VEHICLE DRIVING CONTROLLER

摘要

PROBLEM TO BE SOLVED: To attain smooth driving at a curve part and high speed stability at a straight section in a vehicle driving controller of right and left wheel independent driving system. SOLUTION: A torque command setting part 11 outputs torque command Trqref corresponding to a train speed V. A right and left wheel speed difference control gain setting part 13 sets a control gain G(s) according to the radius of curvature (r) of an orbit and train speed V, and speed difference correcting torqueΔTrq is calculated from a rotational speed difference (ωrL-ωrR) between right and left wheels respectively using a control gain G(s) given by a right and left wheel speed difference correcting torque calculating part 12. The last torque commands TrqrL, TrqrR are calculated by regulating the right and left wheel speed difference correcting torqueΔTrq to the torque command Trqref in a right and left wheel speed difference correcting part 14, and a left wheel driving motor 16L and a right wheel driving motor 16r drive a left wheel 15L and a right wheel 15R respectively based on the last torque command.