| 摘要 |
PURPOSE:To enable to inhibit the generation of slip and improve the turning performance by increasing the value of the coefficient Kp in calculating the proportional correction torque TPn in case of the slip DV>0 so as to increase the gain to such an extent that the control does not become unstable. CONSTITUTION:The title device is provided with driving wheel speed sensors 11, 12 and driven wheel speed sensors 13, 14, and driving wheel braking means 17, 18 are operated according to the slip quantity DV obtained in response to the difference between the driving wheel speed VF and the driven wheel speed VB in a traction controller 15. The target torque TPHI= TG-KiSIGMADV-KpDV is calculated from the correction torque TP obtained by multiplying the slip quantity DV by the coefficient Kp, the correction torque TS obtained by intergrating the slip quantity DV, and the basic torque TG obtained from the acceleration of the driven wheel speed VB, and when at least the slip quantity DV is larger than the fixed value, the engine output is controlled to obtain the target torque TPHI. The coefficient Kp is made smaller in case of DV>0 than in case of DV<0, and the value of the coefficient Kp of the DV<0 side is increased as the centripetal acceleration GY becomes larger. |
