Patent GB-1450158-A (GB)
Title: Adaptive braking system
IPC: B60T8/68
Filed: 1973-12-05
Abstract: 1450158 Anti-skid braking systems BENDIX CORP 5 Dec 1973 [21 Dec 19721 56448/73 Heading F2F Sensors 130, 132 produce signals representative of the rotational velocity of two wheels 134, 136 on an axle, a circuit 138 separates the signals into a higher and a lower signal, a circuit 144 selects one of these signals for control circuitry which acts to reduce braking pressure; a pair of comparators 152, 156 respectively compare the higher signal and the lower signal with respective reference values, whereby the action of the control circuitry is overridden by a switching device 160 accepting outputs from the comparators, the device's signal ceasing depending on a predetermined condition of the selected velocity signal. During a "primary" mode of operation, in which the respective signals at the comparators 152, 156 are higher than the corresponding reference values, the higher signal is emitted by the circuit 144 to a differentiator 14 for an acceleration signal, which amplified, passes to a brake signal generator 18 (input 120); if this acceleration drops below a predetermined deceleration reference value (G1) the output from a comparator 40 closes a switch to initiate an integrating amplifier 50 which decays from a predetermined initial value set at 52. When the acceleration value passes below a lower reference value (G trip) the output of a comparator 42 sets a flip-flop 46 to initiate adaptive braking, since the output thereof in combination with an output from the generator 18 passes through an AND gate 48 to a solenoid 20 for brake relief. A one shot multivibrator 68 is also triggered to close a switch 64 to set an initial condition at a terminal 66 for an integrator 22 which is the output of the amplifier 50. An amplified acceleration signal is passed to the integrator 22 and a memory 88 stores the velocity signal at that instant for use as a reference signal for an input to a divider 94 which divides this into the output from the circuit 144; this is passed to an amplifier where the fraction is subtracted from unity for a wheel slip signal supplied to the generator 18. The generator 18 has a summer accepting the inputs previously mentioned and compares them with a sawtooth waveform of amplitude equal to the maximum sum of the inputs; from this is generated a pulse train whose pulse width is a function of the input magnitude and which operates the solenoid 20 in accordance therewith for brake relief. From this, the wheel acceleration signal climbs back to the G1 reference level (point 200, Fig. 3) whereby an output from an AND gate 72 closes a switch 74 to cause the integrator 22 to decay at a predetermined rate. If the acceleration increases rapidly, this decay is not long enough to drop below a reference value at a comparator 78 which does not produce an output. As the acceleration again becomes positive the pulses to the solenoid 20 have less effect and the brake pressure increases so that the acceleration drops below a positive reference level G2 causing the multivibrator 86 to fire so that a memory 104 stores the output of integrator 22 of that instant and that a switch 106 closes for a summer 102 to produce an output which is the sum of the stored value of the memory 104 and of the wheel slip for the initial condition terminal 66 of the integrator 22. The multivibrator 86 also set a flip-flop 108 to cause the memory 88 to track the velocity signal thus producing a zero wheel slip signal. Wheel acceleration decreases to below G1 again (point 204, Fig. 3) so that the comparator 40 resets the flip-flop 108 for the memory 88 to again store a single value for a finite wheel slip signal. From the above, cycling takes place in the adaptive mode of operation until wheels are brought to rest. If the time period of acceleration between the G1 and G2 is great enough (point 206, Fig. 3) the input to the comparator 78 drops below the reference value to reset the flip-flop 46 to terminate the adaptive braking signal. A fourth input 114 to the generator 18 results from the acceleration falling below the G1 level so that the comparator 40 closes the switch 110 to provide a signal of predetermined magnitude acting to aid the pressure relief. The comparators 152, 156 continuously monitor the rotational velocities and if both produce a signal, i.e. when the lower signal is below its reference level and the higher signal is above its reference level ("unbalanced" mode) an AND gate 158 sets the switching device (a flip-flop) 160 to actuate the solenoid 20 via OR gate 49 until the wheel higher velocity becomes synchronized with the vehicle (acceleration at the G2 level) whereupon the multivibrator 86 resets the flip-flop 160. If the lower signal has recovered to that above the reference level, an AND gate 164 sets a flip-flop 166 to cause the circuitry 144 to select the lower signal for the acceleration comparisons and adaptive braking; the flip-flop 46 is also set for such braking, and the flip-flop 166 is reset when such braking is terminated or the lower signal drops below the reference level. If both signal are below the higher reference value ("locked" mode), after the first adaptive braking cycle, a flip-flop 174 transmits a signal to an AND gate 176 which receives a signal from the comparator 152, thus setting a flip-flop 178 and causing a memory 180 to control the generator 18 for emission of pulses of constant width to the solenoid 20; a signal is also transmitted through an OR gate 82 to reset the flip-flop 46 to terminate the adaptive braking. Wheel acceleration increases then decreases to below the G2 level (synchronized with the vehicle velocity) whereupon an AND gate 182 produces a signal if the higher velocity signal is below the reference level, to reset the flip-flop 46 to obviate the adaptive braking. If the wheel higher velocity is greater than the reference value, the memory 180 is not actuated and the "primary" mode of operation is followed.