| 摘要 |
PROBLEM TO BE SOLVED: To provide a constant speed traveling controller capable of quickly stabilizing the traveling speed to the target speed. SOLUTION: The target speed Vm, the traveling speed Vn, the last throttle demand opening MAn-1, the torque change amountΔT, feedback gains G1, G2, and the phase compensating time Tsk are read (step 61), and the speed change amountΔV is calculated (step 62). The tentative throttle demand opening MBn is calculated (step 63) according to the expression of MBn=MAn-1+G1 *[Vm-(Vn+Tsk*V)], and the throttle demand opening MAn is calculated (step 64) according to the expression MAn=MBn-G2*ΔT. A controller controls a constant traveling actuator according to the throttle demand opening MAn so that the traveling speed may coincide with the target speed.
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