| 摘要 |
PURPOSE:To perform the start and acceleration of a motor type multi-wheel- driven vehicle smoothly, by excluding the torques of a plurality of driving motors from interfering with each other. CONSTITUTION:The speeds of driving motors 5, 51, 52 which are sensed by speed sensors 6, 61, 62 are averaged by a computer 2, and the present speed V of a multi-wheel-driven vehicle is determined. The difference speed V0-V between a target speed V0 and the present speed V is measured by a comparator 1, and a torque command T corresponding to the difference speed V0-V is outputted by a torque command generator 3. The motors 5, 51, 52 are torque- controlled according to the torque command T, by motor drivers 4, 41, 42. That is, the motors are so controlled that their torques are increased or decreased according to the value of the torque command T. |
