| 摘要 |
The movement speed v of a moving body having driving wheels driven by a motor, the rotational speed É of the drive wheels of the moving body, and the actual torque value Tm generated by the motor are acquired. Subsequently, a slip rate estimation part (741) estimates the slip ratio » of the drive wheels on the basis of the movement speed v and the rotation speed É. Further, a driving torque estimation part (742) estimates the driving torque T d of the drive wheels on the basis of the rotational speed É and the actual torque value T m . Next, a limit value calculation part (743) calculates a limit value L for a torque command value T c on the basis of the slip rate » and the driving torque T d . Further, a limiter part (744) limits the torque command value T c using the limit value L, generates a torque setting value T s , and sends the generated torque setting value T s to a motor drive system (900). As a result, it is possible to quickly realize control in accordance with changes in the road surface state, thus allowing safe travel while ensuring the needed drive power. |
