| 摘要 |
PROBLEM TO BE SOLVED: To propel an electric car by an arbitrary creeping speed. SOLUTION: The rotational speed Vm of a wheel 2 is detected by a rotational speed detector 4, and the car speed Vt is detected by a car speed detector 5. A creeping speed Vs is obtained by a first adder/subtracter 6 from the motor speed Vm and the car speed Vt. This creeping speed Vs and a creeping speed command Vs* which a creeping speed command generator 7 outputs are compared by a second adder/subtracter 8, and it outputs a creeping speed deviation Vse. A torque command calculating part 9 calculates a torque command T* so as to make this creeping speed deviation Vse small. Receiving this torque command T*, a motor drive part 10 supplies a drive signal to the motor 3. The motor 3 receives the drive signal and is driven, and rotates wheels 2. Accordingly, it becomes possible to drive the electric car stably without slipping and sliding as the creeping speed is controlled at high speed. |
