| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric cart of novel constitution capable of sufficiently enhancing cornering performance. SOLUTION: A yaw moment calculating part 43 applies to the formula (3) the tire transverse forces Fya, Fyb of respective rear wheels 5a, 5b computed by a tire transverse force computing unit 39 and the tire longitudinal forces Fxa, Fxb of respective rear wheels 5a, 5b computed by a tire longitudinal force computing unit 41 to compute yaw moment YM. A motor torque command value computing unit 45 computes the first motor torque command value TP1 of a first electric motor 7 and the second motor torque command value TP2 of the second electric motor 11 so as to eliminate the difference between the computed yaw moment YM and a target yaw moment GYM. A motor control unit 47 controls the first electric motor 7 and the second electric motor 11 based on the computed first motor torque command value TP1 and the second motor torque command value TP2. COPYRIGHT: (C)2008,JPO&INPIT |
