Abstract: A front steering gear (18) is connected with steerable front wheels (12 and 14) of a vehicle (10). A rear steering gear (28) is connected with steerable rear wheels (30 and 32) of the vehicle (10). A torque sensor (40) connected with a steering wheel (16) provides an output to a controller (42). The controller (42) effects operation of the rear steering gear (28) in response to an output of the torque sensor (40) corresponding to manual application of at least a predetermined force to the steering wheel (16). Alternatively or in addition, the controller (42) may effect operation of a rear wheel brake (50 or 52) which is disposed on a radially inner side of a turn in response to the output from the torque sensor (40).

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake torque is compared with a predetermined threshold brake torque. Wheel velocity error signals are also generated to indicated the difference between the wheel velocity and a reference velocity signal. A torque bias modulator integrator responsive to brake torque signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The torque bias modulator integrator can also be initialized to the value of the measured brake torque when the wheel velocity error signals indicate the beginning of a skid. Brake torque difference signals are generated to indicate the difference between brake torque and a commanded brake torque, and an adjusted brake torque error signal is generated in response to the brake torque difference signals.

Abstract: In one example, A method for controlling a powertrain of a vehicle with wheels, the vehicle having a pedal actuated by a driver, is described. The method may include generating powertrain torque transmitted to the wheels in a first relation to actuation of the pedal by the driver during a first condition where said transmitted torque causes said wheels to slip relative to a surface; overriding said driver actuated powertrain torque to control said slip; and during a second condition after said first condition where said vehicle is moving less than a threshold, generating powertrain torque transmitted to the wheels in a second relation to actuation of the pedal by the driver, where for a given pedal position, less powertrain torque is transmitted with said second relation compared to said first relation.

Abstract: A hydraulic system is provided having a reservoir configured to hold a supply of fluid. The hydraulic system also has a variable displacement pump configured to supply charge fluid and pilot control fluid to the hydraulic system. In addition, the hydraulic system has a closed-loop portion configured to receive charge fluid from the variable displacement pump and drive a mechanism. The hydraulic system further has a pilot fluid supply portion configured to direct pilot control fluid from the variable displacement pump to closed-loop portion.

Abstract: A disc brake (10) is described, comprising a brake disc (12) and two brake shoes (20), which are pressable against both sides of the brake disc (12) and which in relation to a peripheral force (C?) generated upon application of the brake shoes (20) against the brake disc (12) are supported against a vehicle-fixed carrier (14). The disc brake (10) moreover comprises at least one device (34) for measuring and/or converting the peripheral force (C?), which device is disposed in a force transmission chain between the brake shoe (20) and the carrier (14). A force transmission member in the form of e.g. a swivel element (30) is disposed between the brake shoe (20) and the device (34) for measuring and/or converting the peripheral force (C?) and is movable under guidance parallel to the brake disc (12).

Abstract: A control system for an automotive vehicle (10) and method for operating the same includes a controller (26) that is used to control the brake system in response to an adaptive brake gain coefficient. The adaptive brake gain coefficient may be used by a safety system so that a desired brake torque is applied to the wheel.

Abstract: A relay switch for selectively connecting a power supply line of an inverter to a ground line is inserted between the inverter and a power source, and a power consumption unit such as a resistor element is inserted between the relay switch and ground line.

Abstract: A brake force detecting apparatus for detecting strain in a caliper bracket. The caliper bracket has two fixed portions fixed to a wheel support and a connecting portion for connecting the fixed portions. The connecting portion of the caliper bracket is formed with a recess at a position radially outside of a line connecting the fixed portions in the radial direction of a brake disc. A sensor plate is press-fitted in the recess of the connecting portion in engaged relationship with the connecting portion so as to undergo deformation generated in the connecting portion in its tensile direction. A strain gauge is attached to the sensor plate.

