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 limiting part (741) calculates an estimated slip ratio » and an estimated driving torque T d on the basis of the movement speed v, the rotational speed É and the actual torque value T m . Next, the limiting part (741), after calculating a limit value L on the basis of the estimated slip ratio » and estimated driving torque T d , uses the limit value L to calculate a limited torque value T L . Further, with an adhesive model as the reference model, a feedback part (742) calculates a feedback torque value T f on the basis of the rotational speed É and the actual torque value T m . Then, a torque setting value calculation part (743A) calculates a torque setting value T s on the basis of the limited torque value T L and the feedback torque value T f . 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 drive power.
TRACTION CONTROL DEVICE AND TRACTION CONTROL METHOD
ANTRIEBSREGELUNGSVORRICHTUNG UND ANTRIEBSREGELUNGSVERFAHREN
DISPOSITIF ET PROCÉDÉ DE COMMANDE DE TRACTION
2020-09-09
Patent
Elektronische Ressource
Englisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |