Electric brake device
An electric brake device includes: a brake rotor; a friction member; friction member contactor; an electric motor; braking force estimation unit; and a control device. The control device has a control system in which a motor rotation angle of the electric motor is included in a state quantity in a control computing of a follow-up control. The control device includes a state quantity reset function unit that resets at least the motor rotation angle to a predetermined value, on the basis of a predetermined condition using at least one of a target braking force, an estimated value of a braking force, an amount of change of a target braking force, an amount of change of an estimated value of a braking force, and a deviation between a target braking force and an estimated value of the braking force.
1. An electric brake device comprising:
a brake rotor;
a friction member configured to be brought into contact with the brake rotor;
a friction member contactor configured to bring the friction member into contact with the brake rotor;
an electric motor configured to drive the friction member contactor;
a braking force estimation unit configured to obtain an estimated value of a braking force generated by the friction member being pressed against the brake rotor; and
a control device configured to control the electric motor to perform a follow-up control of the braking force with respect to a target braking force, wherein
the control device has a control system in which a motor rotation angle of the electric motor is included in a state quantity in a control computing of the follow-up control, and
the control device includes a state quantity reset function unit that resets at least the motor rotation angle to a predetermined value, on the basis of a predetermined condition using at least one of the target braking force, the estimated value of the braking force, an amount of change of the target braking force, an amount of change of the estimated value of the braking force, and a deviation between the target braking force and the estimated value of the braking force,
wherein the state quantity reset function unit of the control device resets at least the motor rotation angle to the predetermined value, when a condition that an absolute value of the amount of change of the target braking force is less than or equal to a set value that is not zero, and an absolute value of the deviation between the target braking force and the estimated value of the braking force is less than or equal to a threshold value that is not zero, is satisfied as the predetermined condition.
2. The electric brake device as claimed in claim 1 , wherein the state quantity reset function unit of the control device resets at least the motor rotation angle to the predetermined value, when a condition that one or both of:
the absolute value of the deviation between the target braking force and the estimated value of the braking force and
a driving force, of the electric motor, determined on the basis of the deviation, is greater than or equal to a threshold value, is satisfied as the predetermined condition.
3. The electric brake device as claimed in claim 1 , wherein the state quantity reset function unit of the control device forcibly resets at least the motor rotation angle when at least the absolute value of the motor rotation angle is greater than or equal to a threshold value.