| 摘要 |
PURPOSE:To detect idling or other abnormal control of wheel by operating control amount other than rotation of motor with respect to wheel speed based on source voltage, load condition and the like then comparing the operated control amount with an actual control amount. CONSTITUTION:A chopper 9 provides current having pattern identical to that of motor current generated through a motor current pattern generator 15 based on a vehicle load detected through a load detector 14 to main motors 5, 6. A duty factor simulator 19 receives signals from the load detector 14, the voltage detector 10 of a main filter 4 and a speed generator 13 arranged on the non-drive wheel then the simulator 19 simulates the control duty factor based on these signals and outputs the simulated control duty factor. A subtractor 20 operates the difference between the simulated duty factor and a duty factor provided from a control amplifier 18, then the difference is provided to a readhesion pattern generator 21 in order to carry out readhesion control. |
