Patent ID: 7387349

Claim:
In an adaptive brake application and initial skid detection system for a vehicle braking system for braking of a wheel of a vehicle, the vehicle braking system having a brake contact pressure, and the adaptive brake application and initial skid detection system including a brake pressure sensor for measuring brake pressure and a pressure bias modulator integrator to provide an anti-skid control signal responsive to a brake pressure signal and a wheel velocity error signal; and command brake pressure signal generating means for generating a command brake pressure signal in response to a deceleration command and said anti-skid control signal, the improvement comprising: means connected to the pressure bias modulator integrator for providing a predetermined constant brake pressure value plus a predetermined constant increment of brake pressure to the pressure bias modulator integrator at a time when said brake pressure is equal to said predetermined constant brake pressure, and for providing a value of a brake pressure feedback to the pressure bias modulator integrator at a time when the wheel velocity error signal is greater than a predetermined wheel velocity error threshold, said predetermined constant brake pressure value being near the brake contact pressure and being a pressure at which brake torque begins to rise, and said predetermined constant increment of brake pressure corresponding to a peak of a brake pressure-slip curve; brake pressure comparison means for comparing said brake pressure signal with said command brake pressure signal for generating brake pressure difference signals indicative of the difference between said brake pressure signal and said command brake pressure signal; control means for providing an adjusted brake pressure signal to said wheel brake to control said wheel brake independently of operator brake application in response to said brake pressure difference signals.