Idling sliding re-adhesion control method and idling sliding re-adhesion control device

摘要

PROBLEM TO BE SOLVED: To provide a method for grasping a characteristic frequency of a bogie frame of a vehicle, in idling slip re-adhesion control for performing torque control by detecting idling and slip.SOLUTION: A bogie vibration characteristic grasping method includes steps for extracting a pitching vibration control component from the sum of each rotational angular velocity or each rotational angular acceleration of two main motors acquired at a traveling time of a vehicle, and for calculating a pitching characteristic frequency, and further includes steps for extracting a vertical vibration component from a difference between each rotational angular velocity or each rotational angular acceleration of the two main motors, and for calculating a vertical characteristic frequency.SELECTED DRAWING: Figure 4