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Summary:PURPOSE:To enhance total traction force of vehicle by eliminating imbalance between vehicles due to different wheel diameter between a plurality of driving shafts and elevating the level of adhesion coefficient of each driving shaft. CONSTITUTION:Driving motor for each shaft is controlled individually by means of a corresponding inverter. For example, an inverter INV1 controls only the driving motor IM1 for first shaft. A slip frequency operating means 14 in the inverter INV1 receives signals from first and second speed sensors PG1, PGA fixed, respectively, to a drive wheel and a driven wheel and operates an optimal slip frequency fs1 corresponding to the wheel diameter of the first shaft. Consequently, an inverter output frequency for producing a desired step face torque can be obtained.
Bibliography:Application Number: JP19910245872