DRIVING FORCE CONTROLLER FOR VEHICLES

摘要

PROBLEM TO BE SOLVED: To provide a driving force controller for vehicles wherein even when the longitudinal force of either of left and right wheels is saturated, vehicle body vibration arising from input disturbance can be suppressed.

SOLUTION: The driving force controller is provided with left and right motors 1, 2 that independently drive the left and right wheels 12, 13, disturbance detectors 3, 4 that detect the input disturbances DR^, DL^ of the left and right wheels 1, 2, disturbance suppression torque computation units 5, 6 that compute disturbance suppression torques TR*, TL*for suppressing the input disturbances DR^, DL^, control error computation units 7, 8 that estimate control errors ER, ELfrom the disturbances DR^, DL^ and the disturbance suppression torques TR*, TL*, and a torque correction unit 9 that corrects the disturbance suppression torques TR*, TL*so as to cancel out the control errors ER, EL.

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