| 摘要 |
<p>Provided is an electric drive vehicle travel control method with which it is possible to alleviate unnecessary revolving promoting yaw moment which arises when applying braking to a drive wheel when a vehicle chassis is revolving. A travel control method according to the present invention, as an example, is applied to an electric drive dump truck with which the rear wheels (5L, 5R) which are the left and right drive wheels are either driven or braked by controlling electric motors (6L, 6R) which are positioned to the left and right of an inverter device (30). At all times during braking when a vehicle chassis (1) is revolving, a slip index (sigma) which is an index of a slip determination is derived on the basis of a representative velocity (Vv) of the vehicle chassis (1) and a velocity of a rear wheel, from among the left and right rear wheels (5L, 5R), which is located to the outward side with respect to a center of revolution of the vehicle chassis (1). On the basis of this slip index (sigma), a correction degree (Ft) of a brake drive instruction value which is applied respectively to the left and right rear wheels (5L, 5R) is derived. The driving of the left and right rear wheels (5L, 5R) is controlled by the brake drive instruction values T_ML, T_MR) which are weakened by this correction value (Ft).</p> |
