116  may provide information to the controller  220  that indicates the vehicle  100  is experiencing an increase or decrease in harmonic or oscillatory input from a driving surface consistent with a change in ride characteristics of the vehicle. 
     Upon detecting the change in the vehicle operating characteristic, the controller  220  can send a command to the actuator system  222  to pass a current through the coil  652  that will impose a first magnetic field across the rods  644 ,  646 . The first magnetic field can have a predetermined magnetic field intensity or predetermined strength based, for example, on a magnitude of the change in the vehicle operating characteristic. The first magnetic field can be applied for a predetermined duration sufficient to transition the EP magnet from a first state (e.g., either an “on” state or an “off” state) to a second state (e.g., the other of the “on” state or the “off” state). In other words, the predetermined duration of the application of the first magnetic field can be based on the amount of energy required to transition the EP magnet from the first state to the second state. The predetermined strength of the magnetic field can dictate a magnitude of the modification of the mechanical resistance of the damper  664 . On some terrains, more or less dampening will be desirable to provide an adequate ride feel for passenger comfort. The changes between states of the EP magnet can be implemented quickly such that an active suspension adequately responds to changes in ride surfaces. 
     In at least one example, the rods  644 ,  646  of the EP magnet do not have a residual magnetic flux density, that is, do not generate their own magnetic field when the EP magnet is in the first state. The rods  644 ,  646  of the EP magnet will have a residual flux density, that is, will generate a second magnetic field once the EP magnet transitions from the first state to the second state. Based on a magnitude of the second magnetic field, the static component  666  of the damper  664  will attract the moving component  668  based on the moving component  668  being formed of ferromagnetic material. The EP magnet will remain in the second state, generating the second magnetic field, even in absence of the first magnetic field, that is, even when current is no longer passing through the coil  652 . 
       FIG. 7  is a cross-sectional view of a spring  770  for use in an active suspension system. The spring  770  includes a static component  766  and a moving component  768 . The static component  766  includes an EP magnet formed of a pair of rods  744 ,  746  of different permanent magnet materials surrounded or wrapped by a coil  752 . The rods  744 ,  746  and the coil  752  can be situated generally adjacent to the moving component  768 . One of the rods  744  can be formed of a hard magnetic material, such as NdFeB, and the other of the rods  746  can be formed of a semi-hard magnetic material, such as Alnico V. The moving component  768  can include a permanent magnet  772 , represented in  FIG. 7  by two poles, though the moving component  768  could also include fluids saturated with magnetic materials. 
     A spring constant of the spring  770  can be modified by changing a state of the EP magnet from a first state (e.g., an “off” state) to a second state (e.g., an “on” state). This change in state of the EP magnet can be driven, for example, by the controller  220  detecting a change in a vehicle operating characteristic. For example, the sensors  116  may provide information to the controller  220  that indicates the vehicle  100  is experiencing an increase or decrease in harmonic or oscillatory input from a driving surface consistent with a change in ride characteristics of the vehicle. Using the controller  220  to send a command to the actuator system  222  to make a change in a spring constant in one or more of the suspension components  106 , that is, a change that either softens or stiffens the spring  770  based on changing the spring constant, can improve ride feel for a passenger within the vehicle  100 . 
     Upon detecting the change in the vehicle operating characteristic, the controller  220  can send a command to the actuator system  222  to pass a current through the coil  752  that will impose a first magnetic field across the rods  744 ,  746 . The first magnetic field can have a predetermined magnetic field intensity or predetermined strength based, for example, on a magnitude of the change in the vehicle operating characteristic. The first magnetic field can be applied for a predetermined duration sufficient to transition the EP magnet from a first state (e.g., either an “on” state or an “off” state) to a second state (e.g., the other of the “on” state or the “off” state). In other words, the predetermined duration of the application of the first magnetic field can be based on the amount of energy required to transition the EP magnet from the first state to the second state. The predetermined strength of the magnetic field can dictate a magnitude of the modification of the spring constant of the spring  770 . Depending on the terrain, stiffer or weaker spring constants may be desirable to provide an adequate ride feel for passenger comfort. The changes between states of the EP magnet can be implemented quickly such that an active suspension adequately responds to changes in ride surfaces. 
