| 摘要 |
The present invention relates to a method for generating a torque command. According to an embodiment of the present invention, the method for generating a torque command comprises: a step of setting a limit increase rate and a limit reduction rate of an initial torque command in accordance with performance of a torque source; a step of comparing an increase rate of the initial torque command with the limit increase rate while generating a final torque command based on the initial torque command; a step of checking a first time point when the increase rate of the initial torque command exceeds the limit increase rate and generating a final torque command increased at the limit increase rate after the first time point; a step of checking a second time point when the final torque command reaches the initial torque command after the first time point and calculating a torque loss amount during a time from the first time point to the second time point; and a step of generating a final torque command after the second time point to correct the torque loss amount. |
