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Summary:PURPOSE:To prevent the regrowth of slip and shorten the time necessary for suppressing slip by obtaining the variation of the slip of a drive wheel through time and controlling the brake power for the drive wheel by a brake power control means on the basis of the variation rate through time. CONSTITUTION:The target drive wheel speed for brake control is subtraction- calculated from the drive wheel speed of the left and right wheels which is detected by the wheel speed sensors 11 and 12, in the left and right slip detection parts 22 and 23 of a traction controller, and the slip quantity for brake control of each driving wheel is detected. Then, the slip variation rate is obtained by conducting time-differentiation to the slip quantity by the left and right slip variation rate calculation parts 30 and 31, and the slip variation rate is converted to the brake hydraulic pressure variation quantity by the calculation parts 34 and 35, and each standard valve opening time of an inlet valve and an outlet valve is calculated in accordance with each brake hydraulic pressure variation quantity by the conversion parts 38 and 39. The valve opening correction time is added by the addition calculation parts 42 and 43, and each operation force instruction of the left and right wheel cylinders is obtained and outputted.
Bibliography:Application Number: JP19930264723