| 摘要 |
PROBLEM TO BE SOLVED: To control power running and plugging using a computation formula by comparing a command torque value to be fixed in accordance with an operat ed quantity of an accelerator, with a computed torque value of a specific formu la computed using a current value flowing in a running motor and corresponding to the operating condition of the running motor. SOLUTION: On the occasion of torque feedback control by the use of a command torque value To on the basis of an operated quantity of an accelerator, and a computed torque value Tr found by computation corresponding to the current operating condition of a running motor 2, a computed torque value is computed by a formula: Tr=G1×G2×If+(1-G2)×Ia}<2> at the time of both power running and plugging, where, G1 and G2 in the formula are gains, and satisfy 0<=G2<=1. Accordingly, it becomes possible to set different computed torque values respectively, by elements for the gain G1 in the cource of power running when an armature current Ia is equal to a field current If, and by elements for the gains G1 and G2 at the time of plugging. |
