| 摘要 |
<p>A control unit (30) as a wheel control device for controlling four wheels (11 to 14) is provided with a torque computing unit as a control unit for controlling torque of four motors (19 to 22). The torque computing unit sets a predetermined reference torque for each of the four motors (19 to 22) in accordance with first information regarding an input operation by a driver, controls a first motor of the four motors (19 to 22) with a torque of the reference torque to which a first allocation torque is allocated by addition in accordance with second information regarding a motion state of a vehicle (10), and controls a second motor different from the first motor with a torque of the reference torque to which a second allocation torque is allocated by subtraction. The torque computing unit includes an allocation torque limit mode in which, for both the first motor and the second motor, the first allocation torque and the second allocation torque are limited such that the direction of torque action is not changed before and after the allocation by addition and the allocation by subtraction.</p> |
