PURPOSE: To compensate for a travelling load and rapidly cope even with the occurrence of abrupt load variation by calculating desired drive shaft torque to adjustably cope with travelling load torque in addition to drive shaft torque to cancel vehicle velocity error.
CONSTITUTION: A drive-by-wire type vehicle has a motor controlled by an ECU to drivably open and close a throttle valve. The ECU is provided with a travelling load compensating type speed control section 151. The control section 151 adds speed correcting torque to the travelling load torque by a travelling load torque detecting means 151G in a desired drive shaft torque calculating means 151C to calculate desired drive shaft torque. The speed correcting torque is obtained as the outputs of a desired vehicle speed setting means 151A and vehicle speed deviation detecting means 151B. Namely, the deviation of actual vehicle speed from desired vehicle speed outputted from the desired vehicle speed setting means 151A is subjected to PI control to determine speed correcting torque through the limit of a limiter.
DANNO YOSHIRO
YOSHIDA MASATO
SHIMADA MAKOTO
UEDA KATSUNORI
| JPS63117140A | 1988-05-21 |
Next Patent: DRIVE-BY-WIRE TYPE VEHICLE WITH OUTPUT TORQUE VARIATION LIMITING SYSTEM SPEED CONTROL SECTION