| US 7,500,724 B2 | ||
| System and method for adaptive brake application and initial skid detection | ||
| Bijan Salamat, Santa Clarita, Calif. (US); and Robert D. Cook, Valencia, Calif. (US) | ||
| Assigned to Hydro-Aire, Inc., Burbank, Calif. (US) | ||
| Filed on Jun. 20, 2005, as Appl. No. 11/157,384. | ||
| Application 09/887581 is a division of application No. 09/591093, filed on Jun. 08, 2000, granted, now 6,299,262. | ||
| Application 11/157384 is a continuation of application No. 10/803210, filed on Mar. 17, 2004, granted, now 6,916,075. | ||
| Application 10/803210 is a continuation of application No. 10/225092, filed on Aug. 21, 2002, granted, now 6,722,745. | ||
| Application 10/225092 is a continuation in part of application No. 10/027820, filed on Dec. 21, 2001, granted, now 6,527,350. | ||
| Application 10/027820 is a continuation of application No. 09/887581, filed on Jun. 21, 2001, granted, now 6,345,872. | ||
| Application 09/591093 is a continuation of application No. 08/850680, filed on May 02, 1997, granted, now 6,132,016. | ||
| Prior Publication US 2005/0225171 A1, Oct. 13, 2005 | ||
| Int. Cl. B60T 8/00 (2006.01) | ||
| U.S. Cl. 303—112 [303/178] | 1 Claim |
| 1. In an adaptive brake application and initial skid detection system for braking of a wheel of a vehicle, the vehicle having
a braking system including a wheel brake for braking the wheel, means for generating a wheel velocity signal indicative of
wheel velocity, velocity reference generating means for generating a reference velocity signal, and wheel velocity comparison
means for comparing said wheel velocity signal with said reference velocity signal for generating wheel velocity error signals
indicative of the difference between said wheel velocity signal and said reference velocity signal for controlling braking
the wheel, the improvement comprising:
a brake torque sensor for generating brake torque signals that are a function of the brake torque applied to the wheel;
means for comparing said brake torque signals with a predetermined threshold brake torque;
a torque bias modulator integrator responsive to said wheel velocity signals for adjusting said wheel velocity error signals
to provide an anti-skid control signal;
command brake torque signal generating means for generating a command brake torque signal in response to a deceleration command;
brake torque comparison means for comparing said brake torque signals with said command brake torque signal for generating
brake torque difference signals indicative of the difference between said brake torque signals and said command brake torque
signal;
control means for providing an adjusted brake torque signal to said wheel brake to control said wheel brake independently
of operator brake application, in response to said brake torque difference signals; and
means for initializing the torque bias modulator integrator with a predetermined threshold brake torque plus a predetermined
constant torque value.
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