The device also executes "sudden stop control" that suddenly stops the rotation of the electric motor, on the basis of the amount of front wheel slippage.
For this purpose, a vehicle wheel slip value (Μij) describing the wheel slip at the level thereof is determined for at least one vehicle wheel.
According to one aspect, the rate of change of the excitation frequency is limited if the wheel creep exceeds a wheel creep threshold.
The frequency distribution value for the wheel slip values (Μij) or slip values (ΜVA and ΜHA) for an axle which are determined as a function of said wheel slip values (Μij) is determined.
A pre-set value for the wheelslip is regulated by means of a proportional controller.
The vehicle shall climb the gradient at a steady speed without any wheel slipping, longitudinally or laterally.
Whether a drive wheel is slipping or not is monitored constantly when a vehicle is traveling, and a normal attitude control by the drive wheel is isolated and attitude control for slip state is performed when slip is detected.
The friction value (Fν) is determined as a function of the wheel slip value (Μij).
A wheelslip is calculated from wheel speed, recorded by speed sensors (6), by a controller (8).
The invention relates to a device for carrying out a wheel slip control.
Said device comprises at least one inlet valve and one outlet valve for controlling the pressure in at least one wheel brake cylinder.
When the anti-lock control is activated by the anti-lock control means upon determination that there is a slipping wheel, a state in which a drive wheel (WFR, WFL) is supplied with the regenerative braking force is maintained.
For this purpose, the wheel slip values (Μij) are determined at different moments, in particular successive during the predefined condition of vehicle operation.