The present invention includes: a PI/PID controller (13) that generates a torque compensation value K PID through PI control or PID control, from a deviation between an allowable rotation speed and a rotation speed of a wheel; an adder (16) that adds the torque compensation value to a torque command input value received from a higher-order controller (3), thereby obtaining a torque command output value; and a dead time compensator (17) that has a control target model (18) including a dead time and that applies a dead time compensation in generation of the torque compensation value by the Smith method. An input to the dead time compensator (17) is an output of a P compensation or a PD compensation excluding an I compensation from a PI compensation or a PID compensation.
SLIP CONTROL DEVICE
SCHLUPFREGLER
DISPOSITIF ANTIPATINAGE
2021-03-24
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL |