| 摘要 |
PROBLEM TO BE SOLVED: To provide an active suspension device which attains sufficient improvement of comfortableness by reducing the warp component transmitted through springs, dampers, stabilizers, etc., without substantial increase in cost and deteriorating sprung vibration. SOLUTION: This active suspension device is provided with an actuator (a) which is inserted between a car body and a wheel and generates control force based on control commands, a relative motion detecting means (b) which detects the motion of the car body and wheel relative to each other, a warp transmission force estimating means (c) which estimates the warp transmission force working in the direction to which the car body is twisted from this relative motion, and a control command calculating means (d) which calculate the control command to cancel the warp transmission force based on the estimated warp transmission force.
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