PROBLEM TO BE SOLVED: To provide a four-wheel vehicular slip control apparatus capable of preventing an excessive torque limitation in the case of performing a power travel using one of left and right motor-generator linked to left and right wheels and regeneration using the other of the motor-generator, thus securing good travel performance.SOLUTION: A slip control apparatus performs: setting left and right reference wheel speeds VRLREF, VRRREF on the basis of left and right front-wheel speeds VFL, VFR and rear-wheel speeds VRL, VRR (step 21) to determine occurrence of an excessive slip on the left and right rear-wheels WRL, WRR (steps 42, 46); and setting a basic value VRBASE of a reference wheel speed on the basis of a slowest wheel speed of remaining three wheel speeds except for that of a left rear wheel WRL or right rear wheel WRR linked to first or second rear motor 41, 61 whose target torque is a negative value (steps 18, 19) in a case where a sum of target toque TRLREF, TRRREF of the first and second rear motors 41, 61 is a positive value, with one of them a positive value and the other a negative value.

    【課題】左右の車輪に連結された左右の発電電動機の一方で力行を、他方で回生を行う場合の過剰なトルク制限を回避し、良好な走行性能を確保できる四輪車両のスリップ制御装置を提供する。【解決手段】本発明によるスリップ制御装置では、左右の前輪速VFL、VFR、後輪速VRL、VRRに基づき、左右の基準車輪速VRLREF、VRRREFを設定し(ステップ21)、左右の後輪WRL、WRRにおける超過スリップの発生を判定する(ステップ42、46)。また、第1及び第2リヤモータ41、61の目標トルクTRLREF、TRRREFの和が正値で、かつそれらの一方が正値、他方が負値のときには、目標トルクが負値である第1又は第2リヤモータ41、61に連結された左後輪WRL又は右後輪WRRを除き、残り3つの車輪速のうちの最小のものに基づいて、基準車輪速の基本値VRBASEを設定する(ステップ18、19)。【選択図】図8


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    Title :

    FOUR-WHEEL VEHICULAR SLIP CONTROL APPARATUS


    Additional title:

    四輪車両のスリップ制御装置


    Contributors:

    Publication date :

    2015-06-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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