| CPC B60G 17/0157 (2013.01) [B60G 17/0165 (2013.01); B60G 17/06 (2013.01); B60G 2202/44 (2013.01); B60G 2204/62 (2013.01); B60G 2400/0512 (2013.01); B60G 2400/202 (2013.01); B60G 2400/208 (2013.01); B60G 2500/104 (2013.01); B60G 2600/182 (2013.01); B60G 2800/162 (2013.01); B60G 2800/916 (2013.01)] | 2 Claims |
|
1. An electrically powered suspension system including an actuator, the actuator being provided between a vehicle body and a wheel of a vehicle and configured to generate a damping force for damping vibration of the vehicle body, the electrically powered suspension system comprising:
a wheel speed detection part provided at an unsprung position of the vehicle and configured to detect a wheel speed of the wheel;
a wheel speed variation amount calculation part configured to calculate a wheel speed variation amount on the basis of wheel speed detection values detected by the wheel speed detection part;
a sprung state amount detection part provided at a sprung position of the vehicle and configured to detect sprung state amounts including sprung pitch-related information relevant to a sprung pitching action;
a first wheel speed variation amount estimation part configured to calculate a sprung pitch amount on the basis of the sprung pitch-related information detected by the sprung state amount detection part and to estimate a first variation component in the wheel speed variation amount based on the sprung pitch amount calculated, the first variation component being due to the sprung pitch amount;
a second wheel speed variation amount estimation part configured to estimate a second variation component in the wheel speed variation amount, the second variation component generated when a stroke of a suspension occurs;
a wheel speed variation amount correction part configured to correct the wheel speed variation amount calculated by the wheel speed variation amount calculation part;
a stroke speed estimation part configured to estimate a stroke speed of the suspension on the basis of the wheel speed variation amount corrected by the wheel speed variation amount correction part; and
a damping control part configured to perform damping control of the actuator on the basis of the stroke speed estimated by the stroke speed estimation part,
wherein the second wheel speed variation amount estimation part estimates the second variation component based on the stroke speed estimated by the stroke speed estimation part, and
wherein the wheel speed variation amount correction part corrects the wheel speed variation amount calculated by the wheel speed variation amount calculation part by subtracting the first variation component and the second variation component from the wheel speed variation amount calculated by the wheel speed variation amount calculation part.
|