| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an electric vehicle that can properly prevent slipping of a tire corresponding to a road condition, or the like, and can certainly prevent slipping without useless limitation of running performance. <P>SOLUTION: The slip ratio λ is obtained from rotating speed N1 and N2 of a driven wheel and a driving wheel respectively by a slip ratio estimation means 42. The generated torque estimated value Te by other external force of tare weight or the like that act on the vehicle is obtained by a disturbance observer 43. The entire action torque T that acts on a driving wheel 2 is obtained from a generated torque estimated value Te and a motor torque Tm by an action torque estimating means 44 and a coefficient of friction μ between the road surface and the tires is presumed from the torque and the slip ratio by the coefficient of the friction estimation means 45. A permissible maximum torque Tmax is set from this coefficient of friction μ and a vertical direction load FZ by an operation means 46, and the torque restriction is carried out so as not to exceed this. <P>COPYRIGHT: (C)2012,JPO&INPIT |
