Abstract: This vehicle comprises a first dynamo-electric machine that imparts torque to a first drive wheel, a second dynamo-electric machine that applies torque to a second drive wheel, a rotation speed sensor that acquires a first rotation speed of the first drive wheel, a rotation speed sensor that acquires a second rotation speed of the second drive wheel, and a control device. The control device includes a basic setting unit that sets a basic rotation speed, a differential setting unit that sets a differential rotation speed, and an action control unit that controls the operation of the first dynamo-electric machine and the second dynamo-electric machine 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.

Abstract: A mobile object includes: a first braking/driving torque application unit that applies first braking/driving torque to a right driving wheel; a second braking/driving torque application unit that applies second braking/driving torque to a left driving wheel; a right driven wheel and a left driven wheel each of which is constituted of a caster wheel; and a control unit 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.

Abstract: A control device includes a switching control unit, an information acquisition unit, and a difference acquisition unit. The switching control unit performs switching control that increases braking torque of the braking device while decreasing braking torque of the rotating electrical machine, when a vehicle is decelerated. The information acquisition unit acquires information on a state of the vehicle. The difference acquisition unit acquires a braking torque difference indicating a difference between braking torque required for keeping a stopped state of the vehicle and braking torque of the braking device, when the vehicle is stopped. After the information acquisition unit detects the stopped state of the vehicle, the switching control unit corrects output torque of the rotating electrical machine based on the braking torque difference.

Abstract: A vehicle control device includes: an actuator drive controller configured to control a drive of an actuator; a main motor drive controller configured to control a drive of a main motor; and a stuck determiner. The stuck determiner determines a stuck of the actuator based on a detection value of a sensor unit that detects a physical quantity changed according to a drive state of the actuator. The main motor drive controller is configured to perform an engaging surface pressure reduction control for reducing an engaging surface pressure between a parking gear and a parking lever by driving the main motor, when the stuck determiner determines that the actuator is stuck in releasing a parking lock of the vehicle.

Abstract: A vehicle control device controls a vehicle drive system including a main motor as a drive source of a vehicle, a parking lock mechanism, and an actuator. The vehicle control device includes an actuator drive control section that controls a drive of the actuator, a main motor drive control section that controls a drive of the main motor, and a range determination unit that determines whether or not a shift range is a parking range. When releasing the parking lock, if the parking range is not released within a parking range release determination time that is variable according to an operating environment, the main motor drive control section performs a meshing surface pressure reduction control for driving the main motor so as to reduce a meshing surface pressure between a parking gear and a parking lever.

Abstract: A friction-coefficient-computing device includes: a computing unit that calculates a slip ratio and a friction coefficient; and a maximum-friction-estimating unit that calculates an estimated maximum value of the friction. The maximum-friction-estimating unit includes: a model calculator that calculates a tire model friction, which is a friction coefficient of a tire brush model; and a parameter-estimating unit that estimates values of parameters of a tire brush model expression. The parameter-estimating unit includes a parameter-restricting unit that eliminates values of the parameters that allow the tire brush model expression to be a linear function and a quadratic function, and obtains values of the parameters that allow an inclination of an inflection point of the tire brush model expression to approach zero.

Abstract: A vehicle control device includes an actuator drive control section that controls drive of an actuator, a main motor drive control section that controls drive of a main motor, and a stagnation determination section. The stagnation determination section determines a stagnation of the actuator based on a detected value of a sensor unit that detects a physical quantity that changes according to a drive state of the actuator. When performing a meshing surface pressure reduction control for reducing a meshing surface pressure generated at the meshing point between a parking gear and a parking lever by driving the main motor, the main motor drive control section decreases a main motor torque which is a torque of the main motor based on the detected value of the sensor unit.

Abstract: A vehicle control device controls a vehicle drive system having a main motor serving as a source of drive power of a vehicle, a parking lock mechanism, and an actuator. The vehicle control device includes an actuator drive controller that controls drive of the actuator, and a main motor drive controller that controls drive of the main motor. When a parking lock of the vehicle cannot be released by the actuator due to an engaging surface pressure between a parking gear and a parking lever, the main motor drive controller performs an engaging surface pressure reduction control in which an engaging surface pressure is reduced by driving the main motor to cause an increase of a torque of the main motor by a set increase speed.

Abstract: A control device includes a motor control unit that controls an electric motor, a shift control unit that controls a shift by wire system of a movable body, and a torque detection unit that detects torque applied to a power transmission mechanism. The shift control unit drives an actuator unit so that the power transmission mechanism locked by a lock mechanism is unlocked, based on a change of a shift range of the shift by wire system from a parking range to a non-parking range. The motor control unit controls output of the electric motor depending on detected torque of the torque detection unit, based on the change of the shift range of the shift by wire system from the parking range to the non-parking range.

Abstract: The control device includes a target-value calculation unit calculating a target-value of a controlled variable that is torque of a rotating electrical machine, drive force, or acceleration of a vehicle, based on redundant signal and non-redundant signals, an inverter operation unit operating the inverter to control the controlled variable to the target-value, and a monitoring-value calculation unit calculating a target-monitoring-value of the controlled variable based on the redundant signal.

