The unknown chassis mass ˆmc = mc + m is estimated
by using the measurements as well as the spring and damper
models, [1]. Since the chassis mass during regular operation
is a slowly changing parameter, a strong lowpass filtered
version of the signal ˆmc can be used to estimate it. In
contrast, in case of the damper force estimation the highfrequency
components are considered so as to reproduce the
quick damper dynamics. In Fig. 6, a sequence of the chassis
mass estimation is depicted. As can be seen, the estimated
mass attains the real mass value ˆm∗
c within about 10 sec.
As the additional mass m causes a permanent suspension
deflection, this quantity can be used to find an appropriate
initial value at t = 0.