| 摘要 |
A speed (Zw'-Zb') and an amount (Zw-Zb) of displacement of a wheel relative to a vehicle body are estimated with the aid of an observer, based on a vertical acceleration Zb'' of the vehicle body detected by a sensor. In this observer, a non-linear component fnl(Zw'-Zb', P) of a damping force of a damper is derived from an estimated relative speed y1ob and an opening position P of the damper, and the component fnl(Zw'-Zb', P) is used as a control input. The non-linear component fnl(Zw'-Zb', P) is compensated for by means of a spring force fs of a stabilizer which is generated by roll movements of the vehicle body resulting from a convex-concave road surface, a change DELTAMr in road holding load which is calculated based on a lateral acceleration Gy and generated by roll movements of the vehicle body when the vehicle turns, and a change DELTAMp in road holding load which is calculated based on a longitudinal acceleration Gx and generated by pitch movements of the vehicle body when the vehicle is accelerated or decelerated.
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