| 摘要 |
The movement speed v of a moving body having driving wheels driven by a motor, the rotational speed É of the drive wheels of the moving body, and the actual torque value Tm generated by the motor are acquired. Subsequently, a limiting part (741) calculates an estimated slip ratio » and an estimated driving torque T d on the basis of the movement speed v, the rotational speed É and the actual torque value T m . Next, the limiting part (741), after calculating a limit value L on the basis of the estimated slip ratio » and estimated driving torque T d , uses the limit value L to calculate a limited torque value T L . Further, with an adhesive model as the reference model, a feedback part (742) calculates a feedback torque value T f on the basis of the rotational speed É and the actual torque value T m . Then, a torque setting value calculation part (743A) calculates a torque setting value T s on the basis of the limited torque value T L and the feedback torque value T f . As a result, it is possible to quickly realize control in accordance with changes in the road surface state, thus allowing safe travel while ensuring drive power. |
