Motor control apparatus and motor control method

摘要

In response to detection of a skid of drive wheels based on an increase in angular acceleration alpha of a rotating shaft of a motor, the control procedure of the invention refers to a map representing a variation in maximum torque Tmax against the angular acceleration alpha and sets torque restriction of the motor to limit the torque level of the motor to the maximum torque Tmax corresponding to a peak value of the angular acceleration alpha. When the torque restriction sufficiently lowers the angular acceleration alpha to detect convergence of the skid, the control procedure cancels the torque restriction to a certain level of the maximum torque Tmax corresponding to a torque restoration limit delta 1, which is set according to the degree of the skid. The torque restoration limit delta 1 (that is, the maximum torque Tmax) is cancelled in a stepwise manner by a cancellation rate and a cancellation time corresponding to an additional accelerator depression relative to an accelerator opening at the time of detection of the skid. The control procedure sets the greater cancellation rate and the shorter cancellation time with an increase in additional accelerator depression.