To prevent the deterioration of the operation feeling at the time of regenerative braking by gradually decreasing the current value by the regeneration of a travel motor as the vehicle speed is decreased during regenerative braking when the current value is adjusted at the time of regenerative braking of the travel motor to obtain the prescribed braking force.
In the regenerative braking mode, a regenerative contact C2 set to on in the normal travel mode is set to off, and a forward/reverse switching contact C3 is set to the fixed contact R side. A main switch element SW1 is turned on, and a regenerative exciting switch element SW2 is turned on. A current is fed to a field coil FC, and the self-power generating function by an armature AM is exerted. The SW2 is turned off, and the current self- generated by the armature AM is fed to the field coil FC. The SW1 is controlled by PWM based on the detected value of a current detector CT to obtain fixed braking force. When the vehicle speed is a prescribed value or below, the current value is gradually decreased.
FUKUDA KAZUYA
CHO YOJI
