| 摘要 |
Provided is an electric brake device, wherein the influence of the hysteresis characteristics of an electric brake actuator is eliminated by combining high-speed reaction force compensation and precise reaction force compensation, and a smooth and high-speed control system can be achieved. This electric brake device is equipped with a control device (2) having a reaction force compensator (7). The reaction force compensator (7) carries out compensation to counteract the rotational resistance of an electric motor generated by the reaction force of the pressure of friction material (32) on a brake rotor (31). The reaction force compensator (7) has: a direct estimation means (11) for directly estimating the reaction force from information including the driving voltage and/or current of the electric motor (34) and the rotational angle of the electric motor (34) and/or the value obtained by differentiating the rotational angle one or more times; an indirect estimation means (12) for estimating the reaction force from the estimated brake force on the basis of a preset correlation; and a compensation reaction force determination means (13) for determining a reaction force to carry out the compensation using the estimation result of the direct estimation means (11) and the estimation result of the indirect estimation means (12) in a predetermined ratio. |
