| abstract |
An object of the present invention is to provide a vibration suppression control device that suppresses a sense of incongruity by achieving both vibration damping and responsiveness even in a system in which both driving and braking are constantly controlled. A constant of a phase compensator (phase compensation filter) is set according to a clutch control signal when a clutch state is switched, and each of the phase compensators is controlled so that the output of the phase compensator does not suddenly change discontinuously. A vibration suppression control device that continuously changes constants (ωp, ζp, ωm, ζm). When the clutch state is switched, each constant of the phase compensator 22 is continuously changed, so that an abrupt change in the output of the phase compensator can be prevented. Therefore, even in a system that constantly controls the driving torque for both braking and driving, it is possible to prevent vibration due to a sudden change in the driving torque command value at the time of switching the clutch state, and as a result, to improve the feeling of discomfort due to torsional vibration applied to the user can do. [Selection diagram] Fig. 4 |