| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem of a conventional electromotive vehicle such that it turns in disregard of a straight running command by the factor of the irregularities, etc., of a road surface, if right and left drive wheels are driven by independent right and left electric motors. SOLUTION: When three conditions of a condition that there is a straight running command, a condition (ST07 and ST12) that the actual number of revolutions of the electric motor has not reached the target number of revolutions, and a condition (ST08 and ST16) that the output of a control signal generated to bring the actual number of revolutions close to the target number of revolutions has reached an upper limit are fulfilled, downward modification (ST19 and ST20) for gradually reducing the target number of revolutions is applied. Consequently, if the electric motor is of a fixed output type, rotation is substantially lowered, and torque is increased, and ascending power on the road surface of an ascent increases, or the possibility of getting over the unevenness of the road surface or the hindrance increases by performing the downward modification. Consequently the number of revolutions of the right and left electric motors match with each other, and the progressiuity can be maintained. |
