| 摘要 |
PROBLEM TO BE SOLVED: To prevent wheel turns caused by roughness of the road surface notwithstanding a forward travel command when the left and right drive wheels are driven by independent electric motors on the left and right. SOLUTION: When three conditions, namely, the condition of a straight forward travel command, the condition that the actual number of revolutions of the electric motors has not reached the target number of revolutions (ST04, ST12), and the condition that the control signal output generated to bring the actual number of revolutions to the target number of revolutions has reached the maximum limit (ST08, ST16)-are satisfied, a downward correction process (ST19, ST20) is performed. If the electric motors are constant output motors, the revolutions will be substantially reduced when a downward correction is performed continuously so that the torque is increased, thereby enhancing the ability to climb uphill, or to negotiate unevenness or obstacles on road surfaces. As a result, the revolutions of the electric motors on the left and right become identical and forward travel is maintained. |
