| 摘要 |
PROBLEM TO BE SOLVED: To accurately control the slip ratio even in the condition that a gravity acceleration is large such as on a slope by setting a slip ratio determining function, and setting the driving and braking torque target value on the basis of the switching function containing the integral term obtained by performing time-integration of the determining function. SOLUTION: Each detection value of a wheel speed sensor 7 and a car speed sensor 8 is input to a control unit 3 with a target slip ratio to be set on the basis of the output of an acceleration pedal actuating angle sensor 9 so as to compute a slip ratio determining function σ (t). A switching function containing the integral term obtained by performing the time-integration of the slip ratio determining function valve is set, and a driving and braking torque target value of a driving wheel is set on the basis of the switching function. The slip ratio determining function σ (t) is determined by an expression σ(t)=γXv (t)-Xw (t)-γ0 (t), and γ0 >=0, γ=1/(1-λ0 ), Xv (t) means car body speed, Xw (t) means driving wheel speed, λ0 means a target slip ratio, and λ means slip ratio. |
