The movement speed v of a moving body having driving wheels driven by a motor, the rotational speed É of the drive wheels of the moving body, and the actual torque value Tm generated by the motor are acquired. Subsequently, a slip rate estimation part (741) estimates the slip ratio » of the drive wheels on the basis of the movement speed v and the rotation speed É. Further, a driving torque estimation part (742) estimates the driving torque T d of the drive wheels on the basis of the rotational speed É and the actual torque value T m . Next, a limit value calculation part (743) calculates a limit value L for a torque command value T c on the basis of the slip rate » and the driving torque T d . Further, a limiter part (744) limits the torque command value T c using the limit value L, generates a torque setting value T s , and sends the generated torque setting value T s to a motor drive system (900). As a result, it is possible to quickly realize control in accordance with changes in the road surface state, thus allowing safe travel while ensuring the needed drive power.
TRACTION CONTROL DEVICE AND TRACTION CONTROL METHOD
ANTRIEBSREGELUNGSVORRICHTUNG UND ANTRIEBSREGELUNGSVERFAHREN
DISPOSITIF ET PROCÉDÉ DE COMMANDE DE TRACTION
2017-03-08
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |