The movement speed v of a moving body having drive 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 slip rate estimation unit (741) estimates the slip rate λ of the drive wheels on the basis of the movement speed v and the rotation speed ω. Further, a drive torque estimation unit (742) estimates the drive torque Td of the drive wheels on the basis of the rotational speed ω and the actual torque value Tm. Next, a limit value calculation unit (743) calculates a limit value L for a torque command value Tc on the basis of the slip rate λ and the drive torque Td. Further, a limiter unit (744) limits the torque command value Tc using the limit value L, generates a torque setting value Ts, and sends the generated torque setting value Ts 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
2016-02-11
Patent
Elektronische Ressource
Englisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |