| 摘要 |
It is desired to effectively reduce cyclic fluctuations in braking force generated by any of electric brake devices mounted to a plurality of wheels of a vehicle, respectively, without increase the outputs of the electric motors of the respective electric brake devices. If fluctuations in braking force occurs in one of two electric brake devices (1), a control device (2) calculates operating quantities of the respective electric brake devices (2) based on the deviation between a command value of the sum of the braking forces of the electric brake devices (1) and the sum of the feedback values of the braking forces of the electric brake devices (1), and causes both electric control devices (2) to perform compensation operations for compensating for the braking force fluctuations while keeping constant the sum of the respective braking forces. This makes it possible to effectively reduce the braking force fluctuations even if the operating amplitudes of the individual electric brake devices (1) are small. |
