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Automatic control system for antilocking and antiskid applications

  • US 5,135,290 A
  • Filed: 10/26/1990
  • Issued: 08/04/1992
  • Est. Priority Date: 05/03/1988
  • Status: Expired due to Fees
First Claim
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1. System for controlling torque at a vehicle wheel moving at a speed, said torque being one of driving torque or braking torque, said wheel upon application of torque exhibiting slippage characterized by a μ

  • -slippage curve having a stable portion, an unstable portion, and a maximum therebetween, said system comprisingmeans for measuring the speed of said vehicle wheel and producing a wheel speed signal,means for determining the torque applied to said vehicle wheel and producing a wheel torque signal,means for estimating an instantaneous friction coefficient μ

    (t) and a corresponding instantaneous slope K.sub.μ

    of the μ

    -slippage curve from said wheel speed signal and said wheel torque signal at respective sensing times (T-1), T, (T+1) . . . ,means for determining a difference between K.sub.μ and

    a target slope K.sub.μ

    tar on the stable portion of said μ

    -slippage curve.a control amplifier which generates an output signal from said difference, said control amplifier having a gain factor KR which changes in dependence upon the instantaneous friction coefficient μ

    (t), anda final control element which generates said wheel torque signal from said output signal.

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