| 摘要 |
<p>The propulsion motor control apparatus for a battery vehicle of the invention comprises; a steering angle detection device (21) for detecting a steering angle (θ) subtended between a common axis (X1) of two front wheels (12a, 12b), and an axis (X2) of a rear wheel, a ratio computing device (22) for computing a ratio between a distance between an intersection point (C) of the two axes (X1, X2) and an outer wheel (12a) on a side further from the intersection point (C), and a distance between the intersection point (C) and an inner wheel (12b) on a side closer to the intersection point (C), based on the steering angle (θ), a function determining device (23) for obtaining a motor rotation speed/current command value function (F2) for the inner wheel (12b) based on a motor rotation speed/current command value function (F1) for the outer wheel (12a) and the obtained ratio, and a control device (24) for individually controlling the respective propulsion motors (4a, 4b) for the two front wheels (12a, 12b) based on the two functions (F1, F2). With this arrangement, feel during turning and turning efficiency can be improved even at low speeds of the battery vehicle, and optimum turning performance can be realized. <IMAGE> <IMAGE></p> |
