| 摘要 |
PURPOSE:To settle the slip rate of driving wheel stably within a reference level in a short time by providing a control means regulating a command signal, inputted through an input means, to a signal corresponding to a driving force obtained by subtracting a regulating driving force from an optimal driving force. CONSTITUTION:A controller 21 delivers command signals to four motor drivers 22 based on an output from an acceleration sensor 34 and rotates a motor 11 individually. Each tire speed is detected through a sensor 93 mounted on the shaft of the motor 11 and inputted to the controller 21 in order to determine the acceleration of tire based on the variation of tire speed. The controller 21 constantly updates the tire speed and stores an updated tire speed in a register and then determines an optimal driving force based on a driving force and an acceleration of tire at a selected past point of time. Furthermore, a regulating driving force corresponding to the tire speed and vehicle speed is determined and subtracted from the optimal driving force. According to the constitution the generated slip rate is settled below a reference level in a short time resulting in safety operation. |
