DRIVING POWER CONTROLLER FOR SELF TRAVELING VEHICLE

Japanese Patent JPS62168753

A

PURPOSE:To improve the responsiveness in control by setting the decompression rate of a brake pressure proportional to the magnitude of the deceleration speed of a driving wheel, in the compression/decompression control of the brake pressure through the comparison between a threshold value and the traveling characteristic value of the driving wheel. CONSTITUTION:The number of revolution of each driving wheel is measured by a revolution sensor S1, and the revolution speed VP as an example of the traveling characteristic values is detected in a revolution speed calculating part 12 from the output of the revolution sensor. Further, the revolution speed VT is detected in a revolution speed calculation part 15 from the number of revolution of a trailing wheel which is detected by a revolution sensor S2, and a threshold value V1 which is formed by adding a prescribed value with VT is set in a threshold value setting means 14. A brake device B is controlled according to the result of the comparison between VD and V1 and the acceleration/deceleration state of the driving wheel which is obtained in an acceleration speed calculation part 18, in a control part 17. In this case, decay valve DV is controlled so that the decompression rate of the brake pressure in the deceleration period of the driving wheel is made proportional to the deceleration speed alpha of the driving wheel.

NAKAKUKI YUZO

JP1063586A

July 25, 1987

January 21, 1986

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AKEBONO BRAKE IND

B60T8/175; B60T8/1766; B60T8/58; (IPC1-7): B60T8/58

JPS60179363A	1985-09-13
JPS5029974A	1975-03-26

Takayoshi Hayashi

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