| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent wheels from being locked, and suppress a rapid change in a torque. <P>SOLUTION: When at least one of front and rear wheels is locked (steps S110-S140), torque instructions Tmf*, Tmr* are set so as to change the torque output from a locked motor at change rates kf2, kr2 smaller than the change rates kf1, kr1 at an unlocked state with regard to the motor for outputting power to the locked wheel among the motors for outputting power to the front and rear wheels (steps S150-S170). Two motors are controlled by the set torque instructions Tmf*, Trc. Thus, the wheels are prevented from being locked, and a shock due to the rapid change in the torque is suppressed. Consequently, a driver is prevented from feeling discomfort. <P>COPYRIGHT: (C)2013,JPO&INPIT |
