| 摘要 |
PROBLEM TO BE SOLVED: To provide a control apparatus for an electric vehicle capable of suppressing an occurrence of a revolving force by making a difference of drive forces between a right wheel and a left wheel nearly zero even if effective radiuses of the right wheel and the left wheel are different by a variation of a tire air pressure change, etc.SOLUTION: Correction means 14 for correcting command values given from drive command output means 13 to a drive circuit 11 of an electric motor 4 of right and left drive wheels 2, is provided. The correction means 14 corrects the command values so that the command values to the right and left command drive wheels 2 have a relationship with each other in which the revolving force for the vehicle generated due to the difference between the effective radiuses of the right and left drive wheels is suppressed when a steering angle, the number of revolution of each drive wheel 2, and an electric motor current are inputted and the steering angle is used as a reference for a direction of travel. The correction means 14 stores an average of ratios of the effective radiuses of the drive wheels 2 on the basis of multiple correction control, so that the correction means 14 has s regulation content in which a control command value is given as an outline correction on the basis of the average. |
