Full vehicle suspension control with non-vertical acceleration correction

摘要

A full vehicle suspension control for a wheeled vehicle includes a suspension actuator and an absolute accelerometer at each corner of the vehicle body. The actuators are controlled in response to vehicle body pitch and roll velocity signals which are derived from nominally vertical acceleration signals from the accelerometers by first deriving vehicle body pitch and roll acceleration signals and then integrating these signals into vehicle body roll and pitch velocity signals. The process of converting the body corner acceleration signals to pitch and roll acceleration signals reduces any non-vertical error of the signals before integration to reduce saturation of the integrator.