| 摘要 |
PROBLEM TO BE SOLVED: To suppress vibration of motors and tires and improve drivability while suppressing occurrence of a slip of each wheel in a system independently driving each wheel.SOLUTION: A control device 100 of a vehicle comprises: a plurality of motors independently driving front, rear, right and left wheels; wheel speed sensors detecting rotation speeds of individual wheels; motor rotation speed sensors detecting rotation speeds of the plurality of motors corresponding to the wheels; a slip determination section 202 setting a lowest rotation speed out of the rotation speeds of the individual wheels detected by the wheel speed sensors to a reference rotation speed and determining slips of the individual wheels by comparing the reference rotation speed and the rotation speeds of the motors corresponding to the individual wheels; a rotation speed control section 112 calculating demand torque of the motor driving a slip wheel such that a rotation speed of the slip wheel coincides with a target rotation speed on the basis of a result of slip determination by the slip determination section 202; and re-distribution control section 114 re-distributing a torque down amount of the slip wheel obtained as a result of calculation of the demand torque to a non-slip wheel.SELECTED DRAWING: Figure 2 |
