| 摘要 |
PURPOSE:To prevent idling and lowering of average acceleration by operating the difference between a circumferential acceleration detected from a driving wheel and an acceleration command value and the derivative of the difference and following up the acceleration command when the adhesive condition is good whereas restricting torque when the adhesive condition is bad. CONSTITUTION:Outputs from the motor speed detectors 4A-4D for driving wheels 3A-3D are converted through motor frequency operating means 5A-5D into rotational frequencies of motors for respective shafts which are then subjected to time differentiation 6A-6D and converted 7A-7D into circumferential accelerations of driving wheels. A maximum circumferential acceleration of driving wheel is then selected 8 and added to a command value fed from an acceleration command generating means 9 thus obtaining a difference (e). The difference (e) is then normarized 12X, differentiated 11 and further normarized 11Y to be subjected to fuzzy inference 13. The acceleration command is followed up when the adhesive condition is good and the difference (e) is low but when the difference (e) exceeds a predetermined value, a current control means 107 limits the input to an inverter 101 according to an integration results 14 thus restricting the torque of motors 2A-2D. According to the constitution, idling of each wheel is absorbed smoothly resulting in the improvement of comfortableness. |
