| 摘要 |
PURPOSE:To improve the extent of accelerability, by selecting a larger side in slip values of symmetrical driving wheels usually as the slip value serving as a criterion at the time of generated torque controlling and, when one side of these symmetrical driving wheels is braked, selecting the slip value of the other side driving wheel. CONSTITUTION:In this controller, there are provided with a generated torque regulating device B regulating the generated torque of a power source A and a braking force regulating device D regulating braking force of symmetrical driving wheel brake C independently right or left. And also, there is provided with a slip detecting device E detecting each slip state of symmetrical driving wheels separately, and on the basis of the output, these regulating devices B and D are controlled by each of slip controlling device F and G. At this time, as a slip value available for slip control by this slip controlling device F, usually a larger side in slip values of these symmetrical driving wheels is selected, while when one side of these driving wheels is subjected to the slip control by the slip controlling device G, the slip value of the other side driving wheel is made so as to be selected by a selector device H. |