Abstract: A control apparatus includes an operation control unit; a first torque command value setting unit that sets a required torque command value; a second torque command value setting unit that sets a vehicle-stop torque command value; and a waveform setting unit that sets a torque waveform. The operation control unit controls the output torque of the rotary electric machine along the torque waveform when changing the output torque of the rotary electric machine. The waveform setting unit utilizes a first torque waveform and subsequently utilizes a second torque waveform as the torque waveform, the first torque waveform being capable of attenuating a vibration of the vehicle in a pitch direction, the second torque waveform being capable of suppressing a vibration in a power transmission member provided in a power transmission system for transmitting a torque of the rotary is electric machine to wheels.

Abstract: A control device for a vehicle includes an operation controller that controls operations of a rotating electric machine mounted to the vehicle, a first torque detector 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 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 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 performs 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.

Abstract: An electric motor control device includes a target torque setting unit setting target torque for each of a right-side control circuit and a left-side control circuit, and a failure occurrence determination unit determining whether there is a failure occurrence in at least one of the two control circuits. The target torque setting unit sets, in response to there being a failure occurrence in a failure control circuit that is one of the two control circuits and there being a no failure occurrence in a normal control circuit that is the other of the two control circuits, fail-safe torque which is lower than a normal value of the target torque as the target torque for the failure control circuit, and sets failure-time target torque which is lower than the normal value of the target torque and being higher than the fail-safe torque as the target torque for the normal control circuit.

Abstract: A shift range control device is provided for a shift range switching system that includes a motor having winding sets and a motor rotational angle sensor. The shift range control device includes controllers configured to control switching of a shift range by controlling drive of the motor. Each of the controllers is provided to corresponding one of the winding sets, and is configured to acquire a motor rotational angle signal from the motor rotational angle sensor and calculate a motor angle, control drive of the motor by controlling a current supply to the corresponding one of the winding sets to make the motor angle become a target rotational angle corresponding to a target shift range, and drive the motor by sequentially switching a current-supplied phase for each predetermined period without using the motor rotational angle signal when the motor rotational angle signal is in fault.

Abstract: A shift range control device switches a shift range by controlling driving of a motor. A learning unit learns, as a position correction value, a normal state time correction value calculated based on first and/or second reference angles when an output shaft signal is available when turning on of a start switch. The first reference angle is a motor angle when the output shaft signal changes in response to the rotation of the motor in a first direction. The second reference angle is the motor angle when the output shaft signal changes in response to the motor rotation in a second direction opposite to the first direction. A motor angle target value is set by using the normal state time correction value stored during a period from when all the output shaft signals are determined to be unavailable to when the start switch is turned off.

Abstract: A control device is installable in a mobile body movable based on a power outputted from each of a plurality of motor sections. The control device includes: a plurality of motor controllers configured to separately control the plurality of respective motor sections; and a plurality of monitoring sections configured to separately monitor presence or absence of an abnormality in the plurality of respective motor controllers. In response to either one of the plurality of monitoring sections detecting the abnormality in the motor controller, abnormal one of the motor controllers is caused to stop controlling the motor section while the normal one of the motor controllers where no abnormality is detected is caused to continue to control the motor section.

Abstract: A control device includes a motor control unit that controls an electric motor, a shift control unit that controls a shift by wire system of a movable body, and a torque detection unit that detects torque applied to a power transmission mechanism. The shift control unit drives an actuator unit so that the power transmission mechanism locked by a lock mechanism is unlocked, based on a change of a shift range of the shift by wire system from a parking range to a non-parking range. The motor control unit controls output of the electric motor depending on detected torque of the torque detection unit, based on the change of the shift range of the shift by wire system from the parking range to the non-parking range.

Abstract: A control apparatus is mountable to a vehicle including an electric motor, a lock mechanism, and an actuator apparatus. The control apparatus controls the electric motor and a shift-by-wire system provided in the vehicle. The shift-by-wire system performs switching to shift ranges of the vehicle including a shift range and a non-parking range other than the parking range. The control apparatus drives the actuator apparatus to release the lock on the power transmission mechanism by the lock mechanism based on the shift range of the shift-by-wire system being switched from the parking range to the non-parking range. The control apparatus performs torque correction control in which an output torque of the electric motor is corrected such that a load acting on the lock mechanism from the power transmission mechanism is reduced based on the shift range of the shift-by-wire system being switched from the parking range to the non-parking range.

Abstract: A motor angle calculation unit acquires from a motor rotation angle sensor a motor rotation angle signal corresponding to a rotational position of the motor, and calculates a motor angle based on the motor rotation angle signal. An output shaft signal acquisition unit acquires, from an output shaft sensor that detects a rotational position of an output shaft, an output shaft signal corresponding to the rotational position of an output shaft. An abnormality determination unit determines abnormality in the output shaft sensor. A target angle setting unit sets a target rotation angle corresponding to a target shift range. A drive control unit controls driving of the motor so that the motor angle becomes a target rotation angle. The target angle setting unit sets the target rotation angle to different values when the output shaft sensor is normal and when the output shaft sensor is abnormal.

Abstract: A control apparatus for a vehicle includes an offset torque calculator configured to perform calculation of offset torque to be applied to at least one wheel of the vehicle. The offset torque is required to stop the vehicle on a sloping road having a predetermined gradient. The control apparatus includes a motor controller configured to, for stopping the vehicle on the sloping road having the predetermined gradient, perform control of causing output torque of the motor-generator to asymptotically approach the offset torque.