| 摘要 |
PROBLEM TO BE SOLVED: To detect acceleration at a center of gravity of a motion element even if the position of the center of gravity of the motion element is not known in advance.SOLUTION: A parameter identification device 74 identifies distances zand ythat are unknown parameters, using detection values of sensors 21-1, 21-2, 22-1, 22-2, 23, and 24 obtained per sampling time n. An unsprung center-of-gravity acceleration calculation device 76 calculates x-direction acceleration at a center of gravity of an unsprung element 11 on the basis of the identified distance yand x-direction acceleration of the unsprung element 11 by the acceleration sensors 21-1 and 21-2, and an engine center-of-gravity acceleration calculation device 78 calculates x-direction acceleration at a center of gravity of an engine element 12 on the basis of the identified distance zand x-direction acceleration of the engine element 12 by the acceleration sensors 22-1 and 22-2. |
