| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a vehicle body vibration estimating device that has superior disturbance robustness and can perform highly precise estimation. <P>SOLUTION: Front-wheel speed VwF and rear-wheel speed VwR obtained at computing parts 31, 32 are passed through to band pass filters 33, 34 and vehicle body resonance frequency-near vibration components fVwF and fVwR being representative of vehicle body vibration are extracted. Computing parts 35, 36 obtain a back-and-forth displacement Xtf of the front wheel and a back-and-forth displacement Xtr of the rear wheel being representative of a vehicle body vibration from fVwF and fVwR, obtain up-and-down displacement of front axle upper side vehicle body part vehicle body and rear axle lower side vehicle body part resulting from vehicle body vibration, and computes from them the up-and down bounce speed dZv and pitch angular velocity dθp of the vehicle body. An estimator 25b estimates up-and-down bounce amount fZv, up-and-down bounce speed dfZv, pitch angle fθp and pitch angular velocity dfθp of vehicle body by taking dZv and dθp as observer input, and performing state estimation using a vehicle model 37 from driving and braking torque rTd. <P>COPYRIGHT: (C)2012,JPO&INPIT</p> |
