Braking apparatus and method of controlling the same

摘要

A braking apparatus comprises a first contact unit (3) arranged on the rotary shaft side of a wheel, at least a second contact unit (2) for contacting the first contact unit for generating a friction force, an actuator (1) for pressing the second contact unit against the first contact unit, and a control unit (10) for controlling the operation of the actuator, wherein the control unit performs the position control operation for moving the second contact unit in such a manner that the interval between the first contact unit and the second contact unit is smaller than a preset distance, and the force control operation for pressing the second contact unit against the first contact unit in accordance with the required braking force. <IMAGE>