     The rods  744 ,  746  of the EP magnet can be such that there is no residual magnetic flux density, that is, the rods  744 ,  746  do not generate their own magnetic field when the EP magnet is in the first state. The rods  744 ,  746  of the EP magnet can have a residual flux density, that is, can generate a second magnetic field once the EP magnet transitions from the first state to the second state. The strength of the second magnetic field can be based on the strength and duration of application of the first magnetic field. Depending on a magnitude and a sign of the second magnetic field, and depending on a polarity of the permanent magnet  772  forming the moving component  768 , the static component  766  of the spring  770  will either attract or repel the moving component  768 . The EP magnet will remain in the second state, generating the second magnetic field, even in absence of the first magnetic field, that is, even when current is no longer passing through the coil  752 . 
       FIG. 8  is a cross-section of another spring  870  for use in an active suspension system. The spring  870  includes a static component  866  and a moving component  868 . The static component  866  includes a first magnetic section  874 . The first magnetic section  874  includes an EP magnet formed of a pair of rods  844 ,  846  of different permanent magnet materials surrounded or wrapped by a coil  852 . The rods  844 ,  846  and the coil  852  can be situated generally adjacent to the moving component  868 . One of the rods  844  can be formed of a hard magnetic material, such as NdFeB, and the other of the rods  846  can be formed of a semi-hard magnetic material, such as Alnico V. The static component  866  also includes a second magnetic section  876 . The second magnetic section  876  includes another coil  878 , the coil  878  being separate from the coil  852 . 
     The moving component  868  includes a permanent magnet  872 . In  FIG. 8 , the permanent magnet  872  is shown as having sections of alternating polarity. In particular, the sections of the permanent magnet  872  alternate in polarity along an axial length of the moving component, allowing for finer control of positioning of the moving component  868  in respect to the static component  866 . In other examples (not shown), the moving component  868  could include fluids saturated with magnetic materials. 
     During electromagnetic operation of the spring  870 , a current can be passed through the coil  878  of the second magnetic section  876 . In this electromagnetic operation example, the permanent magnet  872  in the moving component  868  is attracted or repelled based on the sign (i.e., polarity) and strength of a magnetic field generated by the coil  878  and acting on the permanent magnet  872 . Electromagnetic operation has a direct effect on a spring constant of the spring  870 , though it requires a continuous power draw to maintain the effect. 
     The EP magnet in the first magnetic section  874  can be used to lock a position of the moving component  868  to save energy expended in electromagnetic operation of the spring  870  in certain situations. As used herein, locking a position of the moving component  868  using the first magnetic section  874  means that magnetic interaction biases the moving component  868  toward a specific positional relationship relative to the static component  866 , and may restrain the moving component  868  against moving away from the specific positional relationship. For example, if the vehicle  100  has stopped, locking a position of the moving component  868  using the first magnetic section  874  will allow the coil  878  to be de-energized while at the same time retaining damping characteristics of the spring  870 . Use of the EP magnet can be triggered by the controller  220  detecting a change in a vehicle operating characteristic. In this example, the change can be a reduction in wheel speeds to a level that indicates a lack of an external harmonic or oscillatory input to the vehicle  100 , that is, that the vehicle  100  has stopped. 
     Upon detecting the change in the vehicle operating characteristic, the controller  220  can send a command to the actuator system  222  to pass a current through the coil  852  that will impose a first magnetic field across the rods  844 ,  846  sufficient to transition the EP magnet from an “off” state to an “on” state as previously described. The EP magnet will remain in the “on” state, generating a second magnetic field, even in absence of the first magnetic field, that is, even when current is no longer passing through the coil  852 . The second magnetic field can be sufficient to change a spring constant of the spring  870  such that a position of the moving component  868  is fixed in respect to the static component  866 . 
     One the moving component  868  is fixed in position, the controller  220  can send another command to the actuator system  222  to de-energize the coil  878 , changing the magnitude of a third magnetic field, that is, a magnetic field generated in the second magnetic section  876 . De-energizing the coil  878  can save power since the second magnetic section  876  is not required to electromagnetically modify a spring constant of the spring  870  once the first magnetic section  874  operates as an EP magnet in the “on” state. Though the example above is explained in the context of using the first magnetic section  874  as a position lock and the second magnetic section  876  for general electromagnetic operation of the spring  870 , the roles may differ, switch, or be combined using other algorithms that improve performance of the spring  870  both for passenger comfort and for energy consumption. In addition, because the alternating polarity of the sections of the permanent magnet  872 , the first magnetic section  874  can lock the moving component  868  at various extension lengths relative to the static component  870  to, for example, define various ride heights for the vehicle  100 . 
