| 摘要 |
PROBLEM TO BE SOLVED: To provide a slip controller that enables a rapid control to solve a slip by precisely judging a slip by using only a rotation angle sensor for motor rotation control as sensors.SOLUTION: The slip controller is provided with threshold calculation means 21 that obtains a threshold value by calculating an angular acceleration at which a motor should be rotated from an accelerator control input, angular acceleration calculation means 22 that calculates an angular acceleration by twice-differentiating a detection value of a rotation angle sensor, slip judgment means 23 to judge a drive wheel has slipped, and on-slip torque limit means 25 to limit a torque when the drive wheel has slipped. The slip judgment means 23 judges the angular acceleration and the threshold value by an angular acceleration comparison part 26. The number of continuations by which judgment that the threshold value seems to be exceeded is counted, and when the number of continuations reaches a set value, a slip is judged to occur. The on-slip torque limit means 25 limits a torque with respect to a drive wheel judged to have slipped and the motor of drive wheels on right and left opposite sides. |
