CONTROL FORCE DISTRIBUTION DEVICE FOR MULTI-LEG ACTIVE SUSPENSION

摘要

PROBLEM TO BE SOLVED: To enable a highly accurate posture control of a caterpillar vehicle in a condition of minimum consumption of fuel. ;SOLUTION: A heave position/speed, pitching/yawing/rolling angle, and angular velocity of a vehicle body 1 is detected at its center of gravity position by each sensor 16-19. A control command computing unit 21 outputs a command signal necessary for maintaining the posture of the body at a fixed position according to a signal from each sensor. A unit of optimumly distributing actuator force 22 outputs an actuator force distribution signal so as to ensure total force and total moment with minimum fuel consumption according to a signal of an actuator force detector 15a-15e. An actuator command computing unit 23 compares a detection signal of the detector 15a-15e with an actuator force distribution signal and then outputs an optimum signal within a limiting power of an actuator 4a-4e to drive means 24 to thereby drive the actuator 4a-4e for performing posture control of the vehicle body 1.;COPYRIGHT: (C)1997,JPO