PROBLEM TO BE SOLVED: To provide a device for estimating a position of the center of gravity and an inertia moment that estimates a position of the center of gravity and an inertia moment of a vehicle according to a load condition thereof.SOLUTION: A device for estimating a position of the center of gravity and an inertia moment comprises: suspensions 30 L, 30R that respectively suspend driving wheels 9 L, 9R of a vehicle 1; vehicle height sensors 32 L, 32R for measuring respective vertical displacements l, r of the suspensions 30 L, 30R as vehicle height information; and a vehicle ECU 20 for obtaining vehicle height information, controlling the suspensions 30 L, 30R, calculating a vertical displacement y and an inclination angle θ in a roll direction of a vehicle body on the basis of the vehicle height information after a cargo is loaded on the vehicle 1, and calculating a position Xm of the center of gravity of the vehicle body and a weight M of the cargo. The vehicle ECU 20 inclines a vehicle body in a roll direction, obtains vehicle height information as time-series data, and applies an equation of motion of the vehicle body and the time-series data to an optimization algorithm so as to calculate a position Ym of the center of gravity and an inertia moment J of the vehicle body.SELECTED DRAWING: Figure 3

    【課題】積荷の状態に応じた車両の重心位置及び慣性モーメントを推定する重心位置及び慣性モーメント推定装置を提供すること。【解決手段】重心位置及び慣性モーメント推定装置は、車両1の駆動輪9L、9Rを懸架するサスペンション30L、30Rと、その垂直変位l、rを車高情報として計測する車高センサ32L、32Rと、車高情報を取得し、サスペンション30L、30Rを制御すると共に、車両1に積荷を積載したことに伴う車高情報に基づいて、車体の垂直変位y及びロール方向の傾斜角θを算出し、車体の重心位置Xm及び積荷の重量Mを算出する車両ECU20と、を備え、車両ECU20は、車体をロール方向へ傾動させ、車高情報を時系列データとして取得し、車体の運動方程式と時系列データとを最適化アルゴリズムに適用して車体の重心位置Ym及び慣性モーメントJを算出する。【選択図】図3


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    Title :

    DEVICE FOR ESTIMATING POSITION OF CENTER OF GRAVITY AND INERTIA MOMENT


    Additional title:

    重心位置及び慣性モーメント推定装置


    Contributors:

    Publication date :

    2018-02-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen



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