Patent ID: 11958329
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 8:
9. The roll vibration damping control system according to claim 1, wherein:
the front and rear wheel forces F are expressed by equation F=[Fxf1 Fxfr Fxrl Fxrr], where Fxfl, Fxfr, Fxrl, and Fxrr correspond to the force of each wheel,
a control command value u is expressed by u=[Mxc Myc Fzc Fwc], where Mxc is a controlled roll moment, Myc is a controlled pitch moment, Fzc is a controlled heave force, and Fwc is a controlled warp force,
the front and rear wheel forces F are computed in accordance with equation F=−1u, where C=, C
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  ,, with tf corresponding to a tread between the front wheels, tr corresponding to a tread between the rear wheels, lf corresponding to a distance in a vehicle front and rear direction between a center of gravity of the vehicle and a front wheel axle, lr corresponding to a distance in the vehicle front and rear direction between the center of gravity of the vehicle and a rear wheel axle, Of defines an angle that a line segment connecting an instantaneous center of each of right and left front wheels to a contact point makes with a horizontal direction in a vehicle transverse direction, and θr defines an angle that a line segment connecting the instantaneous center of each of right and left rear wheels to a contact point makes with the horizontal direction in a vehicle transverse direction.