Patent ID: 8843291

Claim:
An electric vehicle comprising: an in-wheel motor drive system including: a wheel bearing unit rotatably supporting a drive wheel; a motor unit; and a reducer unit interposed between the motor unit and the wheel bearing unit; a disturbance observer that determines an estimate ^Te of external force influence on the drive wheel; and a slip level-responsive corrector that: (i) uses the estimate ^Te of external force influence to calculate an estimate of torque applied to the drive wheel, an estimate ^ω 2 of rotational frequency of the drive wheel, and an estimate ^•ω of rotational angular acceleration of the drive wheel; (ii) determines an estimate of slip level of a tire based on comparison between the estimate ^ω 2 and an actual rotational frequency ω 2 of the drive wheel and comparison between the estimate ^•ω and an actual rotational angular acceleration •ω 2 of the drive wheel; (iii) calculates a correction value Tc based on the estimate of slip level; and (iv) corrects an accelerator signal Tr to the motor unit with the correction value Tc to produce a motor torque command value Tmr; the disturbance observer being configured to: (a) divide the motor torque command value Tmr by a moment J of inertia of the drive wheel that is estimated based on inertia of the vehicle, to produce a quotient; (b) calculate an integral of the quotient; (c) calculate a difference between the integral and a rotational frequency ω 1 of a driven wheel; (d) calculate a time derivative of the difference; and (e) multiply the time derivative with the moment J of inertia to produce the estimate ^Te of external force influence on the drive wheel, the slip level-responsive corrector being configured to: (a) add the estimate ^Te of external force influence and the motor torque command value Tmr to produce a sum; (b) divide the sum by the moment J of inertia of the drive wheel that is estimated based on inertia of the vehicle, to produce a quotient; (c) calculate an integral of the quotient; and (d) calculate a difference between the integral and a rotational frequency ω 2 of the drive wheel, as speed difference, or being configured to: (a) add the estimate ^Te of external force influence and the motor torque command value Tmr to produce a sum; (b) divide the sum by the moment J of inertia of the drive wheel that is estimated based on inertia of the vehicle, to produce a quotient; (e) calculate a difference between the quotient and a time derivative of a rotational frequency ω 2 of the drive wheel, as acceleration difference, the slip level-responsive corrector being further configured to subtract from the accelerator signal Tr, a signal that is proportional to the speed difference, a signal that is proportional to the acceleration difference, or a signal that is proportional to a value equal to one of the speed difference and the acceleration difference as corrected with the other of the speed difference and the acceleration difference, to produce the motor torque command value Tmr.