| 摘要 |
PROBLEM TO BE SOLVED: To enable detection of slip of a driving wheel to be performed with comparatively simple structure, based on a data detectable inside a controller, and to enable slip reduction when accelerated by limiting the driving force of a motor when accelerated, if slippage of the driving wheel is detected in the course of braking. SOLUTION: In slip deciding processing 109, a value obtained by dividing a regenerative current integrated value by an integration set value is set as a slip coefficient, and this is compared with a specific value. If it is smaller than the specific value, it is decided that a slip occurred in the course of regenerative braking. Based on that result, driving force limiting processing 110 is executed, and limitation is performed so that a motor current does not exceed a current limit value Is. Consequently, it becomes possible to detect slippage of a driving wheel on the basis of data detectable inside a controller, without additionally installing to a car a sensor, etc., for detecting the rotating speed of the drive wheel or coupled drive wheel and the speed of the car, and to reduce slip when the car is accelerated, irrespective of road conditions, car weight, or difference of cars. |
