| 摘要 |
PURPOSE:To improve riding comfortableness by returning the motor current to a value prevailing before constriction upon occurrence of an n-th idling signal or sliding signal during first predetermined interval thereby preventing endless repetition of readhesion control. CONSTITUTION:When first to (n-1)th idling or sliding signal occurs during a first predetermined period in which a powering command or a brake command 1 is removed, conventional idling/sliding control is performed. But when an n-th idling signal or sliding signal occurs and readhesion is conducted, slip frequency at the time of easy-to-idle or slide is returned not to a value prevailing before constriction but to a lower value which is then sustained for a second predetermined interval shorter than a first predetermined interval. Similarly, motor torque 6 is returned to a value lower than one prevailing before constriction and sustained for a second predetermined interval thus lowering acceleration or deceleration and realizing perfect readhesion control. |