Abstract: A target vehicle speed is switched between a target slip vehicle speed and a target torque vehicle speed on the basis of a result of a determination regarding whether or not a vehicle is insufficiently accelerated. More specifically, if traction control is not performed, the target slip vehicle speed is set as the target vehicle speed. If it is determined that the vehicle is sufficiently accelerated during traction control, a value obtained by subtracting a maximum permissible value from a value set last time as the target vehicle speed is compared with the target slip vehicle speed, and the larger one of them is set as the target vehicle speed this time.

Abstract: A vehicle braking force control device for executing a follow-up (or servo) control of braking force for individual wheels is improved for canceling the difference of braking force between left and right wheels especially during transient condition of braking force variation due to the difference of input-output response characteristics in braking force generating apparatuses and components associated therewith in a braking system. In the inventive control device, a relation between actual values of braking force on left and right wheels, such as the difference between braking force or pressure values on the left and right wheels, is fed back to these braking force generating apparatuses through the modification of target barking force or pressure values. The modification amounts of the target values may be determined so as to keep appropriate braking force distribution among front and rear wheels.

Abstract: A brake control section can select an automatic mode in which a mechanical brake is automatically transitioned from a released state to a braking state in response to the running condition of a vehicle. A diagnostic section outputs a fail signal when an abnormal condition of the brake control section is detected. A power control section automatically stops a drive power source of the vehicle when the running condition of the vehicle satisfies a predetermined condition for determining a vehicle stop. When the automatic mode of the brake control section is released or when the diagnostic section outputs a fail signal of the brake control section, the power control section is inhibited to automatically stop the drive power source, so that an unintentional movement of the vehicle caused by an inclination of the road surface and the automatic stop of the drive power source can be prevented.

Abstract: A relay switch for selectively connecting a power supply line of an inverter to a ground line is inserted between the inverter and a power source, and a power consumption unit such as a resistor element is inserted between the relay switch and ground line.

Abstract: A brake gain based torque controller utilizes commanded torque, measured torque and measured pressure in order to provide brake control for a vehicle, such as an aircraft. According to one particular aspect of the invention, the brake gain-based torque controller is provided for controlling a braking operation of a wheel of a vehicle based on a computed brake gain calculated in real-time. Under normal breaking conditions, command torque is multiplied by the calculated computed brake gain to produce a pressure signal to control the pressure to be applied to the brake.

Abstract: In an anti-lock brake system mounted on a vehicle wherein when the vehicle is braked in an emergency during running, an increase in the road surface friction force or road surface friction coefficient owing to an increase in the brake pressure is detected by a road surface friction force detecting device or road surface friction coefficient detecting device. The optimum control start point associated with an increase in the signal value of the road surface friction force F or road surface friction coefficient ? provided by the road surface friction force detecting device or road surface friction coefficient detecting device is decided by using a decrease in the wheel speed, i.e., by using the wheel speed ? or d?/dt. Thereafter, from the point where the specified value of control based on F or ?, or dF/dt or d ?/dt, the brake pressure is moved from the pressure increasing mode to the pressure retaining or decreasing mode.

Abstract: A rotatable assembly for a vehicle road wheel includes a vehicle suspension knuckle (16), a drive shaft (24), a first bearing (30) carried by the knuckle for rotatably supporting the drive shaft, a wheel hub (13) drivingly connected to the drive shaft, a brake disc support (26) rotatably carried by the first bearing and connected to the drive shaft to rotate therewith, the connection (28) between the brake disc support and the drive shaft being separated and spaced apart along the shaft from the connection (25) between the drive shaft and the wheel hub, a second bearing (32) between the wheel hub and the brake disc to support the wheel hub and to allow relative rotation between the brake disc support and the wheel hub and a torque sensor (50) between said connections to sense the torque or the change in torque being transmitted by the drive shaft (24) to the wheel.

