{
  "$type": "site.standard.document",
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  "description": "A vehicle (1) includes a wheel (3), an electric motor (13) that drives the wheel (3), a drive torque operator (20, 28) that is operated by an operator, a slip detection unit (50) that detects a slipping state of the wheel (3), a torque command value calculation unit (53) that calculates a torque…",
  "path": "/patents/950807",
  "publishedAt": "2015-05-20T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60K28/16",
    "YAMAHA MOTOR CO LTD [JP]"
  ],
  "textContent": "A vehicle (1) includes a wheel (3), an electric motor (13) that drives the wheel (3), a drive torque operator (20, 28) that is operated by an operator, a slip detection unit (50) that detects a slipping state of the wheel (3), a torque command value calculation unit (53) that calculates a torque command value for the electric motor (13), and a motor drive unit (55) that drives the electric motor (13) according to a calculated torque command value. When the slip detection unit (50) has not detected a slipping state of the wheel (3), the torque command value calculation unit (53) calculates a torque command value for the electric motor (13) according to an input to the drive torque operator (20, 28). When the slip detection unit (50) has detected a slipping state of the wheel (3), the torque command value calculation unit (53) calculates a torque command value that repeatedly fluctuates alternately between a first value not more than a torque command value at the time when wheel slip has been detected and a second value smaller than the first value.",
  "title": "Wheel slip control system"
}