| 摘要 |
PROBLEM TO BE SOLVED: To suppress vibration of a vehicle caused by torque variations, etc., by control of less quantity of calculation. SOLUTION: A correction value τ' is found by multiplying a rotational speed deviation Δω between a corresponding rotational speed ω M', which is obtained by dividing the rotational speed ω M of a motor 36 from a rotating motor speed sensor 52 by the ratio of deceleration id of a speed reducer 38 and corresponds to the rotational speed of driving wheels 42, 44, and the average rotational speed of the driving wheels 42, 44 from rotational speed sensors 54 for the driving wheels, by a gain k which is obtained by taking non-vibration and response into consideration and is represented by the following equation, and a torque command τM#ref is corrected and is inputted to the motor 36. Since this control is a feedback control, which used the rotating speed ωM of the motor 36 and the rotational speed ω b of the driving wheels 42, 44, the quantity of calculation can be reduced. |