Abstract: A device and method are provided for determining a longitudinal force (Fx) exerted on a wheel of a motor vehicle by a ground surface supporting the wheel, the vehicle including connections means which connect the wheel to a body of the vehicle. An actual force (FAX) is measured at the level of at least one measurement point in the connection means. A force (FDx, Fx) is calculated which results from a transmission via the connection means from the at least one measurement point to the wheel, of a body-associated force (FADX, FAX), which depends at least on the actual force. The longitudinal force (Fx) exerted on the wheel by the ground surface is calculated as a function at least of the force (FDx; Fx) resulting from the transmission of the body-associated force.

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake pressure is compared with a predetermined threshold brake pressure. Wheel velocity error signals are also generated to indicated the difference between the wheel velocity and a reference velocity signal. A pressure bias modulator integrator responsive to brake pressure signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The pressure bias modulator integrator can also be initialized to the value of the measured brake pressure when the wheel velocity error signals indicate the beginning of a skid. Brake pressure difference signals are generated to indicate the difference between brake pressure and a commanded brake pressure, and an adjusted brake pressure error signal is generated in response to the brake pressure difference signals.

Abstract: The present invention relates to a method for establishing the relationship between actuator position and actuator clamping force as well as a control system for applying defined actuator clamping forces to a brake operated electrically using an actuator. The method according to the present invention makes it possible to determine the initially unknown relationship between actuator position and actuator clamping force in real time without using any force sensor at all.

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake torque is compared with a predetermined threshold brake torque. Wheel velocity error signals are also generated to indicated the difference between the wheel velocity and a reference velocity signal. A torque bias modulator integrator responsive to brake torque signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The torque bias modulator integrator can also be initialized to the value of the measured brake torque when the wheel velocity error signals indicate the beginning of a skid. Brake torque difference signals are generated to indicate the difference between brake torque and a commanded brake torque, and an adjusted brake torque error signal is generated in response to the brake torque difference signals.

Abstract: Improved methods and systems for controlling hydraulically or electrically actuated anti-lock brake systems (ABS) on air and land vehicles requiring only measurement of wheel angular speed although brake torque measurements can also be employed if available. A sliding mode observer (SMO) based estimate of net or different wheel torque (road/tire torque minus applied brake torque) derived from the measured wheel speed is compared to a threshold differential wheel torque derived as a function of a “skid signal” also based on wheel speed only to generate a braking control signal. The braking control signal can be employed to rapidly and fully applying and releasing the brakes in a binary on-off manner and, as an additional option, possibly modulating the maximum available brake hydraulic pressure or electrical current when the brakes are in the “on” state in a continuous manner.

Abstract: A coordinated brake control system of a hybrid brake system is arranged to determine a total braking torque command value according to a vehicle operating condition, to distribute the total braking-torque command value to regenerative braking-torque command value and the hydraulic braking-torque command value, to calculate a reference model response value relative to a wheel-cylinder hydraulic pressure command value, on the basis of a braking force reference model taking account of a delay of the actual hydraulic pressure in the hydraulic control system relative to the wheel-cylinder hydraulic pressure command value, and to correct the regenerative braking-torque command value according to a braking torque control error between the estimated braking torque actual value and the reference model response value. The corrected regenerative braking-torque command value is employed in the control of the regenerative brake apparatus.

Abstract: A method of controlling the braking force in a vehicle has the following steps: determining actual values of controlled variables; determining setpoint values of controlled variables; comparing the actual values with the setpoint values, thereby obtaining comparison results; and influencing wheel forces on the basis of the comparison results, wheel forces being used as controlled variables, the actual values of the wheel forces being determined by a sensor system which measures the wheel force, torques having a modulation frequency being generated at the wheels, whereby the slip of the wheels and the wheel force of the wheels are modifiable, the slip of the wheels and the wheel forces of the wheels are analyzed, and the setpoint values of the wheel forces are determined from the analysis of the slip of the wheels and the wheel forces of the wheels. A system for controlling the braking force in a vehicle is also described.

