| 摘要 |
PURPOSE:To perform slip control more excellently by optimizing control gains for setting the controlled gain of slip control in response to the running condition of a vehicle. CONSTITUTION:Torque to be imparted to each driving wheel is controlled so that the actual slip value of each front driving wheel 1FR and 1FL coincides with a target value for an engine or the target value of brake 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. In the case of brake control, braking fluid pressure is built up within a master cylinder 8 with a brake booster 11 forcibly operated, so that fluid pressure adjusting values 15R and 15L are thereby controlled by the aforesaid pressure. Control gains GV for setting the controlled variable of engine control or brake control are changed in response to the running condition of a vehicle. The control gains are used when the controlled variable for the present time are found, for example, by the following equation: controlled variable for the present time = (control variable at the previous time + basic value X GV)/100. |
