| 摘要 |
PROBLEM TO BE SOLVED: To prevent the uncomfortable vibration caused by the sudden change of the load of a motor at the start of regenerative braking, in an electromotive vehicle which performs regenerative braking preferentially to hydraulic braking. SOLUTION: The occurrence of vibration is prevented by gradually increasing the regenerated braking force from the preset regeneration initial value to the requested braking force without instantaneously increasing the regenerated braking force to the requested braking force at the start of braking, and the amount of shortage of the braking force in that while is compensated by hydraulic braking force. In case that the requested braking force is over the regeneration tolerable value, the increase of that regenerated braking force is limited at the point of time when the regenerated braking force reaches the above regeneration tolerable value, and the amount of shortage of braking force after that is compensated by hydraulic braking force. |
