| 摘要 |
PROBLEM TO BE SOLVED: To provide a braking control device for a vehicle that generates braking torque by an electric motor and achieves improvement in control accuracy of the braking torque by compensating the effect of torque ripple of the electric motor.SOLUTION: A feedback energization amount Ipt is calculated by using a proportional gain smaller than an ultimate sensitivity gain on the basis of a difference &Dgr;Fb between a target value Fbt of a force that a friction member presses a brake disc and an actual value Fba thereof. On the basis of the &Dgr;Fb, a first compensation energization amount Ibt is calculated by using a proportional gain, larger than the ultimate sensitivity gain, when the &Dgr;Fb is within a fluctuation range of torque ripple, and calculated such that the &Dgr;Fb becomes constant when the &Dgr;Fb is out of the range. A second compensation energization amount Ift is calculated on the basis of calculation characteristics, preset on the basis of the torque fluctuations within a predetermined range of the position of an electric motor, and the actual position of the electric motor. A command energization amount Ist calculated according to the Fbt is adjusted by the Ipt, Ibt, and Ift to calculate the target energization amount Imt. |
