Patent GB-1443574-A (GB)
Title: Adaptive braking system
IPC: B60T8/60
Filed: 1973-10-08
Abstract: 1443574 Adaptive braking system; valves BENDIX CORP 8 Oct 1973 [31 Oct 1972] 46889/73 Heading F2F An adaptive braking system 10 actuable to control braking of a vehicle wheel in response to wheel speed and acceleration signals has a solenoid 20 energizable to cause decay of braking pressure in response to output signals via an AND gate 48 from a duty cycle generator 18 having a number of inputs 114, 116, 118, 120, the generator 18 producing a pulsed output signal, the width of the pulses being modulated in accordance with the sum of the signals applied to the inputs 114, 116, 118, 120. A wheel speed sensor 12 measures the wheel rotational velocity and a differentiator 14 produces on output signal proportional to the acceleration and deceleration of the wheel, which signal is applied to comparators 40, 42, 68, to input 120 of duty-cycle generator 18 via a multiplier 16 and to an error term generator 22 via a multiplier 24. The generator 22 is an integrating amplifier whose output, applied to input 118, is proportional to the time average of the wheel acceleration and deceleration. When the brake is applied the wheel begins to decelerate and when the wheel deceleration passes through the G 1  reference level, as indicated in Fig. 3, the comparator 40 produces an output signal which closes a switch 54 an  initiates an integrating amplifier 50 and also closes a switch 110 to transmit the value of the signal on a terminal 112 to input 114 of generator 18. When the wheel deceleration passes through the G TRIP  level the comparator 42 produces an output signal which sets a flip-flop 46-the flip-flop 46 produces an output signal which is transmitted to AND gate 48 and with the generator 18 producing an output signal the solenoid 20 is energized. Should the wheel deceleration remain in the band between G 1  and G TRIP  for a sufficient length of time the flip-flop 46 is set by an output signal from a comparator 58 via an OR gate 44-the comparator 58 produces the output signal when the output of amplifier 50 decays below a reference signal. When the flip-flop 46 is set a one-shot 62 is fired to close a switch 64 to set the initial condition on terminal 66 of error term generator 22 equal to the output signal of amplifier 50. The output of error term generator 22 is transmitted to a comparator 78 which will generate an output signal to reset flip-flop 46 to cause termination of the signal to solenoid 20 if the deceleration signal remains in the band between G 1  and G 2  for a predetermined period. The inverted output AB of flip-flop 46 is also applied to an OR gate 92 which is connected to a memory unit 88, and the unit 88 is thereby caused to store the first value of the wheel speed signal transmitted to its input terminal 90 after initiation of an adaptive braking cycle. The OR gate 92 is also connected to the output of a flip-flop 108 and when the signal generated by flip-flop 108 is cancelled the output of the memory unit 88 is transmitted to a divider 94 which divides the wheel speed generated by sensor 12 by the value stored in unit 88, and an amplifier 96 then subtracts the output of the divider 94 from unity to derive a wheel slip quantity which via a multiplier 98 is transmitted to input terminal 116. The output of amplifier 96 is also applied via a multiplier 100 to a summer 102 having another input connected to a memory element 104, which stores the value of the signal from generator 22 when a one-shot 86 is caused to fire by a signal from a comparator 68 when wheel acceleration drops below G 2  reference level. The one-shot 86 also closes a switch 106 to connect summer 102 with terminal 66 and sets flip-flop 108. The output of comparator 68 is connected to an AND gate 72 whose other input is the inverted output of comparator 40 and the AND gate is actuable to close a switch 74 which transmits a signal at a terminal 76 to generator 22 to cause the output of the generator to decay. A comparator 85 supplies a signal to an AND gate 84 when wheel speed drops below a predetermined value-the other input to gate 84 is connected to one-shot 86- and the gate 84 is connected to an OR gate 82 connected to flip-flop 46. The duty cycle generator (Fig. 4, not shown) includes a summer (122) which sums the values of signals appearing in terminals 114, 116, 118, 120 and is connected to a comparator (124) which is also connected to a sawtooth wave generator (126). The comparator 124 compares the signals to control the period of time during which the solenoid will be on during a cycle. The modulator which controls the braking duty-cycle generator 18 is illustrated in Fig. 6 and comprises a relay valve 130 and a solenoid valve 132 which upon energization of solenoid pressure in response to the output signal of the 20 closes off the connection between an inlet port 156 and a primary chamber 136 and connects the primary chamber 136 to atmosphere; the pressure in primary chamber 136 acts on a piston 134 to control a valve arrangement 144, 146, 154 between an inlet port 140 connected to a source of air pressure and a secondary chamber 138 connected to the brake actuators.