DC torque motor actuated anti-lock brake controller

Claim 2

A wheel lock control system for limiting the brake pressure applied to the brake of a vehicle wheel traveling over a road surface, the system comprising: an actuator for controlling the brake pressure to the brake of the wheel, the actuator including a torque motor for generating a motor torque in response to motor current to control the applied brake pressure in accordance with the value of the motor torque, the motor torque having a value proportional to the value of the motor current; means for determining the tire torque tending to accelerate the wheel during the application of brake pressure; means for storing the value of motor current corresponding to the maximum determined value of tire torque; means for detecting an incipient wheel lockup condition; and means for establishing the motor current following a detected incipient wheel lockup condition at a value having a predetermined relationship to the stored value of motor current to control the brake pressure at a predetermined braking condition.

Claim 3

A wheel lock control system for limiting the brake pressure applied to the brake of a vehicle wheel traveling over a road surface, the system comprising: an actuator for controlling the brake pressure to the brake of the wheel, the actuator including a torque motor for generating a motor torque in response to motor current to control the applied brake pressure in accordance with the value of the motor torque, the motor torque having a value proportional to the value of the motor current; means for determining the tire torque tending to accelerate the wheel during the application of brake pressure; means for storing the value of motor current corresponding to the maximum determined value of tire torque during periods of application of brake pressure; means for detecting an incipient wheel lockup condition; means for decreasing the motor current in response to a detected incipient wheel lockup condition to allow wheel speed recovery; and means for reestablishing the motor current following wheel speed recovery to a value having a predetermined relationship to the stored value of motor current.

Claim 4

A wheel lock control system for limiting the brake pressure applied to the brake of a vehicle wheel traveling over a road surface, the system comprising: an actuator for controlling the brake pressure to the brake of the wheel, the actuator including a torque motor for generating a motor torque in response to motor current to control the applied brake pressure in accordance with the value of the motor torque, the motor torque having a value proportional to the value of the motor current; means for determining the tire torque tending to accelerate the wheel during the application of brake pressure; means for storing the value of motor current corresponding to the maximum determined value of tire torque during periods of application of brake pressure; means for detecting an incipient wheel lockup condition; means for decreasing the motor current in response to a detected incipient wheel lockup condition to allow wheel speed recovery; and means for reestablishing the motor current following wheel speed recovery to a value having a predetermined relationship to the stored value of motor current.

Claim 5

A wheel lock control system for limiting the brake pressure applied to the brake of a vehicle wheel traveling over a road surface, the system comprising: an actuator for controlling the brake pressure to the brake of the wheel, the actuator including a torque motor for generating a motor torque in response to motor current to control the applied brake pressure in accordance with the value of the motor torque, the motor torque having a value proportional to the value of the motor current; means for determining the tire torque tending to accelerate the wheel during the application of brake pressure; means for storing the value of motor current corresponding to the maximum determined value of tire torque during the application of brake pressure; means for detecting an incipient wheel lockup condition; and means for establishing the motor current following a detected incipient wheel lockup condition to a value that is a predetermined fraction of the stored value of motor current to control the brake pressure which establishes substantially the maximum possible braking force.

Claim 6

A wheel lock control system for limiting the brake pressure applied to the brake of a vehicle wheel traveling over a road surface, the system comprising: an actuator for controlling the brake pressure to the brake of the wheel, the actuator including a torque motor for generating a motor torque in response to motor current to control the applied brake pressure in accordance with the value of the motor torque, the motor torque having a value proportional to the value of the motor current; means for determining the tire torque tending to accelerate the wheel during the application of brake pressure; means for storing the value of motor current corresponding to the maximum determined value of tire torque during the application of brake pressure; means for detecting an incipient wheel lockup condition; and means for establishing the motor current following a detected incipient wheel lockup condition to a value that is a predetermined fraction of the stored value of motor current to control the brake pressure which establishes substantially the maximum possible braking force.