| 摘要 |
A traction control device acquires the moving speed (v) of a moving body having a driving wheel driven by a motor, the rotational speed (ω) of the driving wheel of the moving body, and the actual torque value (Tm) generated by the motor. Subsequently, a restriction unit (741) calculates an estimated slip rate (λ) and an estimated driving torque (Td) on the basis of the moving speed (v), the rotational speed (ω), and the actual torque value (Tm). Next, the restriction unit (741) calculates a limit value (L) on the basis of the estimated slip rate (λ) and the estimated driving torque (Td), and thereafter, calculates a limited torque value (TL) using the limit value (L). Further, a feedback unit (742) calculates, using an adhesive model as a reference model, a feedback torque value (Tf) on the basis of a value obtained during the process of calculating the limit value (L) in the restriction unit (741), and the actual torque value (Tm). A torque setting value calculation unit (743A) then calculates a torque setting value (Ts) on the basis of the limited torque value (TL) and the feedback torque value (Tf). |
