| 摘要 |
PROBLEM TO BE SOLVED: To suppress hunting due to a simultaneous feedback control for a motor with high responsiveness, an engine with low responsiveness and a brake hydraulic control. SOLUTION: At a slip initial time with large deviation of a slip ratio, control torque ET, MT of the engine 1 and a motor 2 for traveling are set to be increased by a feed forward control, a moderating degree of motor control torque MT is increased, torque is reduced up to a large degree and converging property in the subsequent feedback control can be enhanced. During the feedback control from generation of slip to elapse of a period T1, the larger the number of revolution of a motor NM becomes or the smaller a difference of a maximum slip value Slmax and a minimum slip value Slmin becomes, proportional gain PM1 and integrating gain IM1 are set to be larger. |