     Both of the springs  770 ,  870  described in respect to  FIGS. 7 and 8  also allow control of mechanical resistance and the regeneration of energy. For example, regeneration is possible because the permanent magnets  772 ,  872  in these examples are part of the moving components  768 ,  868  and the moving components  768 ,  868  are wrapped in the coils  752 ,  852 ,  878  disposed in the static components  766 ,  866 . In other words, the coils  752 ,  852 ,  878  can be used to return energy to a central power supply of the vehicle  100  even in the absence of current flow. 
       FIG. 9  is a flowchart describing a method  980  of vehicle stabilization using an active suspension system, such as the suspension system  224  of  FIG. 2 . The method  980  includes identifying  982  a change in a vehicle operating characteristic. For example, the controller  220  can receive information from one or more sensors  116  indicative of an increase or a decrease in harmonic or oscillatory input from a driving surface consistent with a change in ride characteristics of the vehicle  100 . 
     The method  980  also includes outputting  984  a stabilizing command to the actuator system  222  based on identifying the change in the vehicle operating characteristic. The stabilizing command can be sent, for example, from the controller  220  to the actuator system  222 . The stabilizing command can include instructions to modify performance, for example, of one or more of the suspension components  106  in the suspension system  224 . 
     The method  980  also includes applying  986  a magnetic field having a predetermined strength to an EP magnet, such as the EP magnets described in  FIGS. 6, 7, and 8 , for a predetermined duration based on receiving the stabilizing command. The actuator system  222  can apply the magnetic field directly or interface with, for example, the suspension system  224  to apply the magnetic field. 
     As described in previous examples with respect to  FIGS. 6, 7, and 8 , the magnetic field can be a first magnetic field that transitions the EP magnet from a first state, such as an “off” state, to a second state, such as an “on” state. The EP magnet can generate a second magnetic field in the second state. The second magnetic field can modify at least one of a spring constant or a mechanical resistance of one of the suspension components  106  within the suspension system  224  of the vehicle  100 , changing a ride feel of the vehicle  100 . The EP magnet can also retain the second state after the predetermined duration in absence of the first magnetic field, saving energy in operating the suspension system  224 . 
       FIG. 10  shows an example of a hardware configuration for a controller  1088  that may be used to implement the apparatuses, systems, and methods described herein. As an example, the controller  1088  may be used to implement the control system  218  and/or individual components of the control system  218 . The controller  1088  may include a processor  1090 , a memory  1092 , a storage device  1094 , one or more input devices  1096 , and one or more output devices  1098 . The controller  1088  may include a bus  1099  or a similar device to interconnect the components for communication. 
     The processor  1090  is operable to execute computer program instructions and perform operations described by the computer program instructions. As an example, the processor  1090  may be a conventional device such as a central processing unit. The memory  1092  may be a volatile, high speed, short-term information storage device such as a random-access memory module. The storage device  1094  may be a non-volatile information storage device such as a hard drive or a solid-state drive. The input devices  1096  may include any type of human-machine interface such as buttons, switches, a keyboard, a mouse, a touchscreen input device, a gestural input device, or an audio input device. The output devices  1098  may include any type of device operable to provide an indication to a user regarding an operating state, such as a display screen or an audio output.

Metadata:
Filing Date: 20180228
Publication Date: 20200901
Grant Date: 20200901
Priority Date: 20170308
Inventors: Erdozain, Jr., Jack
SEWELL, Jeffrey A.
WALL, JOHNNY L.
SZECHY, COLIN
Assignee: APPLE INC
CPC Classifications: [{"code": "F16F2224/045", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2222/06", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F15/03", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16F15/002", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16F6/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2600/26", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2600/24", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/08", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G17/0195", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G17/0165", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2500/10", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2400/821", "inventive": false, "first": false, "tree": "[]"}, {"code": "H01F7/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "B60G17/0157", "inventive": true, "first": true, "tree": "[]"}, {"code": "B60G2600/22", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/033", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2800/01", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/06", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2204/46", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/25", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/005", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2400/05", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/16", "inventive": false, "first": false, "tree": "[]"}, {"code": "H01F7/064", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2400/208", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2400/206", "inventive": false, "first": false, "tree": "[]"}, {"code": "H01F7/0231", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2202/42", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/0165", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2600/182", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/62", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2400/208", "inventive": false, "first": false, "tree": "[]"}, {"code": "H01F7/0231", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2600/182", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/42", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/0157", "inventive": true, "first": true, "tree": "[]"}, {"code": "H01F7/064", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2800/01", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/62", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/0165", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G17/005", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2600/22", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2400/206", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2400/05", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/46", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/033", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G17/06", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2202/25", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/16", "inventive": false, "first": false, "tree": "[]"}]
Family ID: 72241441