| 摘要 |
<p>PURPOSE:To perform slip control excellently by optimizing control gains for setting the controlled variable for slip control in response to control condition. CONSTITUTION:Torque to be imparted to each front driving wheel is controlled so that the actual slip value of each front driving wheel 1FR and 1FL coincides with the specified target value of an engine or the target value of braking control. In the case of engine control, a regulating means 9 for torque generated by the engine 2 is controlled by means of feed-back operations. And in the case of brake control, braking fluid pressure is built up within a master cylinder 8 with brake booster 11 forcibly operated, so that fluid pressure adjusting valves 15R and 15L are controlled by the aforesaid fluid pressure. Control gains GV for setting the controlled variable of engine control or brake control are changed in response to a control condition before the specified control threshold value was attained wherein the specified control threshold value was used as a criterion. As the control condition, controlled variables when the threshold value is attained, or time between two threshold values are used.</p> |
