To control torque generating on wheels suitably in a vehicle which is driven by using friction force of the wheels.SOLUTION: A transportation vehicle control device comprises a rotational position information acquisition part which acquires rotational position information containing information indicating rotation amount of a motor among two inertia resonance systems configured so as to contain drive wheels and the motor rotating and driving the drive wheels, a state amount observer which calculates torque due to influence of resonance on the basis of the rotational position information, a slip speed information acquisition part which acquires variation amount of slip speed of the drive wheels in prescribed period, a slip acceleration command generation part which calculates slip acceleration command value which is acceleration for restraining slip of the drive wheels on the basis of torque due to influence of the calculated resonance and the variation amount of the slip speed in the acquired prescribed period, and a torque command generation part which outputs motor torque command value on the motor on the basis of the calculated slip acceleration command value.SELECTED DRAWING: Figure 8
【課題】車輪の摩擦力を用いて駆動される車両において、車輪に発生するトルクを好適に制御する。【解決手段】運搬車両制御装置は、駆動輪と、前記駆動輪を回転駆動させるモータとを含んで構成される2慣性共振系のうち、前記モータの回転量を示す情報を含む回転位置情報を取得する回転位置情報取得部と、前記回転位置情報に基づき、共振の影響によるトルクを算出する状態量オブザーバと、所定期間における前記駆動輪のすべり速度の変化量を取得するすべり速度情報取得部と、算出された前記共振の影響によるトルクと、取得された所定期間における前記すべり速度の変化量とに基づいて、前記駆動輪のすべりを抑制するための加速度であるすべり加速度指令値を算出するすべり加速度指令生成部と、算出された前記すべり加速度指令値に基づいて前記モータにモータトルク指令値を出力するトルク指令生成部とを備える。【選択図】図8
TRANSPORTATION VEHICLE CONTROL DEVICE, TRANSPORTATION VEHICLE, AND PROGRAM
運搬車両制御装置、運搬車両及びプログラム
2023-02-24
Patent
Electronic Resource
Japanese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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