| 摘要 |
PURPOSE: To facilitate the high precision speed control by a method wherein the speed control is applied to a front wheel side motor and the torque control is applied to a rear wheel side motor to maintain the torque balance. CONSTITUTION: Front wheels and rear wheels are driven by motors (induction motors) 1 and 7 respectively. The motor of the front wheel side or the rear wheel side, for instance the motor 1 of the front wheel side, is controlled by the speed control wherein an inverter is controlled by a speed controller 3 and a current controller 5. The motor 7 of the rear side is controlled by the torque control wherein a limiter 4 is controlled by a speed instruction supplied by the speed controller 3 in accordance with the torque required on the front wheel side to take the balance. Further, the motor 1 which drives the right side wheel and one of the right side and left side wheels of the speed-controlled side (in this case the front wheels) is controlled by DROOP control to achive the speed control with the balance between the right side and the left side. With this constitution, the high precision speed control can be realized. |
