| 摘要 |
PURPOSE: To suppress slip by deciding that a drive wheel is slipping when a differential value calculated at a slip calculating section exceeds a reference value, driving a road wheel drive motor and subtracting the torque of the road wheel from that of the drive wheel. CONSTITUTION: A slip calculating section 52 operates the speed and traveling direction of road wheels 16L, 16R along with the difference of predicted values thereof, i.e., a slip. When the slip exceeds a reference value, it is decided that a drive wheel 11 is slipping and road wheel drive motors 17L, 17R are driven. A drive wheel torque control section 54 reduces output torque of the drive wheel 11 by subtracting the total sum of output torque consumed by the road wheels 16L, 16R from the output torque required for the drive wheel 11. With such arrangement, slipping of the drive wheel 11 can be prevented more reliably. |
