| 摘要 |
Wheel velocity is monitored and at the onset of brake application, the system commits wheel velocity signal to memory as a vehicle velocity signal. During brake application, the wheel velocity signal is scaled to appear a fractional part greater than it actually is. As braking lowers actual wheel velocity to a fixed fraction of that remembered vehicle velocity, the upward biased wheel signal will equal the remembered signal. This equality means that the wheel is at a fixed fraction of vehicle speed, hence at a fixed wheel slip percentage. Thereafter, error in the signal balance or equality is used to adjust a modulating device which raises or lowers braking torque to remove or minimize that error. Such modulation of the braking torque adjusts the wheel speed to maintain a fixed proportionality to vehicle speed. By integrating the motion of an inertial mass in the system, vehicle velocity is constantly updated throughout the vehicle deceleration.
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