| 摘要 |
PROBLEM TO BE SOLVED: To suppress or prevent vibration which is generated with changes in drive force, when a vehicle is driven from the output of a motor. SOLUTION: A damping device for a vehicle uses a motor as a source of drive force and controls the torque of the motor to be input to a real plant which is a power transmission system of a vehicle. The damping device comprises a feed-forward controller F(s) which, being configured based on a plant model 22 having a transfer function G(s) which is very much like a transfer function GR(s) of the real plant 21 and an inverse function to the transfer function G(s) of the plant model 22, sets a torque Tm of the motor to be input to the real plant 21 and the plant model 22, a comparator 23 which finds out a deviation (e) between an output value θ1 of the real plant 21 and an output estimated value θ1e found by the plant model 22, a disturbance torque estimating means 24 which estimates the disturbance torque, based on the deviation (e) found by the comparator 23 and a correcting means 20, which corrects the torque of the motor to be input to the real plant based on the disturbance torque estimated by the disturbance estimating means 24. |
