| 摘要 |
When a torque variation amount (Delta Tm) of torque (Tm*) required by a motor is large, the variation causes a vehicle to vibrate or swing, which results in a temporarily larger angular velocity (alpha). In this case, it may be misjudged in a slip judgment (step S112) based on an angular velocity (alpha) that the angular velocity (alpha) exceeded a threshold value (alphaslip) and that slip occurred in spite of the fact that the slip did not occur. For this reason, when the torque variation amount (DeltaTm) exceeds a threshold value (Tthr) in a (step S108), it is judged that it may be misjudged as slip having occurred in spite of the fact that the slip did not occur, so that a control routine in a (step S116) for when gripped is performed without performing a torque limiting process that is a control routine for when slipped (step S120). |
