Electric braking device for vehicle
Provided is an electric braking device that transmits power generated by an electric motor MTR to a pressing member PSN and causes pressing force to be generated by the pressing member PSN with respect to a friction member MSB. Hysteresis characteristics in the relation between the power supply amount to the electric motor and the pressing force of the pressing member are detected each time a predetermined point in time arrives. Upon determination of a “holding state in which the pressing force is held constant”, a minimum value for a power supply amount that makes it possible to maintain the current pressing force is obtained on the basis of the most recently detected hysteresis characteristics and the power supply amount is set to a value determined on the basis of the obtained minimum value for the power supply amount.
1. An electric braking device for a vehicle comprising:
an electric motor generating power;
a pressing member pressing a friction member against a rotating member integrally rotating together with a wheel of the vehicle;
a power transmitting mechanism configured to transmit the power generated by the electric motor to the pressing member and cause pressing force to be generated by the pressing member with respect to the friction member, the power transmitting mechanism including a power transmitting member; and
a controller controlling a power supply amount for the electric motor such that, of pressing force determined on the basis of an operation of a brake operation member of the vehicle by a driver, pressing force determined on the basis of a parking brake function, and pressing force determined by an automatic pressurization control generating braking force regardless of the operation of the brake operation member, selected pressing force serving as pressing force selected on the basis of conditions of the vehicle is generated, wherein
the controller is configured to
determine whether a keeping state in which the pressing force generated by the pressing member with respect to the friction member is kept constant is set,
detect hysteresis characteristics in a relationship between the power supply amount and the pressing force each time a predetermined time point comes, and
when it is determined that the keeping state is set, on the basis of the detected hysteresis characteristics, acquire a minimum value of the power supply amount at which the current pressing force can be kept, and set the power supply amount for the electric motor to a value determined on the basis of the acquired minimum value of the power supply amount.
2. The electric braking device for a vehicle according to claim 1 , further comprising:
a position sensor detecting a position of the electric motor or the power transmitting member, wherein
the controller is configured such that
when it is determined that the keeping state is set, the power supply amount for the electric motor is gradually reduced to reduce the pressing force, and the minimum value of the power supply amount is acquired on the basis of a change of the detected position.
3. The electric braking device for a vehicle according to claim 1 , further comprising:
a pressing force sensor detecting the pressing force, wherein
the controller is configured such that
when it is determined that the keeping state is set, the power supply amount for the electric motor is gradually reduced to reduce the pressing force, and the minimum value of the power supply amount is acquired on the basis of a change of the detected pressing force.
4. The electric braking device for a vehicle according to claim 2 , wherein the controller,
after the minimum value of the power supply amount is acquired, increases the power supply amount for the electric motor to return the pressing force to a value obtained when it is determined that the keeping state is set, and, thereafter, sets the power supply amount for the electric motor to the value determined on the basis of the acquired minimum value of the power supply amount.
5. The electric braking device for a vehicle according to claim 2 , wherein
the controller is configured to execute pressing force increasing control to adjust the pressing force to a value larger than that of the selected pressing force,
the controller, when it is determined that the keeping state is set, executes the pressing force increasing control, thereafter, executes control for reducing the power supply amount to acquire the minimum value of the power supply amount, and, in execution of the control for reducing the power supply amount, adjusts the power supply amount to prevent the pressing force from being lower than the selected pressing force.
6. The electric braking device for a vehicle according to claim 2 , wherein
the vehicle includes a plurality of the electric braking devices,
when it is determined that the keeping state is set, control for reducing the power supply amount to acquire the minimum value of the power supply amount is not simultaneously executed to all the electric braking devices.
7. The electric braking device for a vehicle according to claim 2 , wherein
the controller is configured to
execute control for reducing the power supply amount to acquire the minimum value of the power supply amount only when it is determined that the vehicle stops.
8. The electric braking device for a vehicle according to claim 3 , wherein the controller,
after the minimum value of the power supply amount is acquired, increases the power supply amount for the electric motor to return the pressing force to a value obtained when it is determined that the keeping state is set, and, thereafter, sets the power supply amount for the electric motor to the value determined on the basis of the acquired minimum value of the power supply amount.
9. The electric braking device for a vehicle according to claim 3 , wherein
the controller is configured to execute pressing force increasing control to adjust the pressing force to a value larger than that of the selected pressing force,
the controller, when it is determined that the keeping state is set, executes the pressing force increasing control, thereafter, executes control for reducing the power supply amount to acquire the minimum value of the power supply amount, and, in execution of the control for reducing the power supply amount, adjusts the power supply amount to prevent the pressing force from being lower than the selected pressing force.
10. The electric braking device for a vehicle according to claim 3 , wherein
the vehicle includes a plurality of the electric braking devices,
when it is determined that the keeping state is set, control for reducing the power supply amount to acquire the minimum value of the power supply amount is not simultaneously executed to all the electric braking devices.
11. The electric braking device for a vehicle according to claim 3 , wherein
the controller is configured to
execute control for reducing the power supply amount to acquire the minimum value of the power supply amount only when it is determined that the vehicle stops.