TANGENTIAL FORCE COEFFICIENT ESTIMATING APPARATUS FOR ELECTRIC VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide an apparatus for estimating tangential force coefficient with good accuracy each time the rotational angular velocity of a main electric motor is calculated. SOLUTION: Four pieces of information are set to form a minimum dimensional disturbance observer. The rotational angular velocity of a main electric motor multiplied by the coefficients of a first coefficient multiplier 4, and a second coefficient multiplier 5 is used as the first information. The measured or calculated value of the torque generated by the main electric motor is used as the second information. An output from an integrator 6 is used as the third information. One to be used as the fourth information is the output of an adder 7, which is obtained in the processes constituting of a first and second information and reversed sign value of the third information are inputted into an adder 3. The output of the adder 3 is inputted into the integrator 6, whose output is added with an adder 7 to the third information obtained through the integration and the reversed sign value of the first information. This is a tangential force coefficient estimating device for an electric vehicle for calculating a tangential force coefficient by multiplying the fourth information with the coefficient of a third coefficient multiplier 2.