| 摘要 |
PROBLEM TO BE SOLVED: To propose a new control method which separates detection of occurrence of idling slip from execution of readhesion control. SOLUTION: When the peripheral speed V of a driving wheel increases due to occurrence of idling slip of the driving wheel and the speed difference Vd from a reference speed Vm reaches a predetermined threshold Vs1 at time t1, occurrence of idling slip is detected. When the peripheral speed V increases furthermore and the speed difference Vd from the reference speed Vm reaches a predetermined threshold Vs2 at time t2, readhesion control is executed. A thresholdαs2 is determined depending on the tangential force coefficientsμof the driving wheel at the current and previous timings of idling slip detection. More specifically, when the tangential force coefficientsμat the current and previous timings of continuous idling slip detection over multiple times decline continuously, Vs2>Vs1 is satisfied and the timing of readhesion control is delayed as compared with that in prior art. In other cases, Vs2=Vs1 is satisfied and readhesion control is executed immediately upon idling slip detection just like the prior art. COPYRIGHT: (C)2009,JPO&INPIT |
