PROBLEM TO BE SOLVED: To provide a drive control device with a traction control function of a left-and-right independent vehicle which can suppress unnecessary yawing motion while preventing slips of wheels by traction control even if road face friction coefficients of left and right wheels differ from each other.SOLUTION: There is arranged traction control means 18 which is interposed between torque distribution means 11 and torque control means 17 of left and right wheels 3, and suppresses slips of drive wheels 3 at acceleration. There are arranged fore-and-aft force estimation means 23 which estimates fore-and-aft forces acting on the left and right wheels 3, and fore-and-aft force coincidence control means 19. The fore-and-aft force coincidence control means 19 compares absolute values of the fore-and-aft forces of the left and right wheels 3 which are estimated by the fore-and-aft force estimation means 23, and imparts a command of drive torque being the fore-and-aft force which coincides with the fore-and-aft force whose absolute value is smaller to the torque control means 17 of the drive wheel 3 whose absolute value is larger.

    【課題】 左右輪で路面摩擦係数が異なる場合でも、トラクション制御により車輪のスリップを防止しながら、不要なヨーイング運動を抑制することができる左右独立駆動車のトラクション制御機能付き駆動制御装置を提供する。【解決手段】 トルク分配手段11と左右輪3の各トルク制御手段17との間に介在し加減速時に駆動輪3のスリップを抑えるトラクション制御手段18を設ける。左右各輪3にそれぞれ作用する前後力を推定する前後力推定手段23と、前後力一致制御手段19とを設ける。前後力一致制御手段19は、前後力推定手段23で推定した左右輪3の前後力の絶対値を比較し、絶対値の小さい方の前後力と一致する前後力となる駆動トルクの指令を、絶対値の大きい方の駆動輪3のトルク制御手段17に対して与える。【選択図】 図3


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    Title :

    DRIVE CONTROL DEVICE WITH TRACTION CONTROL FUNCTION OF LEFT-AND-RIGHT INDEPENDENT DRIVE VEHICLE


    Additional title:

    左右独立駆動車のトラクション制御機能付き駆動制御装置


    Contributors:

    Publication date :

    2015-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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







    MOTION CONTROL DEVICE FOR LEFT AND RIGHT INDEPENDENT DRIVE VEHICLE

    YAMASAKI MASARU | European Patent Office | 2023

    Free access