| 摘要 |
PROBLEM TO BE SOLVED: To obtain an excellent regeneration feeling at every gear position by outputting a regenerative torque command which makes a regenerative torque a value set beforehand, when the deceleration exceeds a limit value. SOLUTION: A deceleration limit value set as well as the deceleration of a motor obtained by differentiating the real number of revolution ωr are inputted into a regenerative torque limiter 21 and compared. Besides, a torque command T1 for a first speed and a torque command T2 at gear positions other than the first speed set are inputted into the regenerative torque limiter 21, and the regenerative torque command T2 for fourth and fifth speeds is outputted when the deceleration of the motor revolution is larger than the limit value. And the torque command T1 for a first speed is outputted when the deceleration of the motor revolution is smaller than the limit value. As the result, it becomes possible to obtain an excellent regeneration feeling according to the degree of deceleration of the motor revolution, and to perform regeneration having an excellent regeneration feeling at any gear position. |
