| 摘要 |
PROBLEM TO BE SOLVED: To control wheel speed to an optimum value irrespective of the friction coefficient of a road surface. SOLUTION: An error err between desired slip velocity Vslt and actual slip velocity Vsl and its integrated value (z) are computed (S20) and an equivalent control input ueq is computed on the basis of the error err of the slip velocity and the actual slip velocity Vsl (S30) while a switching functionσis computed on the basis of the integrated value (z) (S40). Whether or not the sign of the switching functionσhas changed within a time T1 is determined (S50), and if the result is negative, a tire generated force (f) (kb) is computed on the basis of slip rate kb to correct parametersθandβ(S60), whereas if the result is affirmative, the parametersθandβare not corrected (S70). Further, a nonlinear input unl is computed (S80) and a control input (u) is computed as the sum of the equivalent control input ueq and the nonlinear input unl (S90) and braking torque tb is controlled to equal the control input (u) (S100).
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