Electric brake device
A controller of the electric brake device includes a reaction force compensator to perform compensation such that a rotational resistance, of an electric motor, generated by a reaction force to a pressing force of a friction member against a brake rotor is cancelled out. The reaction force compensator includes: a direct estimator to directly estimate the reaction force from information including at least either a drive voltage or current of the electric motor and at least either a rotational angle of the electric motor or a value obtained by differentiating the rotational angle one or more times; an indirect estimator to estimate the reaction force from an estimated braking force on the basis of a set correlation; and a compensation reaction force determiner to determine a reaction force, to perform the compensation, by using estimation results of direct estimation and indirect estimation at predetermined proportions.
1. An electric brake device comprising:
a brake rotor;
a friction member;
a friction member operating actuator including an electric motor and configured to bring the friction member into contact with the brake rotor;
a braking force estimator configured to estimate a braking force being generated; and
a controller configured to control the electric motor such that an estimated braking force estimated by the braking force estimator follows a target braking force, wherein
the controller includes a reaction force compensator configured to perform compensation such that a rotational resistance, of the electric motor, generated by a reaction force to a pressing force of the friction member is cancelled out, and
the reaction force compensator includes a direct estimator configured to directly estimate the reaction force from information including at least either a drive voltage or current of the electric motor and at least either a rotational angle of the electric motor or a value obtained by differentiating the rotational angle one or more times, an indirect estimator configured to estimate the reaction force from the estimated braking force on the basis of a set correlation, and a compensation reaction force determiner configured to determine a reaction force, to perform the compensation, by using an estimation result from the direct estimator and an estimation result from the indirect estimator at predetermined proportions.
2. The electric brake device as claimed in claim 1 , wherein
the reaction force compensator includes a proportion switching unit configured to determine, from a state where the estimated braking force follows the target braking force, the proportions of the estimation result, to be used, from the direct estimator and the estimation result, to be used, from the indirect estimator, and
the compensation reaction force determiner determines the reaction force, to perform the compensation, by using the proportions that are results determined by the proportion switching unit.
3. The electric brake device as claimed in claim 2 , wherein
the proportion switching unit increases the proportion of the estimation result, to be used, from the indirect estimator on the basis of either one or both of an absolute value of a deviation between the estimated braking force and the target braking force, and a differential value of the absolute value of the deviation when either one or both of the absolute value and the differential value of the absolute value increase.
4. The electric brake device as claimed in claim 2 , wherein
the proportion switching unit has a function of increasing the proportion of the estimation result, to be used, from the indirect estimator on the basis of a change degree of the target braking force when the change degree increases.
5. The electric brake device as claimed in claim 2 , wherein
the proportion switching unit has a function of increasing the proportion of the estimation result, to be used, from the indirect estimator on the basis of a frequency of the target braking force when the frequency increases.
6. The electric brake device as claimed in claim 2 , wherein
the proportion switching unit reduces the proportion of the estimation result, to be used, from the indirect estimator when the estimated braking force becomes low in a predetermined region within an estimation range of the estimated braking force.