Wheel slip control system

摘要

A vehicle (1) includes a wheel (3), an electric motor (13) that drives the wheel (3), a drive torque operator (20, 28) that is operated by an operator, a slip detection unit (50) that detects a slipping state of the wheel (3), a torque command value calculation unit (53) that calculates a torque command value for the electric motor (13), and a motor drive unit (55) that drives the electric motor (13) according to a calculated torque command value. When the slip detection unit (50) has not detected a slipping state of the wheel (3), the torque command value calculation unit (53) calculates a torque command value for the electric motor (13) according to an input to the drive torque operator (20, 28). When the slip detection unit (50) has detected a slipping state of the wheel (3), the torque command value calculation unit (53) calculates a torque command value that repeatedly fluctuates alternately between a first value not more than a torque command value at the time when wheel slip has been detected and a second value smaller than the first value.