Electric brake device
The electric brake device includes a control device for performing follow-up control such that a braking force estimated value estimated by a braking force estimator follows a given braking force command value. The control device includes an angle-sensorless control function section for determining a phase of phase current of an electric motor irrespective of an actual angle of the electric motor and controlling the electric motor to have a current value that is based on the determined phase of the phase current. The angle-sensorless control function section includes a current phase determination section for determining a current phase that is the phase of the phase current of the electric motor on the basis of a deviation between the braking force command value and the braking force estimated value.
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 manipulator configured to bring the friction member into contact with the brake rotor;
an electric motor configured to drive the friction member manipulator;
a braking force estimator configured to obtain a braking force estimated value which is an estimated value of braking force generated when the friction member is brought into contact with the brake rotor by the friction member manipulator; and
a control device configured to perform follow-up control such that the braking force estimated value estimated by the braking force estimator follows a given braking force command value, wherein
the control device includes an angle-sensorless control function section configured to determine a target phase of a motor current of the electric motor irrespective of an actual angle of the electric motor and control the electric motor to have a current value that is based on the determined target phase of the motor current, and
the angle-sensorless control function section includes a current phase determination section configured to determine a current phase of the motor current of the electric motor on the basis of a deviation between the braking force command value and the braking force estimated value.
2. The electric brake device as claimed in claim 1 , wherein
the angle-sensorless control function section includes:
an electrical angular speed calculation section configured to determine an electrical angular speed of the motor current of the electric motor on the basis of the deviation between the braking force command value and the braking force estimated value; and
a calculation electrical angle determination section configured to determine an electrical angle of the electric motor on the basis of an integral value of the determined electrical angular speed, and
the current phase determination section controls the motor current of the electric motor to have such a current phase as to satisfy a current condition that, if the actual electrical angle of the electric motor lags behind the determined electrical angle, the motor torque increases relative to a magnitude of a predetermined motor current, and if the actual electrical angle of the electric motor advances from the determined electrical angle, the motor torque decreases relative to a magnitude of a predetermined motor current.
3. The electric brake device as claimed in claim 1 , wherein
the control device
has a function of determining a magnitude of the motor current of the electric motor on the basis of one or both of the braking force command value and the braking force estimated value, and
controls the motor current of the electric motor on the basis of the current phase and the magnitude of the motor current.
4. The electric brake device as claimed in claim 3 , wherein,
when a value based on a braking force, which is at least one of the braking force command value and the braking force estimated value, becomes smaller than a predetermined value, the control device sets the magnitude of the motor current to a predetermined lower limit value irrespective of the value based on the braking force.
5. The electric brake device as claimed in claim 3 , wherein
the control device
has a function of performing determination as to a brake-released state where the braking force is not generated, and
sets the motor current to zero when the brake-released state is determined to have been achieved.
6. The electric brake device as claimed in claim 1 , the electric brake device further comprising an angle detector configured to directly detect an angle of the electric motor or a physical amount equivalent to the angle, wherein
the control device includes an abnormality determination section configured to determine whether or not the angle detector is normal, and,
when determination that the angle detector is normal is made by the abnormality determination section, the control device controls the motor current of the electric motor to have a current phase that is based on a detection result from the angle detector, whereas, when determination that the angle detector is not normal is made by the abnormality determination section, the control device controls the electric motor by means of the angle-sensorless control function section.
7. The electric brake device as claimed in claim 6 , wherein
the control device includes a responsiveness-restricting function section configured to perform restriction such that a response speed of the electric brake device is reduced in a case where the determination that the angle detector is not normal is made and control is executed by the angle-sensorless control function section, as compared to a case where the angle detector is normal.