Controlling friction- and regenerative braking of vehicle, controls brakes individually as function of measured braking efficiency and overall desired deceleration

摘要

A controller varies the proportions of fractional decelerations attributable to numbers of brakes (R, F) including both friction brakes and a regenerative brake. Variation is based on efficiency of the brakes, represented by the ratio of actual deceleration (a i s t) to desired deceleration (a s o l l). Hence a correction factor (k1, k2) is determined for operation of the brakes, to achieve the desired deceleration (a s o l l). Correction factors are calculated for friction brakes on a common axle. The desired deceleration of a number of brakes (R, F) is adjusted by its multiplication or division with the correction value (k). The braking efficiency (w) of an electrical generator is taken as a reference for determining the correction (k1, k2) for a number of other brakes (F). It is used to calculate a correction for friction brakes on a common axis. The correction factors correspond with the long term efficiency of a number of brakes (R, F). The correction values are obtained by filtering of brake efficiency measurements from a number of brakes. These measurements are taken from the brakes in a given range of speeds and/or a given range of deceleration. Further developments and relationships are based on the foregoing principles. An independent claim is included for the corresponding controlled braking system.