| 摘要 |
<p>Predetermined slip by spinning of a drive wheel (34a, 34b) is determined only by motor torque and brake torque used for travel and by the rotation speed of a motor (22) sent from a rotational position sensor (23). While the predetermined slip is determined, slip is suppressed by limiting drive of the motor (22). By this, slip can be suppressed by a simple construction. Further, a brake system (40) also suppresses slip. This means that slip is suppressed by multiple devices, so that even if the brake system (40) does not work due to a failure and abnormality and if a TRC off switch (68) is turned on and does not function, slip is suppressed by limiting drive of the motor (22). As a result, unstable travel of the vehicle and damage to devices are prevented.</p> |
