FIELD: mechanical engineering; transport engineering.
SUBSTANCE: invention relates to brake control system of vehicles. According to proposed method, brake torque is compared with preliminarily determined threshold brake torque. Error signals of wheel speed vector are formed to indicate difference between vector of wheel speed and reference signal of speed vector. Torque shift modulator-integrator responsible for torque signals regulates error signal of wheel speed vector to produce slip control signal. Torque shift modulator-integrator can be initialized to value of measured brake torque when error signals of wheel speed vector indicate beginning of slipping. Signals of brake torque difference are formed to indicate difference between brake torque and controlled brake torque, and regulated error signal of brake torque is formed depending on signals of difference of brake torque is formed depending on signals of difference of brake torques.
EFFECT: prevention of deep initial slipping which provides quick and controlled application of brake.
5 cl, 3 dwg
