| 摘要 |
PROBLEM TO BE SOLVED: To properly suppress the induction of slip or skid in another shaft that may occur when slip or slid occurs. SOLUTION: When slip or skid occurs, readhesion control is carried out on a first shaft that has slipped or skidded and slip/skid induction suppressing control is carried out on each of the other shafts, second to fourth shafts. In the slip/skid induction suppressing control, the torque of a shaft to be controlled is varied in synchronism with torque reduction by readhesion control. The amount of varied torqueΔτ<SB>eb</SB>is determined based on accelerationαat the slip or slid of a slipping/skidding shaft and a predetermined coefficient k. The coefficient k is determined based on which, slip or skid, has occurred, the positional relation between the shaft to be controlled and the slipping/skidding shaft displaced in a vehicle, and the like. In case of slip during power running, for example, the amount of varied torque is determined to reduce torque when the shaft to be controlled is positioned behind the slipping/skidding shaft and increase torque when the shaft to be controlled is positioned ahead of the slipping/skidding shaft. COPYRIGHT: (C)2010,JPO&INPIT |
