| 摘要 |
PURPOSE:To quicken convergence of a control parameter to an optimum value in the device in the caption by detecting the running resistance of a vehicle and prohibiting a learning to optimize the control parameter of a movement with reference to the learning in operation, when the detected value deviates from a predetermined range having a specified value in its center. CONSTITUTION:A speed detecting unit 1 is provided to detect a present vehicle speed (v) through a signal from a vehicle speed sensor 10. An input unit 2 is also provided to calculate a control deflection (e) and a first order difference ( e) in checking up with the present vehicle speed (v) and an aimed vehicle speed (vs). A control operating unit 3 is arranged to determined the controlled opening degree (u) of a throttle according to the calculated value and to control it so as to bring the vehicle speed close to the aimed value. In the constitution as described above, each sensor 7 and sensor amplifier 8 are arranged to detect the declining of the vehicle and analize the output thereof respectively, and further, a learning prohibiting unit 9 is arranged depending upon the result of the analysis. At this time, the running resistance of the vehicle is detected with reference to the declining of the vehicle. Thereby it is decided with the vehicle running value whether the control characteristic to be learned is proper or not, and the learning is prohibited when it is improper.
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