| 摘要 |
<p>PURPOSE:To force a control torque down when the relative speed is higher than a predetermined level and the differentiated value of circumferential velocity of wheel is higher than a predetermined level, by providing a means for determining the relative speed between the real speed of vehicle and the circumferential velocity of wheel. CONSTITUTION:The wheel speeds of driving motors M1, M2 are detected by detectors PG1, PG2. The lowest circumferential velocity of wheel Vmin is detected by a lowest value detector MIN. Relative speed signals of respective shafts V1- Vmin and V2-Vmin are entered into an AND 1 and an AND 2 through amplifiers A1, A2. The speeds of the shafts are differentiated by differentiators D1, D2 and then applied to the AND 1 and the AND 2 to control the make and break of switches S1, S2. When the relative speed between the circumferential speeds of wheels is higher than the predetermined level and the circumferential acceleration of wheel is higher than the predetermined level, an acceleration feedback signal is feedbacked to reduce the output voltage of voltage regulator.</p> |
