| 摘要 |
PURPOSE:To improve travel stability by distributing the brake force of respective motors according to the grounding force of respective wheels at the time of regenerative operation. CONSTITUTION:Upon actuation of ignition, a controller 1 performs initial setting, provides operation commands to motor drivers 21-24 and takes in outputs from sensors. The controller 1 makes a judgment whether regenerative operation is being carried out based on data provided from a brake sensor 11. If regenerative operation is being carried out, the controller 1 executes driving force distribution determining processing thus determining driving force for motors 31-34 and then executes correction of driving force based on the steering angle and motor temperature. Subsequently, the controller 1 executes slip processing and disignates the final driving force, rotational direction of motor and existence of regenerative operation for the motor drivers 21-24. |
