摘要:
This vehicle (10) comprises a first dynamo-electric machine (210) that imparts torque to a first drive wheel (21), a second dynamo-electric machine (220) that applies torque to a second drive wheel (22), a rotation speed sensor (212) that acquires a first rotation speed of the first drive wheel (21), a rotation speed sensor (222) that acquires a second rotation speed of the second drive wheel 22, and a control device (100). The control device (100) includes a basic setting unit (110) that sets a basic rotation speed, a differential setting unit (120) that sets a differential rotation speed, and an action control unit (130) that controls the operation of the first dynamo-electric machine (210) and the second dynamo-electric machine (220) so that an average value of the first rotation speed and the second rotation speed becomes the basic rotation speed, and a difference between the first rotation speed and the second rotation speed reaches the differential rotation speed.
摘要:
A control device (80) is installable in a mobile body including a motor (31) and a battery (33) and a regenerative drive of the motor and an actuation of a braking device (41, 42, 43, 44) allow a braking force to be applied to the mobile body. The control device includes: an abnormality detector (61) detecting an abnormality in the braking device; and a motor controller (60) controlling the motor. When a regenerative torque generated by the regenerative drive of the motor when the braking device is normal is defined as a normal regenerative torque, the motor controller causes, in response to the abnormality detector detecting the abnormality in the braking device, the motor to be regeneratively driven irrespective of a charged state of the battery until the elapse of a predetermined grace time from a point of time when the abnormality is detected so that an emergency regenerative torque larger than the normal regenerative torque is generated.
摘要:
An engine ECU executes a program including the steps of: setting a knock waveform model corresponding to engine speed sensed by a crank position sensor (S108); calculating knock intensity N based on the result of comparison between a detected waveform and the set knock waveform model; when the knock intensity N is larger than a predetermined reference value (YES in S114), determining that knocking has occurred (S116); and when the knock intensity N is not larger than the predetermined reference value (NO in S114), determining that knocking has not occurred (S120).
摘要:
A mobile object includes: a first braking/driving torque application unit (30R) that applies first braking/driving torque to a right driving wheel (22R); a second braking/driving torque application unit (30L) that applies second braking/driving torque to a left driving wheel (22L); a right driven wheel (21R) and a left driven wheel (21L) each of which is constituted of a caster wheel; and a control unit (40) that controls the first braking/driving torque application unit and the second braking/driving torque application unit. Moreover, the control unit is configured to perform turning, advancing/reversing and braking of the mobile object by controlling the first braking/driving torque and the second braking/driving torque or by controlling rotational speed of the right driving wheel and rotational speed of the left driving wheel.
摘要:
An engine ECU 200 includes a bandpass filter (1) (410), a bandpass filter (2) (420), and a bandpass filter (3) (430). The bandpass filter (1) (410) extracts only vibrations at a first frequency band A from the vibrations detected by a knock sensor. The bandpass filter (2) (420) extracts only vibrations at a second frequency band B from the vibrations detected by the knock sensor. The bandpass filter (3) (430) extracts only vibrations at a third frequency band C from the vibrations detected by the knock sensor. The first to third frequency bands A-C are identical in bandwidth. The engine ECU (200) calculates a peak value in magnitude of vibrations in a synthesized waveform of these frequency bands, and determines whether knocking occurred or not based on the peak value.
摘要:
An engine ECU executes a program including the steps of: detecting a waveform of vibration of an engine at a predetermined knock detection gate (S100); determining whether a detected vibration's waveform and a knock waveform model stored in memory match within a predetermined range; if the model and the detected vibration's waveform match within the predetermined range (YES at S102), determining that the engine knocks (S104); and if the model and the detected vibration's waveform do not match within the predetermined range (NO at S102), then determining that the engine does not knock (S108).
摘要:
A control device (10) for a vehicle (100), includes an operation controller (14) that controls operations of a rotating electric machine (140) mounted to the vehicle, a first torque detector (11) that detects a traveling torque which is a braking/driving torque to be output from the rotating electric machine when the vehicle is traveling, a second torque detector (12) that detects a standstill torque which is a braking/driving torque to be output from the rotating electric machine upon the vehicle coming to a stop, and a waveform setter (13) that sets a stop waveform which is a waveform indicating a time variation in the braking/driving torque output from the rotating electric machine from the traveling torque to the standstill torque. The operation controller is configured to perform a stop process that is a process to bring the vehicle to a stop while changing the braking/driving torque output from the rotating electric machine in accordance with the stop waveform.
摘要:
A target throttle opening degree computing device (43-46) of a control apparatus computes a target throttle opening degree (ϑg) of a throttle valve (16) and includes a phase lead compensator (56). A filter (49) filters the target throttle opening degree (ϑg) to provide an ultimate target throttle opening degree (ϑt), which is used to drive a drive motor (15) to adjust an opening degree of the throttle valve (16).