| 摘要 |
PROBLEM TO BE SOLVED: To reduce both of a deviation and the number of valve switching times by predicting valve switching patterns minimizing the value of evaluating functions and switching an electromagnetic valve corresponding to the predicted valve switching pattern so as to control pressure. SOLUTION: A pressure sensor for detecting a wheel cylinder pressure Pw is fixed to each wheel cylinder and is connected to an ABC control means 4. Then, wheel cylinder pressure Pw and target pressure Pd are inputted to the means 14 to predict a valve switching pattern minimizing the value of an evaluation function to switch the electromagnetic valve in accordance with the predicted valve switching pattern to control pressure. An evaluation function J is given by an expression stored in the means 14. In the expression, Q, SP are weights, e (t) is the deviation of the wheel cylinder pressure of a time(t) based on to target pressure, N is a positive integer expressing the size of an evaluation window, and k (t) is a variable showing the pressure controlling state of one of boosting, holding and dropping at the time(t).
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