The movement speed v of a moving body having driving wheels driven by a motor, the rotational speed ω of the drive wheels of the moving body, and the actual torque value Tm generated by the motor are acquired. Subsequently, a limiting part calculates an estimated slip ratio λ and an estimated driving torque Td on the basis of the movement speed v, the rotational speed ω and the actual torque value Tm. Next, the limiting part, after calculating a limit value L on the basis of the estimated slip ratio λ and estimated driving torque Td, uses the limit value L to calculate a limited torque value TL. Further, with an adhesive model as the reference model, a feedback part calculates a feedback torque value Tf on the basis of the rotational speed ω and the actual torque value Tm.
TRACTION CONTROL DEVICE AND TRACTION CONTROL METHOD
2016-02-11
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |