To prevent wheel lock tendency by maximumly utilizing the controllability of a motor and increase an energy recovery amount in braking.
Feedback control is carried out so that a slip rate μ of a wheel coincides with a desirable slip rate μ0, the braking/driving torque of the motor is controlled by computing a motor torque command value Tm, a motor torque desirable value Tm0 for securing torque control ranges of the motor on both a positive and negative sides is set, feedback control is carried out after an ABS operation is determined so that a torque detection value Tms of the motor coincides with the motor torque desirable value Tm0, and the friction brake torque of a mechanical brake is controlled by computing a friction brake torque command value Tf. Thereby, the control ranges of the motor are secured on both the positive and negative sides, and the controllability of the motor can always maximally utilized even if the friction factor of a road surface varies, so that stable braking force can be obtained. Since the control range of the motor is secured on the negative side, energy in braking can be recovered by the motor, and overall fuel consumption can be improved.
| JPH04310458 | AXIAL TORQUE SENSOR OUTPUT CONTROL DEVICE FOR VEHICLE |
| JP4792763 | Antilock brake controller |
| WO/1997/003869 | ELECTRIC MOTOR WHEEL BRAKE FOR VEHICLE |
KAWABE TAKETOSHI
MURAMOTO ITSURO
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