Suspension control device and suspension device
It is an object of the present invention to improve accuracy in estimation of a state of a vehicle in order to achieve excellent ride comfort. An ECU ( 600 ) includes a reference vehicle model computation section ( 1100 ), which is configured to calculate a reference output by carrying out computation with respect to at least one of a plurality of state amounts in a planar direction and at least one of a plurality of state amounts in an up-down direction in an inseparable manner.
1. A suspension device, comprising:
a suspension;
a processor; and
a memory, wherein
the processor includes a suspension control section configured to control the suspension to follow a reference vehicle model,
the suspension control section including a reference vehicle model computation section which includes:
a main computation section which refers to one or more input values, carries out linear computation for a state amount related to a state of the vehicle, and outputs a result of the linear computation; and
a slipping calculation section which refers to the result of the linear computation carried out by the main computation section and calculates respective slip angles of wheels,
the reference vehicle model computation section is configured to:
carry out computation with use of the reference vehicle model;
calculate a reference output by carrying out computation with respect to at least one of a plurality of state amounts in a planar direction and at least one of a plurality of state amounts in an up-down direction in an inseparable manner; and,
carry out, in an inseparable manner, computation with respect to (i) a time derivative of a planar direction component of a sprung speed of a vehicle body as at least part of the plurality of state amounts in the planar direction and (ii) at least one of a roll rate and a pitch rate of the vehicle body as at least part of the plurality of state amounts in the up-down direction wherein:
the processor includes:
a vehicle state estimation configured to estimate the state of the vehicle;
a subtractor configured to carry out subtraction, from an estimation output amount which is an output from the vehicle state estimation section, of a specific state amount which is the output value outputted from the reference vehicle model computation section;
an integrator configured to carry out integration of a result of the subtraction carried out by the subtractor;
a first amplifier configured to carry out amplification of an estimation state amount which is a subject of computation carried out by the vehicle state estimation section;
a second amplifier configured to carry out amplification of a result of the integration carried out by the integrator;
a third amplifier configured to carry out amplification of the state amount which is a subject of computation carried out by the reference vehicle model computation section; and
an adder configured to carry out addition of a result of the amplification carried out by the first amplifier, a result of the amplification carried out by the second amplifier, and a result of the amplification carried out by the third amplifier,
the suspension control section being configured to determine a suspension control amount with reference to a result of the addition carried out by the adder to control the suspension, and
the one or more input values including at least one of a road surface displacement of each wheel, a steering angle of a steering member, tire front and rear force of each wheel, tire lateral force of each wheel, steering torque, a wheel angular speed of each wheel, an actual rudder angle of each wheel, and driving torque of each wheel.
2. A suspension device, comprising:
a suspension;
a processor; and
a memory, wherein
the processor includes a suspension control section configured to control the suspension to follow a reference vehicle model,
the suspension control section including a reference vehicle model computation section which includes:
a main computation section which refers to one or more input values, carries out linear computation for a state amount related to a state of the vehicle, and outputs a result of the linear computation; and
a slipping calculation section which refers to the result of the linear computation carried out by the main computation section and calculates respective slip angles of wheels,
the reference vehicle model computation section is configured to:
carry out computation with use of the reference vehicle model;
calculate a reference output by carrying out computation with respect to at least one of a plurality of state amounts in a planar direction and at least one of a plurality of state amounts in an up-down direction in an inseparable manner; and,
carry out, in an inseparable manner, computation with respect to (i) a planar direction component of a sprung speed of a vehicle body as at least part of the plurality of state amounts in the planar direction and (ii) at least one of a time derivative of a roll rate and a time derivative of a pitch rate of the vehicle body as at least part of the plurality of state amounts in the up-down direction wherein:
the processor includes:
a vehicle state estimation configured to estimate the state of the vehicle;
a subtractor configured to carry out subtraction, from an estimation output amount which is an output from the vehicle state estimation section, of a specific state amount which is the output value outputted from the reference vehicle model computation section;
an integrator configured to carry out integration of a result of the subtraction carried out by the subtractor;
a first amplifier configured to carry out amplification of an estimation state amount which is a subject of computation carried out by the vehicle state estimation section;
a second amplifier configured to carry out amplification of a result of the integration carried out by the integrator;
a third amplifier configured to carry out amplification of the state amount which is a subject of computation carried out by the reference vehicle model computation section; and
an adder configured to carry out addition of a result of the amplification carried out by the first amplifier, a result of the amplification carried out by the second amplifier, and a result of the amplification carried out by the third amplifier,
the suspension control section being configured to determine a suspension control amount with reference to a result of the addition carried out by the adder to control the suspension, and
the one or more input values including at least one of a road surface displacement of each wheel, a steering angle of a steering member, tire front and rear force of each wheel, tire lateral force of each wheel, steering torque, a wheel angular speed of each wheel, an actual rudder angle of each wheel, and driving torque of each wheel.
3. A suspension device, comprising:
a suspension;
a processor; and
a memory, wherein
the processor includes a suspension control section configured to control the suspension to follow a reference vehicle model,
the suspension control section including a reference vehicle model computation section which includes:
a main computation section which refers to one or more input values, carries out linear computation for a state amount related to a state of the vehicle, and outputs a result of the linear computation; and
a slipping calculation section which refers to the result of the linear computation carried out by the main computation section and calculates respective slip angles of wheels,
the reference vehicle model computation section is configured to:
carry out computation with use of the reference vehicle model;
calculate a reference output by carrying out computation with respect to at least one of a plurality of state amounts in a planar direction and at least one of a plurality of state amounts in an up-down direction in an inseparable manner; and,
carry out, in an inseparable manner, computation with respect to (i) a time derivative of a yaw rate of a vehicle body as at least part of the plurality of state amounts in the planar direction and (ii) a damper stroke of at least one of wheels as at least part of the plurality of state amounts in the up-down direction wherein:
the processor includes:
a vehicle state estimation configured to estimate the state of the vehicle;
a subtractor configured to carry out subtraction, from an estimation output amount which is an output from the vehicle state estimation section, of a specific state amount which is the output value outputted from the reference vehicle model computation section;
an integrator configured to carry out integration of a result of the subtraction carried out by the subtractor;
a first amplifier configured to carry out amplification of an estimation state amount which is a subject of computation carried out by the vehicle state estimation section;
a second amplifier configured to carry out amplification of a result of the integration carried out by the integrator;
a third amplifier configured to carry out amplification of the state amount which is a subject of computation carried out by the reference vehicle model computation section; and
an adder configured to carry out addition of a result of the amplification carried out by the first amplifier, a result of the amplification carried out by the second amplifier, and a result of the amplification carried out by the third amplifier,
the suspension control section being configured to determine a suspension control amount with reference to a result of the addition carried out by the adder to control the suspension, and
the one or more input values including at least one of a road surface displacement of each wheel, a steering angle of a steering member, tire front and rear force of each wheel, tire lateral force of each wheel, steering torque, a wheel angular speed of each wheel, an actual rudder angle of each wheel, and driving torque of each wheel.