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake torque is compared with a predetermined threshold brake torque. Wheel velocity error signals are also generated to indicated the difference between the wheel velocity and a reference velocity signal. A torque bias modulator integrator responsive to brake torque signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The torque bias modulator integrator can also be initialized to the value of the measured brake torque when the wheel velocity error signals indicate the beginning of a skid. Brake torque difference signals are generated to indicate the difference between brake torque and a commanded brake torque, and an adjusted brake torque error signal is generated in response to the brake torque difference signals.

Abstract: The present invention discloses a hand brake mechanism having a gravity based release hold mechanism with a visual indicator to prevent unwanted application of the railcar brakes and indicate such release hold condition. The release hold mechanism comprises a gravity based member pivotally linked to a release shaft preventing reverse rotation of the release shaft causing an unintended take-up of the chain. A detent retaining device disposed within the railcar hand brake housing further provides improve reliability of the operation. The gravity based member incorporates an indicator portion having a reflective coating to indicate such release hold position of the railcar hand brake.

Abstract: A vehicle brakes traction control system and method of operation, for a vehicle having a drive axle with a differential operable between wheels at the two ends of the axle, and brakes for each respective wheel operable by a brake controller. The traction control system includes wheel speed sensors sensing the rotational speed of the wheels, an engine torque demand sensor and an engine torque output monitor. The brake system controller receives signals from the wheel speed sensors, the engine torque demand sensor and the engine torque output monitor to apply the brakes to equalize the rotational speed of the wheels if the engine torque output is less than a desired torque output for a given torque demand.

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake torque is compared with a predetermined threshold brake torque. Wheel velocity error signals are also generated to indicated the difference between the wheel velocity and a reference velocity signal. A torque bias modulator integrator responsive to brake torque signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The torque bias modulator integrator can also be initialized to the value of the measured brake torque when the wheel velocity error signals indicate the beginning of a skid. Brake torque difference signals are generated to indicate the difference between brake torque and a commanded brake torque, and an adjusted brake torque error signal is generated in response to the brake torque difference signals.

Abstract: A vehicle brake system (10) is provided which compensates for brake pedal feel variation so as to provide for enhanced braking feel to the vehicle operator. The brake system (10) includes a brake command input (10), an accelerometer (22) for sensing longitudinal acceleration of the vehicle, and friction brakes (26) and regenerative brakes (29) for generating braking force to be applied to brakes on the vehicle. The vehicle brake system (10) further includes a controller (12) for detecting a brake torque variation as a function of the sensed acceleration and the brake demand signal. The controllers (12) further adjusts a torque command signal to adjust the amount of braking torque generated by the brakes (26) so as to compensate for brake torque variation.

Abstract: Vehicle motion control devices and methods systematically treat a conditions of each wheel to acquire and maintain the vehicle behavior stability together with anti wheel lock and wheel spin processing, braking forces distribution. Device for controlling a running behavior of a vehicle estimates a road reaction force on each wheel, calculates a yaw moment around a centroid of the vehicle body generated by the road reaction force on each wheel, and controls driving and braking forces on each wheel based upon the yaw moments so as to stabilize a running of the vehicle. Spin and Drift conditions are detected through presently generated yaw moments and critical yaw moments which can be generated by a road reaction force assumed to be maximized. Physical parameters of each wheels, required for detecting and controlling the behavior of the vehicle are estimated with a theoretical tire model.

Abstract: A vehicle brake systems (10) is provided which compensates for brake pedal feel variation to provide enhanced braking feel. The brake system (10) includes a brake pedal (18), a wheel sensor (20), and a database (16) for storing target accelerations and torque to pressure parameters. The brake systems (10) may employ a friction brakes (26) and regenerative brakes (29). The brake system further includes a controllers (12) for controlling the amount of braking, including the friction brake actuator (24). The controller (12) determines brake acceleration caused by braking torque and determines a target acceleration based on the driver commanded input. The controller (12) also determines a brake acceleration error as the difference between the target acceleration and the brake acceleration. The controller adjusts the torque-related parameter to reduce the brake acceleration error by adjusting the braking torque generated by the friction brake actuator to compensate for brake torque variation.

