Control apparatus for suspension apparatus and suspension system
A control apparatus for a suspension apparatus includes: an acquisition section which acquires a stroke amount of the suspension apparatus disposed between a vehicle body and a wheel to damp vibration propagated from the wheel; a calculation section which calculates a stroke velocity based on the stroke amount; and a damping force control section which controls damping force of the suspension apparatus based on the stroke velocity. The calculation section includes a first calculation section which differentiates the stroke amount by use of a first time constant as a time constant, to thereby calculate a first stroke velocity, and a second calculation section which differentiates the stroke amount by use of a second time constant larger than the first time constant as a time constant, to thereby calculate a second stroke velocity, and calculates the stroke velocity based on the first stroke velocity and the second stroke velocity.
1. A control apparatus for a suspension apparatus, comprising:
an acquisition section which acquires a stroke amount of the suspension apparatus disposed between a vehicle body and a wheel to damp vibration propagated from the wheel;
a calculation section which calculates a stroke velocity based on the stroke amount; and
a damping force control section which controls damping force of the suspension apparatus based on the stroke velocity, wherein
the calculation section includes a first calculation section which differentiates the stroke amount by use of a first time constant as a time constant, to thereby calculate a first stroke velocity, a second calculation section which differentiates the stroke amount by use of a second time constant larger than the first time constant as a time constant, to thereby calculate a second stroke velocity, a mixture ratio deriving section which calculates a mixture ratio determined based on the first stroke velocity, and a mixture section which calculates a weighted average of the first stroke velocity and the second stroke velocity by use of the mixture ratio, to thereby calculate the stroke velocity, and
the mixture ratio deriving section calculates the mixture ratio so as to increase a mixture ratio of the first stroke velocity and reduce a mixture ratio of the second stroke velocity in accordance with an increase of the first stroke velocity in a predetermined range of the first stroke velocity.
2. The control apparatus for the suspension apparatus according to claim 1 , wherein
the calculation section further includes a mixture ratio restricting section, and
when the mixture ratio that has been newly obtained has a difference not smaller than a predetermined value with respect to the mixture ratio that was previously obtained, the mixture ratio restricting section restricts a change amount of the mixture ratio which has been newly obtained.
3. The control apparatus for the suspension apparatus according to claim 2 , wherein
the mixture ratio restricting section places a restriction on the change amount of the mixture ratio when the stroke velocity decreases with time and a restriction on the change amount of the mixture ratio when the stroke velocity increases with time, and
a degree of the restriction placed when the stroke velocity decreases with time is different from a degree of the restriction placed when the stroke velocity increases with time.
4. A suspension system comprising:
a suspension apparatus which is disposed between a vehicle body and a wheel of a vehicle to damp vibration propagated from the wheel; and
a control section which controls damping force of the suspension apparatus, wherein
the control section includes:
an acquisition section which acquires a stroke amount of the suspension apparatus;
a calculation section which calculates a stroke velocity based on the stroke amount; and
a damping force control section which controls the damping force of the suspension apparatus based on the stroke velocity,
the calculation section includes a first calculation section which differentiates the stroke amount by use of a first time constant as a time constant, to thereby calculate a first stroke velocity, a second calculation section which differentiates the stroke amount by use of a second time constant larger than the first time constant as a time constant, to thereby calculate a second stroke velocity, a mixture ratio deriving section which calculates a mixture ratio determined based on the first stroke velocity, and a mixture section which calculates a weighted average of the first stroke velocity and the second stroke velocity by use of the mixture ratio, to thereby calculate the stroke velocity, and
the mixture ratio deriving section calculates the mixture ratio so as to increase a mixture ratio of the first stroke velocity and reduce a mixture ratio of the second stroke velocity in accordance with an increase of the first stroke velocity in a predetermined range of the first stroke velocity.