| 摘要 |
<p>PURPOSE: To compensate a driven wheel speed or driving wheel speed so accurate enough even if a driving wheel is in slippingness, in such a vehicle that there is a diametral difference between both these driven and driving wheels. CONSTITUTION: In a driving wheel slip factor calculating means M1, a driving wheel slip factorλis calculated, while in a driving wheel torque calculating means M2, a driving wheel torque TQDW is calculated as well. Them, in a driving wheel slip factor estimating means M3, a variation characteristic in the driving wheel slip factorλto a variation in the driving wheel torque TQDW is estimated with a minimum square law. In a compensation value calculating means M4, a compensation value CVW corresponding to a revolution ration between both driven and driving wheels in a state that the driving wheel is not slipped is calculated as an intercept of the driving wheel slip factorλin the case of the driving wheel torque = 0 in a graph of the variation characteristic. Subsequently, in a compensating means M5, a driving wheel speed VW is compensated with this compensation value CVW.</p> |
