| 摘要 |
PROBLEM TO BE SOLVED: To enable accuracy in brake control in a light-load regenerative state to be improved.SOLUTION: A calculating portion 11 calculates required brake force by multiplying a deceleration of a vehicle by a load of the vehicle, and calculates a brake force command value by subtracting regenerative brake force from the required brake force. A determining portion 12 determines whether or not a brake control portion 13 is a light-load regenerative state on the basis of an input voltage of a power converter. The brake control portion 13, if determined not to be in the light-load regenerative state, performs feedback control for an electro-pneumatic convert valve 21 on the basis of the brake force command value and electric current feedback acquired from the electro-pneumatic convert valve 21, and if determined to be in the light-load regenerative state, performs the feedback control of the electro-pneumatic convert valve 21 on the basis of the brake force command value and pressure feedback acquired from a pressure sensor 24.SELECTED DRAWING: Figure 1 |
