2024 年 13 巻 6 号 p. 602-608
In the previous study on the bias torque function control (B-TFC) for slip suppression control, the maximum acceleration performance was improved for the B-TFC (TB =13.01[Nm]), and conventional TFC, and the method without TFC were compared. In this paper, we clarify the energy saving performance using the energy utilization ratio (EUR) and recovery performance from the slip phenomenon using phase plane analysis. The EUR reached a maximum value of 2.33 × 10-3m/Ws when TB =13.01[Nm]. This result shows that the EUR is maximalized under the bias torque condition that has best acceleration performance. In the phase plane analysis, the vectors without variation of the drive wheel speed are generated under a high slip ratio of 0.76 with a bias torque of 13.01Nm. The result indicates that the recovery performance from the slip state is also improved under the bias torque with the best acceleration performance. Additionally, we claim that the vectors without variation of the drive wheel speed are required at the high slip ratio for setting the bias torque to improve recovery performance from slip.
J-STAGEがリニューアルされました!https://www.jstage.jst.go.jp/browse/-char/ja/