Abstract: A driveline assembly for a motor vehicle includes a housing containing at least a portion of a driveline component and a wet disk brake assembly. The wet disk brake assembly includes a plurality of friction disks immersed within lubricating/cooling oil contained within the housing. Actuation of the friction disks creates a braking force to slow and stop rotation of an axle and creates heat that can cause premature deterioration of the lubricating/cooling oil that in turn can cause premature failure of driveline components and brake assembly components. An electric generator driven by a driveline component is included within the housing to provide additional braking energy to reduce the braking load on the wet disk brake assembly such that the lubricating/cooling oil maintains temperatures within acceptable predetermined operational limits without a separate oil cooling system.

Abstract: An anti-lock braking system (ABS) for multi-axle vehicles equipped with multiple wheel-speed sensors and modulators for adjustment of braking pressure. The brake cylinder for each wheel may be controlled by an individual modulator, or, alternatively, a single common supply axle modulator may regulate both brake cylinders of an axle. In a preferred embodiment, the ABS is controlled by an ABS electronic control unit (ECU), which has four regulating channels with four corresponding end stages for controlling three modulators, where one of the modulators is commonly regulated by two end stages. The ECU also detects whether it is coupled to a proper ABS. The ABS electronic control unit eliminates the danger of an undetected installation of an ABS electronic control unit into an incompatible anti-lock braking system.

Abstract: A pair of shoes are expanded by driving an electric brake motor. Due to the friction engagement of the shoes with a drum inner peripheral surface, a braking force is applied to a wheel. An actual braking torque is detected by a strain sensor that detects the load applied to an anchor pin. Through a feedback control using the actual braking torque, the electric motor is driven and controlled so that the actual braking torque becomes equal to a target braking torque that is determined in accordance with the amount of operation of a brake pedal. When the actual braking torque is undetectable, for example, during a stop of a vehicle, the electric motor is driven and controlled through an actuating force control using the current through the electric motor that is detected by a motor current sensor.

Abstract: A control system (12) for an automotive vehicle includes a wheel speed sensor (18) generating a rotational speed signal and a controller (14) coupled to the wheel speed sensor. The controller determines a vehicle speed, calculates wheel slip based upon the vehicle speed and the rotational speed, estimates a normal force on the wheel, calculates a modified brake torque signal in response to the wheel slip and the normal force, and actuates the wheel brake in response to the modified brake torque signal.

Abstract: A brake by wire system is integrated with a brake transmission solenoid interlock (BTSI) unit to prevent a vehicle transmission from being shifted out of a park mode into a drive mode until a brake system operational state is determined. The BTSI is activated by a supplemental brake control unit, which receives a transmission release signal from a brake system controller upon receipt of a brake intent signal from one or more brake pedal sensors after a diagnostic program has determined the brake system operational state. The supplemental brake control unit includes a switch responsive to the transmission release signal to close the BTSI activating circuit and permit release of the transmission. In a split brake system with two brake controllers, the supplemental brake control unit may include a switch controlled by a logic (OR, AND) circuit or a pair of switches in an equivalent logical circuit configuration.

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake pressure is compared with a predetermined threshold brake pressure. Wheel velocity error signals are also generated to indicate the difference between the wheel velocity and a reference velocity signal. A pressure bias modulator integrator responsive to brake pressure signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The pressure bias modulator integrator can also be initialized to the value of the measured brake pressure when the wheel velocity error signals indicate the beginning of a skid. Brake pressure difference signals are generated to indicate the difference between brake pressure and a commanded brake pressure, and an adjusted brake pressure error signal is generated in response to the brake pressure difference signals.

