| 摘要 |
<p>A normal-rotational-speed calculation section (151) calculates a normal rotational speed (Nn) of a travel motor-generator at each control cycle based on a signal from a rotational position sensor. A moving average calculation section (152) calculates a moving average rotational speed (NAn) of normal rotational speeds (Nn) each provided at every control cycle. A predicted-rotational-speed calculation section (153) determines, based on the trace of the moving average rotational speed (NAn), whether the rotational speed of the motor generator is increasing. When the rotational speed of the motor generator is determined to be increasing, the predicted-rotational-speed calculation section (153) calculates a predicted rotational speed based on the moving average rotational speed at control cycles of this time and the preceding time. The predicted rotational speed calculated is set as a rotational speed (MRN2) for control and outputted to both a motor control section and a torque command calculation section (156).</p> |
