| 摘要 |
PROBLEM TO BE SOLVED: To quickly realize control for safe travel according to change of a road surface state which securing necessary driving force.SOLUTION: Travel speed v of a mobile object having a driving wheel to be driven by a motor, rotational speed ω of the driving wheel of the mobile object, and an actual torque value Twhich is generated by the motor are acquired. Continuously, a correction value calculation part 990 calculates a proportion system feedback value Tbased on the rotational speed ω and the actual torque value Tat each point of time by using an adhesion model as a normative model. In addition, an integration part 741 calculates an integration compensation value Tto the proportion system feedback value Tbased on a slip ratio and an estimation result of a friction coefficient. In calculation of the integration compensation value T, the integration part 741 determines whether or not to perform an integration operation based on the estimation result of the slip ratio. Then, a torque setting value Tis calculated based on a torque command value T, and an addition result of the proportion system feedback value Tand the integration compensation value T. |
