To provide a ground load estimation device capable of accurately estimating a ground load at low cost, a ground load estimating program capable of accurately estimating the ground load at low cost, and a suspension device capable of controlling the ground load at low cost.SOLUTION: A ground load estimation device 1 includes: an unsprung vibration detection portion 2 for detecting speed and displacement in a vertical direction of an unsprung member W in a vehicle; a deflection amount detection portion 3 for detecting a deflection amount in the vertical direction of a tire in the unsprung member W; an observer 4 for outputting estimated speed and estimated displacement in the vertical direction of the unsprung member W based on a state equation of the unsprung member W of a one wheel model by receiving input of the speed and displacement of the unsprung member W and the deflection amount of the tire as an observation amount, and estimated displacement change rate and estimated displacement of a road surface R; and a grounding load computing portion 5 for computing a grounding load fw of the unsprung member W based on the estimated speed and the estimated displacement of the unsprung member W estimated by the observer 4, and the estimated displacement change rate and the estimated displacement of the road surface R.SELECTED DRAWING: Figure 2
【課題】低コストで接地荷重を精度よく推定可能な接地荷重推定装置、低コストで接地荷重を精度よく推定可能な接地荷重推定プログラムおよび低コストで接地荷重を制御可能なサスペンション装置を提供する。【解決手段】接地荷重推定装置1は、車両におけるばね下部材Wの上下方向の速度と変位とを検知するばね下振動検知部2と、ばね下部材Wにおけるタイヤの上下方向の撓み量を検知する撓み量検知部3と、ばね下部材Wの速度および変位とタイヤの撓み量とを観測量として入力を受けて1輪モデルのばね下部材Wの状態方程式に基づいてばね下部材Wの上下方向の推定速度と推定変位と、路面Rの推定変位変化率と推定変位とを出力するオブザーバ4と、オブザーバ4が推定したばね下部材Wの推定速度と推定変位と、路面Rの推定変位変化率と推定変位とに基づいてばね下部材Wの接地荷重fwを演算する接地荷重演算部5とを備えている。【選択図】図2
GROUND LOAD ESTIMATION DEVICE, SUSPENSION DEVICE, AND GROUND LOAD ESTIMATING PROGRAM
接地荷重推定装置、サスペンション装置および接地荷重推定プログラム
2024-05-30
Patent
Electronic Resource
Japanese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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