| 摘要 |
PROBLEM TO BE SOLVED: To provide a device for controlling an objecte to be controlled, the dynamic characteristics of which is changed in response to the state quantity, into a state where the stability and the responsiveness of the object are kept in good condition. SOLUTION: The clutch slip control device is provided with a state quantity detecting means 101 for detecting the state quantity related to slip control, a coefficient calculating means 101 for calculating the coefficient continuously changing, depending on the state quantity so as to meet the responsiveness and the stability of a system which feedback-controls the slip state, using a state equation model which uses the state quantity as a parameter to represent input-output dynamic characteristics of an operating quantity command value and the actual slip rotating speed, a controlled quantity deviation calculating means 104 for determining the quantity of deviation of a target slip-rotating speed from the actual slip-rotating speed, and an operating quantity command value calculating means 102 for determining the operating quantity command value based on the coefficient, the state quantity, and controlled value-deviation calculated by the coefficient calculating means 101. |
