Vehicle-speed control device

A vehicle speed controller comprising:

• a processor configured to:
• control multiple motors driving wheels of a vehicle provided with the multiple motors so that a speed of the vehicle follows a vehicle speed indicated by a target vehicle speed signal being input;
• generate feedback command torques for feedback controlling each of the multiple motors, based on a respective deviation between a speed signal from a speed sensor detecting a revolution speed of each of the multiple motors and a feedback target vehicle speed signal obtained by passing the inputted target vehicle speed signal through a target vehicle speed filter, to feedback-control the multiple motors;
• calculate a feedforward command torque for feedforward controlling the vehicle using a transfer function whose input is the inputted target vehicle speed signal and whose output is the feedforward command torque for the vehicle;
• and
• divide the feedforward command torque into individual feedforward command torques for distribution to the multiple motors,
• wherein the transfer function used in calculating the feedforward command torque is a product of a transfer function of the target vehicle speed filter used in generating the feedback command torques multiplied by an inverse model of a transfer function of the vehicle, the transfer function of the vehicle having as an input a summation of forces in a direction of translational motion of the vehicle and having as an output the vehicle speed, and
• wherein the processor respectively adds the individual feedforward command torques to the feedback command torques for the multiple motors, to control the multiple motors.