Abstract: The electromagnetic suspension apparatus includes: an electromagnetic actuator provided in parallel with a spring member between a vehicle body and a wheel of a vehicle and configured to generate driving force involving vibration damping of the vehicle body; an information acquisition unit configured to acquire, through a high-pass filter, time-series information about a stroke position of the electromagnetic actuator; and an ECU configured to calculate target driving force of the electromagnetic actuator and use the calculated target driving force to execute driving force control of the electromagnetic actuator.

Abstract: An object of the present invention is to obtain an electromagnetic suspension apparatus capable of quickly reducing an influence of a mechanical frictional force generated in each part of an electromagnetic actuator. The electromagnetic suspension apparatus includes an electromagnetic actuator that generates a driving force related to a damping operation and an expansion and contraction, an information acquisition unit that acquires vehicle state information including a stroke speed of the electromagnetic actuator, an equivalent frictional force calculation unit that calculates an equivalent frictional force of the electromagnetic actuator based on the vehicle state information, and an ECU that calculates a target driving force of the electromagnetic actuator and controls the driving force of the electromagnetic actuator using the calculated target driving force. The ECU corrects the target driving force based on the equivalent frictional force calculated by the equivalent frictional force calculation unit.

Abstract: A vehicle suspension system (3) is provided that allows attention eliciting information such as rumble strips, bumps and road markers to be conveyed to the vehicle operator substantially without detracting from the performance of the vehicle suspension system. A control unit (10) determines if a prescribed warning condition exists according to vehicle information and/or road surface information acquired by an information acquiring unit, and performs a warning control including an extending and retracting movement of the actuator interposed between an sprung member (8) and an unsprung member (9) of the vehicle at a prescribed frequency when the warning condition is determined.

Abstract: A vehicle suspension system (3) includes an electromagnetic damper (7) provided with a sprung member (8) and an unsprung member (9) to apply a drive force and a damping force between the sprung member and the unsprung member, and a control unit (10) for controlling the electromagnetic damper. A target load for the electromagnetic damper is determined based on the unsprung member demand load that attenuates a vertical vibration of the unsprung member, and the sprung member demand load that restrains a vertical displacement of the sprung member. An absolute value of the sprung member demand load is reduced when a sprung member frequency is in an unsprung member resonance frequency range.

Abstract: On the basis of an energization phase signal being output from a rotational phase sensor and changing its output at every predetermined rotational phase corresponding to a stepwise change (increase or decrease) in rotational phase, a motor controller switches a phase current passing through the corresponding phase coil, and changes the magnitude of the phase current passing through the corresponding phase coil such that an actual motor torque detected by a torque sensor coincides with a target motor torque.

Abstract: A relative velocity between a sprung mass and an unsprung mass of a vehicle is calculated by differentiating a stroke amount of an electromagnetic damper with respect to time. The relative velocity is compared with a predetermined value that is set in advance, and a determination is made whether or not the relative velocity is the predetermined value or higher. In a case where the relative velocity is lower than the predetermined value (relative velocity<predetermined value), a normal filter is selected, and a gain G of only an unsprung resonance frequency range is increased. On the other hand, in a case where the relative velocity is the predetermined value or higher (relative velocity?predetermined value), a delay inhibition filter is selected, and a gain of a high frequency range is increased compared to the normal filter.

Abstract: An object of the present invention is to obtain an electromagnetic suspension apparatus capable of meeting a request to improve ride comfort irrespective of a magnitude of a spring constant preset in a spring member. The electromagnetic suspension apparatus includes an electromagnetic actuator that generates a driving force related to vibration damping of the vehicle body, an information acquisition unit that acquires information on a stroke position of the electromagnetic actuator, and an ECU that calculates a target driving force of the electromagnetic actuator and controls a driving force of the electromagnetic actuator using the calculated target driving force. When the stroke position acquired by the information acquisition unit is in a neutral range including a neutral position, the ECU corrects the target driving force so as to reduce a spring force related to the spring member as compared with when the stroke position is in a non-neutral range.

Abstract: Provided is an electromagnetic suspension apparatus capable of achieving both of vibration isolation performance and road holding performance. The electromagnetic suspension apparatus includes an electromagnetic actuator, an information acquisition unit that acquires information on a stroke speed of the electromagnetic actuator and a state quantity of the vehicle, a plurality of filters in which individual gain characteristics are respectively set, a filter setting unit that selectively sets a filter having a gain characteristic suitable for the state quantity of the vehicle from among the plurality of filters, a filter processing unit that performs a filtering process on a stroke speed signal using the filter set by the filter setting unit, and a drive control unit that controls driving of the electromagnetic actuator based on relationship information between the stroke speed after the filtering process and a damping force corresponding to the stroke speed.

