A control device for a left and right wheel drive device, wherein
- the left and right wheel drive device includes
- two independently controllable drive sources installed in a vehicle and
- a gearing system disposed between the two drive sources and left and right drive wheels for transferring torques supplied from the two drive sources to the respective left and right drive wheels while amplifying a difference between the supplied torques, the gearing system including first and second planetary gear mechanisms, each including a plurality of constituent members, a set of the first and second planetary gear mechanisms including:
- a first connection member that connects a first constituent member among the plurality of constituent members of the first planetary gear mechanism and a second constituent member among the plurality of constituent members of the second planetary gear mechanism;
- a second connection member that connects a second constituent member among the plurality of constituent members of the first planetary gear mechanism and a first constituent member among the plurality of constituent members of the second planetary gear mechanism;
- a first rotational member that rotates as a unit with the first connection member, the first rotational member being at least one of the plurality of constituent members of the first planetary gear mechanism;
- a second rotational member that rotates as a unit with the second connection member, the second rotational member being at least one of the plurality of constituent members of the second planetary gear mechanism;
- and
- a bearing arranged between the first connection member or the first rotational member, on one hand, and the second connection member or the second rotational member, on the other hand, wherein the control device comprises:
- a rotational speed calculation module configured to calculate rotational speeds of the respective first and second connection members;
- a bearing torque estimation module configured to:
- when a difference between the two rotational speeds calculated by the rotational speed calculation module is equal to or more than a threshold value, estimate a bearing torque generated by the bearing, from the two rotational speeds calculated by the rotational speed calculation module, and
- when a difference between the two rotational speeds calculated by the rotational speed calculation module is less than the threshold value, to estimate the bearing torque as zero;
- a torque difference calculation module configured to calculate a target torque difference between torques to be generated by the two respective drive sources, using a difference between left and right drive wheel torque command values for the respective left and right drive wheels, the bearing torque estimated by the bearing torque estimation module, and a torque difference amplification factor of the gearing system;
- and
- a drive source torque calculation module configured to calculate drive source torque command values, which are torques to be generated by the two respective drive sources, using the target torque difference calculated by the torque difference calculation module and the left and right drive wheel torque command values.