| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a travel control device capable of properly suppressing slip of a drive wheel.SOLUTION: A travel control device 10 includes a temporary torque decision part 11 which decides a temporary torque command value Taccording to operation amount of an acceleration lever 8, a suppression torque decision part 12 which decides a suppression torque command value Tby proportional integration control for reducing a deviationV-Vbetween actual rotational speed Vand a target rotational speedVof a drive wheel 7, and a motor control part 13 which controls a travel motor 20 based on a torque command value T, with a value provided by subtracting an amount corresponding to the suppression torque command value Tfrom the temporary torque command value Tassumed as the torque command value T. The suppression torque determination part 12, if the deviationV-Vis larger than a predetermined threshold value, increases the suppression torque command value Tby off-setting an integration term along integration direction.</p> |
