| 摘要 |
PROBLEM TO BE SOLVED: To detect the slip of an electric vehicle with high precision and avoid the decline of the acceleration of the electric vehicle which accompanies the erroneous detection of the slip. SOLUTION: The controller of an electric vehicle which comprises a plurality of control unit which controls a plurality of motors driving the vehicle individually has a means which calculates the average revolution of the motors from the revolutions of the respective motors, a means which calculates the wheel diameter difference correction values of wheels coupled with the shafts of the respective motors from the ratios of the revolutions of the respective motors to the average revolution, a means which calculates a reference revolution of the re-adhesion control for the respective control units from the wheel diameter difference correction values and the average revolution, a means which detects the slips of the wheels in accordance with the average revolution and the revolutions of the motors controlled by the respective control units, and a re-adhesion control means which suppresses the torques of the motors in accordance with differences between the reference revolution and the revolutions of the motors controlled by the respective control units when the detection signals of the slips are outputted. |
