| 摘要 |
<p>PURPOSE: A vertical force estimator of wheel vehicles and a method thereof are provided to predict vertical force on new type wheels by having torque information of wheels and arm rotation angles of wheel vehicles having arm shaped suspension. CONSTITUTION: A vertical force estimation method of wheel vehicles comprises the following steps: (S10) detecting rotation information of arms for a main body; (S11) detecting torque information operated on wheels; (S12) calculating spring torque applied on the arms using torque information of wheels and rotation information of the arms; and (S13) estimating the vertical force acted on the wheels by using information of the detected arms and main body. A vertical force estimator of wheel vehicles comprises a main body which equips an arm driving unit which drives the arms and rotary arms; wheels which are rotatably mounted on the arms; a cylinder which is extended or compressed as relatively moving for an output shaft of the arm driving unit; first and second sensors which respectively detects torque information applied in the rotation information of the arms for the main body and the wheels; and a control unit which estimates vertical force acted on the wheels by using information of calculated arms and the main body and calculating spring torque applied in the arms by using torque information of wheels and rotation information of the detected arms. [Reference numerals] (AA) Start; (BB) End; (S10) Detecting rotation information of arms for a main body; (S11) Detecting torque information operated on wheels; (S12) Calculating spring torque applied on the arms using torque information of wheels and rotation information of the arms; (S13) Estimating the vertical force acted on the wheels by using information of the detected arms and main body</p> |
