The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 20, 1987
Filed:
Jan. 21, 1986
Tetsuji Hirotsu, Katsuta, JP;
Hisakatsu Kiwaki, Katsuta, JP;
Kiyoshi Nakamura, Katsuta, JP;
Hiroshi Narita, Katsuta, JP;
Syozi Kasai, Katsuta, JP;
Akira Kimura, Katsuta, JP;
Yoshio Tsutsui, Katsuta, JP;
Hitachi, Ltd., Tokyo, JP;
Abstract
From the peripheral velocity v.sub.M of a driving wheel and vehicle velocity v, the changing rate .DELTA.v.sub.s /.DELTA.t of the relative velocity v.sub.s therebetween with respect to time is obtained. The changing rate .DELTA.f/.DELTA.t of the traction force f produced in the driving wheel at that time is obtained from a detected armature current of a motor driving the driving wheel. A driving torque produced by the motor is so controlled as to be decreased when polarities of the changing rate in the relative velocity and that in the traction force are different from each other.