Abstract: A brake assembly 12 for use within an electric vehicle 10 and which allows the vehicle 10 to be selectively decelerated in substantially the same manner as is an internal combustion engine type vehicle upon the release of an accelerator pedal member 18 or the depression of a brake member 20.

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake torque is compared with a predetermined threshold brake torque. Wheel velocity error signals are also generated to indicated the difference between the wheel velocity and a reference velocity signal. A torque bias modulator integrator responsive to brake torque signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The torque bias modulator integrator can also be initialized to the value of the measured brake torque when the wheel velocity error signals indicate the beginning of a skid. Brake torque difference signals are generated to indicate the difference between brake torque and a commanded brake torque, and an adjusted brake torque error signal is generated in response to the brake torque difference signals.

Abstract: A mounting bracket apparatus for a disc brake of a vehicle is provided for measuring torque in a disc brake mounting bracket. The invention includes a bracket capable of being secured to a non-rotatable part of a vehicle. The bracket includes first and second caliper bracket abutments and a cross member extending in the direction of the rotational axis of the disc. The cross member joins the first and second caliper bracket abutments at respective first and second corner-shaped portions. A force sensor is located adjacent the first corner-shaped portion of the bracket adapted to sense strain in the first corner-shaped portion.

Abstract: It is an object of the invention to provide a thrust dynamic pressure bearing in which complex small holes or the like are not disposed so that the production cost is not increased, and negative-pressure suction which may be caused at start of rotation is prevented from occurring, thereby enabling the bearing to correctly function as a thrust dynamic pressure bearing. In solving means for the above, a rotor 1 in which thrust dynamic pressure generating grooves are formed in an end face, and a housing 2 which accommodates the rotor 1 in a hermetically sealed state with forming small gaps 3 and 4 therebetween are disposed. The gaps are filled with a working fluid L for generating a dynamic pressure. Pockets (1p, 2P) which serve as spaces for accumulating the working fluid are formed in the end face 1a of the rotor 1 and an end face 2a of the housing 2 that is opposed to the end face 1a, respectively.

Abstract: A fail-safe system used in integrated control of a vehicle includes structural-element control portions. Preset priority degrees are given to the structural-element control portions, respectively. A manager control portion stores one or more substitute programs designed to implement functions of ones among the structural-element control portions which are necessary for travel of the vehicle. A downloading device operates for, when one of the structural-element control portions which is necessary for travel of the vehicle fails, selecting one from non-failed ones of the structural-element control portions as a download destination in accordance with the priority degrees and downloading the substitute program corresponding to the failed structural-element control portion into the selected download-destination structural-element control portion. The selected download-destination structural-element control portion is lower in priority degree than the failed structural-element control portion.

Abstract: The present invention provides an improved torque actuator control system using data inputs from an operator controlled input transducer relating to the desired torque output of a controlled member and inputs concerning the directly measured speed and torque of the controlled member. The improved torque actuator control circuit uses the inputs to generate an output command to the controlled member that results in the direct application of the desired torque output from the controlled member.

Abstract: An electrically operated braking system of a motor vehicle, including a brake having a friction member movable to be forced onto a rotor rotating with a vehicle wheel and thereby braking the wheel. The friction member is forced onto the rotor by an electric motor operated by an electric power supplied from an electric power source. A controller determines an amount of the electric power to be supplied to the motor, depending upon an operating amount of the brake operating member, and a relationship estimated by a relationship estimating and utilizing device. The relationship estimating and utilizing device obtains an actual value of the electric power supplied to the motor during operation of the brake while the vehicle is running, and an actual value of a braking torque applied from the brake to the wheel during the brake operation, and estimate a relationship between the electric power to be supplied to the wheel on the basis of the actual values obtained.

Abstract: A controller for controlling an actuator in response to an input signal. The controller includes a first control block and a second control block. The first control block receives the input signal, detects an operating condition of the input signal, and responsively produces an operating condition signal. The operating condition signal has a first value if the operating condition of the input signal is in a small signal mode and a second value if the operating condition of the input signal is in a saturated mode. The second control block has a small signal portion and a saturation portion. The second control block is adapted to receive the input signal and the operating condition signal and responsively deliver to the actuator a control signal.

