{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "An electric vehicle includes a slip ratio estimator (42) that estimates a slip ratio (») based on rotational frequencies (N1, N2) of respective driven and drive wheels. The vehicle also includes a disturbance observer (43) that determines an estimate (^Te) of a torque attributable to external…",
  "path": "/patents/979756",
  "publishedAt": "2014-01-15T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60K7/0007",
    "NTN TOYO BEARING CO LTD [JP]"
  ],
  "textContent": "An electric vehicle includes a slip ratio estimator (42) that estimates a slip ratio (») based on rotational frequencies (N1, N2) of respective driven and drive wheels. The vehicle also includes a disturbance observer (43) that determines an estimate (^Te) of a torque attributable to external force. The vehicle also includes an estimator (44) that may estimate an entire torque (T) to the drive wheel (2), based on a motor torque command value (Tm) and the estimate (^Te) of torque. The vehicle also includes an estimator (45) that estimates a coefficient (µ) of friction between a road surface and a tire, based on the entire torque and the slip ratio. The vehicle also includes a determiner (46) that determines a maximum acceptable torque Tmax, based on the coefficient (µ) of friction and a vertical load component (^Fz). Torque limitation is performed such that the motor torque command value (Tm) does not exceed the maximum acceptable torque Tmax.",
  "title": "ELECTRIC VEHICLE"
}