| 摘要 |
PROBLEM TO BE SOLVED: To maintain acceleration/deceleration performance by certainly performing adhesion recovering control.SOLUTION: When racing/slipping is detected, while the period in which motor rotational angular velocity torque conversion values T, T, which are calculated by differentiating wheel rotational angular velocity detected values ω, ωand multiplying the resulting value by inertia moment, are over a predetermined value, load torque estimation values calculated by subtracting the motor rotational angular velocity torque conversion values T, Tfrom a motor driving torque comprising a value corresponding to motor response delay are read several times and the load torque estimation values are updated with the latest latched value. In addition, when racing/slipping is detected, values calculated by multiplying the latest latched value of the load torque estimation values by a coefficient are output as motor driving torques T, T. |
