| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent deterioration of braking operation force feeling when a frictional braking force is adjusted by an electric power-multiplying control so as to supply the insufficiency of a regenerative braking force to a target braking force. <P>SOLUTION: A controller 3 drives a motor 3 under a control by an inverter 5 and drives a wheel 1 but imparts a power-generation load to the motor 2 and regenerative-brakes the wheel 1 when there is a regenerative-braking torque command T from an arithmetic operation unit 16. The frictional braking force is also imparted to the wheel 1 by a hydraulic pressure from an electric power-multiplying type master cylinder 12 responding to a brake pedal 11, and adjusted by the electric power-multiplying control of the cylinder 12 through a servo motor 13 so that the frictional braking force realizes the target braking force Ttotal by a cooperation with the regenerative braking force. A value obtained by filter-processing a regenerative braking-force effective value T* by an arithmetic processor 17 is used as the regenerative braking torque tT in place of the regenerative braking-force effective value T* in case of the adjustment, and (Ttotal-tT) obtained by a subtracter 18 is used as a frictional braking-force command Tf to the servo motor 13. <P>COPYRIGHT: (C)2012,JPO&INPIT |
