ANTI-SKID CONTROL FOR VEHICLE EQUIPPED WITH MULTIPLE WHEELS USING CONNECTED AND NON-CONNECTED KALMAN FILTERING, INCORPORATING PITCH WEIGHT MOVEMENT

摘要

PROBLEM TO BE SOLVED: To obtain related parameters such as the proper quantity of skid and reference speed correctly and positively by including a control output for adjusting the quantity of braking force applied to multiple wheels on the basis of the predicted friction quantity. ;SOLUTION: A control device 34 receives a demand for brake pressure through an electric signal and compares it with maximum brake pressure predicted by a Kalman filter in the control device 34 if it can be applied without causing an undesirable skid state. The lower pressure between the pressure demanded to a pilot and the predicted maximum pressure is transferred to a speed limiter in the control device 34. The obtained pressure demand is transferred in the form of a command pressure P_c signal to an actuator 36. The actuator 36 applies pressure to a brake friction material in a brake assembly 38 on the basis of the value of the P_c signal. As a result, braking action is generated in the form of the decrease of wheel speed and the increase of brake torque and wheel skid quantity.;COPYRIGHT: (C)1999,JPO