| 简介 |
According to the present invention, in a controller of an independently-driven-wheel truck having suppressed wheel-cooperative control and re-adhesion control, sudden acceleration and sudden deceleration of the vehicle wheels are suppressed during switches between re-adhesion control and turning angular velocity control. A notch torque command (Tnotch*) is converted to a turning angular velocity command value (ω*) by a turning angular velocity command value converter (14), the turning angular velocity command value (ω*) is corrected to turning angular velocity command values (ωFL*, ωFR*) of the wheels on the basis of a curve radius (R) by a turning angular velocity command value correction unit (15), and feedback control is performed with turning angular velocity detection values (ωFL, ωFR). A re-adhesion control torque (Tpattern) is outputted when the vehicle wheels are idling or sliding, and torque command values (TFL, TFR) are outputted as motor input torque command values (TFL*, TFR*) when the vehicle wheels are adhering. When the vehicle wheels are idling or sliding, the turning angular velocity command value converter (11) outputs a turning angular velocity average value (ωave) of the vehicle wheels within the truck frame as a turning angular velocity command value (ω*) of the vehicle wheels within the truck frame. |
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