Patent attributes
The control device (67) includes a rotational speed calculator (68), a bearing torque estimator (69), a torque difference calculator (70) and a drive source torque calculator (71). The rotational speed calculator (68) calculates rotational speeds of first and second connection members. The bearing torque estimator (69) estimates a bearing torque, from the calculated, two rotational speeds. The torque difference calculator (70) calculates a target torque difference between torques to be generated by respective drive sources, from the estimated bearing torque, a torque difference amplification factor (α), and a difference between drive wheel torque command values for respective left and right drive wheels. The drive source torque calculation module (71) calculates drive source torque command values, which are torques to be generated by the respective, left and right drive sources, using the calculated, target torque difference and the drive wheel torque command values for the respective wheels.
