Damping device for vehicle using motor as source of drive force

摘要: PROBLEM TO BE SOLVED: To suppress or prevent vibration which is generated with changes in drive force, when a vehicle driven from the output of motor. SOLUTION: A damping device for uses motor as source force and controls torque to be input real plant power transmission system vehicle. The comprises feed-forward controller F(s) which, being configured based on model 22 having transfer function G(s) very much like GR(s) 21 an inverse 22, sets Tm comparator 23 finds out deviation (e) between value θ1 estimated θ1e found by disturbance estimating means 24 estimates torque, correcting 20, corrects 24.