| 摘要 |
A anti-skid control system detects a torsion torque applied to each of the wheels of a vehicle, and controls a braking force on the basis of a corrected acceleration as a wheel acceleration is corrected by the detected torsion torque. The corrected acceleration Gc can approximately be expressed by Gc=(Kr/Iw)( mu xWxr-Tb), where Iw, inertia moment of the wheel omega , angular velocity of the wheel (the turning direction of the wheel when it advances is positive); Tt, torsion torque; mu , friction coefficient of the road surface; W, load on the wheel; r, radius of the wheel; Tb, brake torque; Kr, constant.
|
