| 摘要 |
PURPOSE:To always maintain a system in a stable state for obtaining a vehicle driving system without dry unstable phenomenon such as vibration by estimating state quantities of a vehicle not detectable based on an approximate model for a vehicle driving system, and multiplying respective state quantities by feed back gains to perform state feedback. CONSTITUTION:A torque command operating means 10 for operating an aimed torque which a wheel 100 is to output based on an operation command for a vehicle, a dynamic compensating means 30 for obtaining the optimum control quantity based on the aimed torque, and an operating means 40 for operating an actuator control quantity commensurate with the control quantity necessary for controlling the vehicle driving system based on the control quantity signal obtained here, are provided. An operating means 20 for operating control quantity commensurate with the aimed torque, and an output control means 50 for controlling output of an actuator means 60 for driving the wheel 100 based on the output thereof are also provided. Still more, a state quantity estimating means 80 for estimating other state quantity necessary for obtaining abovementioned control quantity based on output signals of a vehicle state quantity detecting means 70 and the control quantity operating means 20 is provided. |
