| 摘要 |
An ECU includes: a feedforward torque calculation unit for calculating a feedforward term of torque which reduces vibrations of a vehicle, by inputting a sum of a first requested driving force, which is identified as torque requested by a driver, and brake force into a vehicle model; a feedback torque calculation unit for calculating a feedback term of the torque which reduces vibrations of the vehicle, by inputting second requested driving force calculated from a revolution speed of wheels into the vehicle model; a second driving force calculation unit for calculating driving force to be achieved by an MG, by subtracting driving force to be achieved by an engine and an MG from a sum of the first requested driving force, the brake force, and the feedforward term and the feedback term of the torque which reduces vibrations of the vehicle; and an MG control unit for controlling MG to achieve the calculated driving force. |
