| 摘要 |
Using a proportional gain that is smaller than an ultimate gain, a feedback power amount (Ipt) is calculated on the basis of the difference (DeltaFb) between the target force (Fbt) with which a friction member should press on a brake disc and the actual force (Fba) with which said friction member is pressing on said brake disc. If DeltaFb falls within a torque-ripple fluctuation range, a first compensating power amount (Ibt) is calculated using a proportional gain that is larger than an ultimate gain, and if DeltaFb falls outside the torque-ripple fluctuation range, the first compensating power amount (Ibt) is calculated so as to remain constant. A second compensating power amount (Ift) is calculated on the basis of the following: calculation characteristics that are preset on the basis of torque fluctuations over a predetermined range of electric-motor positions; and an actual electric-motor position. A target power amount (Imt) is calculated by using Ipt, Ibt, and Ift to adjust an indicated power amount (Ist) calculated in accordance with Fbt. This makes it possible to provide a braking control device, for a vehicle in which braking torque is produced by an electric motor, wherein the effects of torque ripple from the electric motor can be compensated for, improving the precision with which braking torque can be controlled. |