Abstract: An object of the present invention is to obtain an electromagnetic suspension apparatus capable of quickly reducing an influence of a mechanical frictional force generated in each part of an electromagnetic actuator. The electromagnetic suspension apparatus includes an electromagnetic actuator that generates a driving force related to a damping operation and an expansion and contraction, an information acquisition unit that acquires vehicle state information including a stroke speed of the electromagnetic actuator, an equivalent frictional force calculation unit that calculates an equivalent frictional force of the electromagnetic actuator based on the vehicle state information, and an ECU that calculates a target driving force of the electromagnetic actuator and controls the driving force of the electromagnetic actuator using the calculated target driving force. The ECU corrects the target driving force based on the equivalent frictional force calculated by the equivalent frictional force calculation unit.

Abstract: An electromagnetic suspension device includes: an electromagnetic actuator which is disposed side by side with a spring member provided between a body and a wheel of a vehicle and which produces a driving force for damping operation and extending and contracting operation; an information acquisition unit which acquires the stroke position of the electromagnetic actuator; and an ECU which sets a target damping force and a target stretching force and controls a driving force of the electromagnetic actuator by using a target driving force based on the set target damping force and target stretching force. When the stroke position acquired by the information acquisition unit is in an end region close to a stroke end, the ECU corrects the target driving force such that the stroke position shifts from the end region toward a neutral region.

Abstract: An electromagnetic suspension device includes: an electromagnetic actuator that generates a driving force related to vibration damping of a vehicle body by an electric motor; a rotational angle acquisition unit that acquires a rotational angle of the electric motor; a rotational angle acceleration calculation unit that calculates a rotational angle acceleration of the electric motor based on the rotational angle; ECU that performs driving force control including inertia compensation control of the electromagnetic actuator based on the rotational angle acceleration; and a relative speed calculation unit that acquires a relative speed between above- and below-spring members. In an area in which a relative speed exceeds a predetermined relative speed threshold, the ECU corrects an amount of inertia compensation so that the amount of inertia compensation is decreased, as compared with an area in which a relative speed value is the relative speed threshold or less.

Abstract: A vehicle suspension system (3) includes an electromagnetic damper (7) provided with a sprung member (8) and an unsprung member (9) to apply a drive force and a damping force between the sprung member and the unsprung member, and a control unit (10) for controlling the electromagnetic damper. A target load for the electromagnetic damper is determined based on the unsprung member demand load that attenuates a vertical vibration of the unsprung member, and the sprung member demand load that restrains a vertical displacement of the sprung member. An absolute value of the sprung member demand load is reduced when a sprung member frequency is in an unsprung member resonance frequency range.

Abstract: A vehicle suspension system (3) is provided that allows attention eliciting information such as rumble strips, bumps and road markers to be conveyed to the vehicle operator substantially without detracting from the performance of the vehicle suspension system. A control unit (10) determines if a prescribed warning condition exists according to vehicle information and/or road surface information acquired by an information acquiring unit, and performs a warning control including an extending and retracting movement of the actuator interposed between an sprung member (8) and an unsprung member (9) of the vehicle at a prescribed frequency when the warning condition is determined.

Abstract: A vehicle steering device (11) is provided that performs steering of a vehicle in response to operation of a steering wheel (13) operated when the traveling direction of the vehicle is changed. The vehicle steering device (11) includes a first steering assist device having a first steering torque sensor (23), a first assist motor (51), and a first EPS control unit (37), and a second steering assist device having a second steering torque sensor (25), a second assist motor (57), and a second EPS control unit (39). The first and second EPS control units (37, 39) perform driving control of the first and second assist motors (51, 57) independently from each other. Even if either one of the two control units (37, 39) respectively controlling driving of the two assist motors (51, 57) fails into an abnormal situation, such an abnormal situation can be brought under control quickly and soundly.

Abstract: A relative velocity between a sprung mass and an unsprung mass of a vehicle is calculated by differentiating a stroke amount of an electromagnetic damper with respect to time. The relative velocity is compared with a predetermined value that is set in advance, and a determination is made whether or not the relative velocity is the predetermined value or higher. In a case where the relative velocity is lower than the predetermined value (relative velocity<predetermined value), a normal filter is selected, and a gain G of only an unsprung resonance frequency range is increased. On the other hand, in a case where the relative velocity is the predetermined value or higher (relative velocity?predetermined value), a delay inhibition filter is selected, and a gain of a high frequency range is increased compared to the normal filter.

Abstract: A magnetostrictive torque sensor incorporated in an electric power steering apparatus includes first through fourth detection coils, which are disposed face-to-face with a magnetostrictive film across a bobbin winding holder that is disposed around an outer circumferential surface of the magnetostrictive film. A bobbin support, which supports the bobbin winding holder, is disposed on the bobbin winding holder at a central position in the axial direction of the first through fourth detection coils.