Electronically-controlled suspension apparatus and damping force control method

An electronically-controlled suspension apparatus includes a first sensing device (140) for detecting a vertical acceleration of a vehicle body; a second sensing device (170) for detecting vertical movements of a vehicle body relative to a wheel axle; and a controller (150) for obtaining a vertical speed of the vehicle body by using the vertical acceleration detected by the first sensing device (140), obtaining a damper speed of a variable damper (130) by using the vertical movements detected by the second sensing device (170), calculating a target damping force Fdesired by using the vertical speed of the vehicle body and the damper speed, and determining a control command value (U) by using the target damping force. The control command value (U) is transmitted from the controller (150) to the actuator (160) of the variable damper (130) to change damping force characteristics of the variable damper (130).