| 摘要 |
PROBLEM TO BE SOLVED: To control overshoot and undershoot of torque, by preparing a temperature characteristic function from temperatures and P/τcoefficients of brake in dummy and first operations, inputting temperatures on and after second operation in the function, multiplying an outputted temperature coefficient by a P/τcoefficient obtained in dummy, and using the obtained value as the P/τcoefficient on and after second torque control. SOLUTION: A P0 /τ0 coefficient of brake at a temperature T0 is operated and recorded from a temperature T0 , torqueτ0 and a pressure detection value P0 when brake is applied in dummy operation. In the first main operation, the coefficient obtained in the dummy operation is used, and a P1 /τ1 coefficient of brake at a temperature T1 is operated and recorded in the same manner. In the second operation, a temperature characteristic function of brake is formed from the temperature T0 and the P0 /τ0 coefficient in dummy, and the temperature T1 and the P1 /τ1 coefficient in the first operation. A temperature T2 when second brake is applied is inputted in the temperature characteristic function, and a temperature coefficient K0 is obtained. By multiplying the P0 /τ0 coefficient of dummy operation by K0 , a P2 /τ2 coefficient of second operation is obtained. On and after third operation, P/τcoefficients are obtained similarly to the second operation, thereby performing torque control. As a result, overshoot and undershoot due to temperature difference at the time of braking can be restrained.
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