| 摘要 |
PURPOSE:To always prevent slip properly by obtaining an aimed torque by subtracting the integration type correction torque and proportional correction torque from the max. torque when the drive wheel slip is detected and by varying the coefficient in the calculation of the integration type correction torque. CONSTITUTION:In a traction controller 15 into which the output signals of the wheel speed sensors 11-14 for driving wheels and driven wheels are inputted, the slip quantity DV corresponding to the difference between the driving wheel speed VF and the driven wheel speed VB is calculated. When the DV is larger than a prescribed value, the drive torque is reduced by controlling a torque reducing means such as the throttle valve, etc., of an engine 16. The correction torque TP which is obtained by multiplying a coefficient Kp by DV and the correction torque TS which is obtained by the integration calculation for DV (KiSIGMADV, Ki is coefficient) are obtained, and a standard torque TG is obtained from the acceleration speed of the driven wheel speed VB. Then, the aimed torque TPHI is obtained from the equation TPHI=TG-KiSIGMADV-KpDV, and the engine output is controlled. |
