| 摘要 |
A main controller (1) supervises and controls a plurality of inverter controllers (2a, 2b ...) each of which controls an inverter (6a, 6b ...). Each inverter feeds at least one driving motor (7a, 7b ...). When a slip or skid occurs at a certain motor (e.g. 7a), the inverter controller (2a) associated with this motor transmits non-adhesion information to the main controller. Based on the non-adhesion information transmitted, the main controller reduces the torque pattern for the inverter controller (2a) associated with the certain motor immediately. At the same time, the main controller (1) learns the state and location where the slip or skid occurred and, on the basis of the learning result, compensates the torque pattern for an inverter controller (2b) associated with a motor (7b) other than the certain motor (7a). <IMAGE> |
