| 摘要 |
PURPOSE:To change the running direction of an electric vehicle safely and smoothly within a range from a low-speed running to a high-speed running, by a method wherein the optimum relation between the inside wheel and the outside wheel of the electric vehicle with respect to the degrees of a speed and the change of the running direction is obtained to control the speed of the inside wheel and the outside wheel separately. CONSTITUTION:A reference operator 1 inputs the speed reference Vref of an electric vehicle given by an accelerator or the like, a direction change reference angle theta, given by the turning angle or the like of a handle for advancing the electric vehicle into a direction A, and the rotating speeds NL, NR of motors 4, 5 and operates the optimum rotating speed references NrefL, NrefR of left and right rear wheels 10, 11. Controllers 2, 3 receive the optimum rotating speed references NrefL, NrefR and control the speed of the motors 4, 5 respectively. The relation between the degree of the change of the running direction of the vehicle and the optimum rotating speeds of the inside wheel and the outside wheel of the same is obtained by above-described operation, therefore, the electric vehicle may be turned safely and smoothly by permitting the control of the inside and outside wheels so as to be rotated with the optimum speeds.
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