| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent the interference between slip suppression control by a motor and slip suppression control by a brake when the slip is caused by the idling of a driving wheel in a vehicle traveling with a power from a motor. <P>SOLUTION: When an acceleration α of the rotation angle of a motor from a rotational position detection sensor exceeds a threshold, the torque of a motor is controlled by rate processing with a rate ΔT1 of a relatively large inclination toward a torque upper limit value Tmax based on the acceleration α of the rotation angle, and a braking force by a brake is outputted to a slip wheel when a wheel speed from a wheel speed sensor exceeds a target wheel speed, and the torque of the motor is limited by rate processing with a rate ΔT2 of a relatively small inclination instead of the rate ΔT1 (S160 to S220). Thus, it is possible to quickly suppress slip, and to suppress the interference between slip suppression control by the motor and slip suppression control by a brake. Therefore, it is possible to obtain satisfactory operation feeling. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
