| 摘要 |
PURPOSE:To enable slip to be detected accurately by setting a criterion value of the slip corresponding to an articulate angle. CONSTITUTION:A rotation ratio K is calculated on the basis of the detected angle data input Dt of an articulate angle detector 34, and a proper insensible band is added to this ratio K to calculate a slip criterion value K'. Continuously, the rotation ratios K1-K12 between respective wheels are calculated from the input of rotational speeds W1-W4 of the respective wheels. The rotation ratios K1-K12 are compared with the slip criterion value K', and advance is made to the output 200 when all rotation ratios K1-K12 are less than the criterion value K' and to the output 210 when any one of the rotation ratios K1-K12 exceeds the criterion value K'. The output 200 sends the rotational speed output of an input shaft to a register 39 and the output 210 subtracts said rotational speed of the input shaft by a predetermined value to send the output to the register 39. |
