| 摘要 |
PROBLEM TO BE SOLVED: To detect acceleration of a center of gravity point of a motion element even when the center-of-gravity point of the motion element is preliminarily unknown.SOLUTION: A parameter identification device 74 is configured to identify a distance land hserving an unknown parameter on the basis of rotation angle acceleration dθ(n)/dt, and dθ(n)/dtto be obtained for each sampling time n, X-direction translational acceleration dx(n)/dt, dx(n)/dt, dx(n)/dt, and dx(n)/dt, and x-direction external force F(n). An engine center-of-gravity point acceleration calculation device 78 is configured to calculate X-direction translational acceleration dx(n)/dtat a center of gravity point of an engine element 12 on the basis of the identified distance land h, rotation angle acceleration dθ(n)/dt, and dθ(n)/dtand x-direction translational acceleration dx(n)/dt.SELECTED DRAWING: Figure 5 |