Abstract: An ABS apparatus according to the present invention has an arbitrary number of first sensors (15, 16) capable of obtaining road frictional force information according to road frictional force F acting between a wheel of a car and a road on which the car is moving and braking torque information according to braking torque T acting between the wheel of the car and a braking equipment, a differential parameter calculating means (21) for calculating a differential parameter M according to the road frictional force information and the braking torque information from these first sensors (15, 16), and a solenoid valve controlling means (23) for starting and then stopping a pressure reducing operation when the differential parameter M calculated by the differential parameter calculating means (21) reaches a first threshold provided according to a peak value of the differential parameter M or a second threshold having an absolute value slightly smaller than that of the first threshold while the barking equipment is in

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake pressure is compared with a predetermined threshold brake pressure. Wheel velocity error signals are also generated to indicated the difference between the wheel velocity and a reference velocity signal. A pressure bias modulator integrator responsive to brake pressure signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The pressure bias modulator integrator can also be initialized to the value of the measured brake pressure when the wheel velocity error signals indicate the beginning of a skid. Brake pressure difference signals are generated to indicate the difference between brake pressure and a commanded brake pressure, and an adjusted brake pressure error signal is generated in response to the brake pressure difference signals.

Abstract: An antiskid brake system for an automotive vehicle is provided which includes a parameter determining circuit and a braking condition determining circuit. The parameter determining circuit determines a parameter reflecting on brake torque applied to a wheel of the vehicle. The braking condition determining circuit compares the phase of a change in speed of the wheel with the phase of a change in the parameter to determine a phase delay of the change in speed of the wheel and determines the braking condition based on the phase delay, thereby allowing a wheel skid used in the antiskid brake control precisely without employing parameters such as vehicle speed and wheel speed as employed in conventional antiskid brake systems.

Abstract: The present invention provides an improved torque actuator control system using data inputs from an operator controlled input transducer relating to the desired torque output of a controlled member and inputs concerning the directly measured speed and torque of the controlled member. The improved torque actuator control circuit uses the inputs to generate an output command to the controlled member that results in the direct application of the desired torque output from the controlled member.

Abstract: The adaptive brake application and initial skid detection system allows rapid brake application and prevents deep initial skids. Brake pressure is compared with a predetermined threshold brake pressure. Wheel velocity error signals are also generated to indicated the difference between the wheel velocity and a reference velocity signal. A pressure bias modulator integrator responsive to brake pressure signals adjusts the wheel velocity error signals to provide an anti-skid control signal. The pressure bias modulator integrator can also be initialized to the value of the measured brake pressure when the wheel velocity error signals indicate the beginning of a skid. Brake pressure difference signals are generated to indicate the difference between brake pressure and a commanded brake pressure, and an adjusted brake pressure error signal is generated in response to the brake pressure difference signals.

Abstract: A behavior control device of a vehicle including a longitudinal acceleration sensor has a judgment system for judging if the longitudinal acceleration sensor is operating normally by comparing an output of the acceleration sensor with a corresponding longitudinal acceleration of the vehicle detected based upon a wheel rotation speed detected by a sensor therefor, excepting at least when the acceleration sensor output is much different from a longitudinal acceleration calculated based upon a wheel drive torque, so that the reliability of the behavior control incorporating the acceleration sensor is ensured, while when the acceleration sensor is not operating normally, the behavior control is modified or suspended.

Abstract: The present invention provides an improved torque actuator control system using data inputs from an operator controlled input transducer relating to the desired torque output of a controlled member and inputs concerning the directly measured speed and torque of the controlled member. The improved torque actuator control circuit uses the inputs to generate an output command to the controlled member that results in the direct application of the desired torque output from the controlled member.