| 摘要 |
PROBLEM TO BE SOLVED: To control the thrust generated by an electric motor in condition closer to a thrust command value. SOLUTION: The upper and lower positions of a wheel 2 are regulated by the thrust generated by the electric motor. At that time, the thrust command value T1 to the electric motor is compensated by both a feedback compensation amount HF1 and a friction compensation amount HF2 in response to a deviation between the thrust command value T1 and an actual thrust T0. Hereat, these two compensation amounts with respect to the thrust command value T1 are changed according to a vertical stroke speed VS of a suspension. COPYRIGHT: (C)2010,JPO&INPIT |
