The speed v of a motor driven body, the rotational speed ω and the actual torque value Tm generated by the motor are acquired. Subsequently, unit (741) estimates the slip rate X of the drive wheels based on the movement speed v and the rotation speed ω. Further, unit (742) estimates the drive torque Td based on the rotational speed w and the actual torque value Tm. Next, unit (743) calculates a limit value L for a torque command value Tc based on the slip rate X and the drive torque Td. Further, unit (744) limits the torque command value Tc using the limit value L, generates a torque setting value Ts, which is sent 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
2016-08-23
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |