| 摘要 |
<p>PROBLEM TO BE SOLVED: To properly control drive force power distribution according to a theoretical normative model while to cope with variation that cannot be compensated by the normative model.SOLUTION: Based on steering angle, car speed, yaw rate and slip angle of a four-wheel drive vehicle, a theoretical rotational speed value of a main drive wheel and a theoretical rotational speed value of a sub drive wheel are respectively obtained. From the values, a rotational difference (ΔN) normative theoretical value that is a difference between input/output shaft theoretical rotational speed values of a drive force distribution device is obtained (theoretical value calculation part 71). Based onΔN measurement value representing actual input/output shaft rotation difference of the drive force distribution device andΔN normative theoretical value,ΔN normative value obtained by correcting theΔN normative theoretical value is obtained (normative calculation part 72). By servo control theΔN measurement value whose target value is theΔN normative value, a driving force to the sub drive wheel which is distributed by the drive force distribution device (10) is corrected (servo control part 73). A filter process is performed so that theΔN normative value does not change in response to temporary change in deviation between theΔN measurement value and theΔN normative theoretical value.</p> |
