| 摘要 |
PROBLEM TO BE SOLVED: To detect the relative displacement amount of a sprung member to an unsprung member, and to estimate sprung speed by using the detected relative displacement amount. SOLUTION: An observer estimates the sprung speed showing the speed of the sprung member in a vertical direction to the absolute space-time, by using the relative displacement amount of the sprung member to the unsprung member detected with a stroke sensor and the orifice opening (step number) of a shock absorber. In the observer, the sprung speed and the relative displacement amount are made to be a state variable, and an offset value included in the detected relative displacement amount is made to be a state variable, and variable damping force element related to a damping coefficient which changes according to a state of the shock absorber is made to be an input variable. The variable damping force element is calculated on the basis or relative speed calculated by differentiating the relative displacement amount, and the orifice opening.
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