| 摘要 |
PROBLEM TO BE SOLVED: To prevent the occurrence of excessive control due to vibration when brake pressure is controlled by providing a PID operation means with a function of a low pass filter which passes low frequency component in a PID operation value. SOLUTION: When characteristics in the case where a filter which passes a low frequency component is treated (solid line) are compared with characteristics in the case where the filter is not treated (broken line) in a PID operation value Kpid, deviationΔS, PID operation value Kpid, control mode, and brake pressure are changed in accordance with the changes (a) of wheel speed, actual car body speed, and target wheel speed (b) to (e). When the filter is not treated and chattering occurs in wheel speed, the chattering is reflected in the PID operation value Kpid as it is to make the control unstable. On the contrary, it is possible to stabilize the control and improve riding comfortableness by treating the filter.
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