COOPERATIVE CONTROL DEVICE FOR COMPOUND BRAKE

摘要

PROBLEM TO BE SOLVED: To achieve a total braking-torque command value even under control error of a low response system, in cooperative control of a compound brake provided with two brake devices. SOLUTION: The total braking-torque command value Tdcom calculated by a means 31 is divided to a hydraulic braking-torque command value Tbcom and a regenerative braking-torque command value Tmcom limited by Tmmax(Lim) by a means 33. Tbcom is converted to a wheel cylinder hydraulic pressure command value Pbcom by a means 34 and is commanded to a hydraulic brake controller 18. A means 35 calculates a model response value Pbref of Tbcom and a means 36 calculates control errorΔPb of actual wheel cylinder hydraulic pressure Pwc to Pbref. After the control errorΔPb is converted to braking torque by a means 37, a means 38 performs phase advance compensation and calculates a regenerative braking-torque correction valueΔTm. A means 39 corrects a regenerative braking-torque command value Tmcom by onlyΔTm and calculates a corrected regenerative braking-torque command value Tmcom' and commands the same to a regenerative braking-torque controller 21. COPYRIGHT: (C)2004,JPO