SLIP RATIO ESTIMATING DEVICE AND SLIP RATIO CONTROL DEVICE

摘要

A slip ratio estimating device for measuring the slip ratio without using the speed of a vehicle body and a slip ratio control device using the slip ratio estimating device are provided. A motor torque measured by a torque measurer is input into a vehicle model (601) and an SRE (602) which calculates the time derivative of the slip ratio. The vehicle model (601) derives the rotational speed of a wheel, the rotational acceleration of the wheel, and the speed of the vehicle body, and outputs the rotational speed of the wheel and the rotational acceleration of the wheel to the SRE (602). The SRE (602) outputs the slip ratio according to the motor torque, the rotational speed of the wheel, and the rotational acceleration of the wheel.