| 摘要 |
PROBLEM TO BE SOLVED: To correctly learn a dead zone width in a solenoid valve even when increase and decrease of pressure are repeated to compensate a shifted amount by feedback control when the dead zone width is shifted from an initial learnt value. SOLUTION: In this brake controller provided with a dead zone width learning means e for learning the dead zone width of the solenoid valve based on a current command value when a current for electrifying the solenoid valve is gradually increased and when a prescribed change is generated in a measured pressure value of a braking fluid, an initialization means f is provided to initialize an internal variable of a hydraulic feedback control operation means c when a brake fluid pressure command value changes first by a prescribed degree after the command value is kept within a prescribed range during a prescribed time, and the dead zone width learning means e is synchronized with the initialization by the initialization means f to serve as the means for learning the dead zone of the solenoid valve.
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