| 摘要 |
PROBLEM TO BE SOLVED: To prevent control divergence caused by integration of stationary components included in a wheel speed signal, and to secure disturbance estimation accuracy by fluctuation components included in the wheel speed signal, in a scene where acceleration traveling or deceleration traveling is continued.SOLUTION: A vehicle body vibration damping control device includes: an input conversion part 204, a vehicle body vibration estimation part 205, and a torque instruction value calculation part 206. The input conversion part 204 includes a suspension stroke calculation part 302 estimating and calculating a suspension stroke speed from wheel speed fluctuation, based on suspension geometry. Between wheel speed sensors 103FR, 103FL, 103RR, 103RL, and the suspension stroke calculation part 302, a wheel speed stationary component removal process part 316 is disposed to have an acceleration state determination part 316a, a first preprocessing part 316b, and a second preprocessing part 316c. In such a state where front-to-back acceleration components of a vehicle body are included in wheel speed signals, the wheel speed stationary component removal process part 316 changes to the preprocessing high in function removing the stationary components of the longitudinal acceleration components from the wheel speed signals, compared with the other states. |
