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KR970069714A - EVIE CONTROL DEVICE USING PULSE WIDTH MODULATION METHOD AND METHOD THEREOF - Google Patents

EVIE CONTROL DEVICE USING PULSE WIDTH MODULATION METHOD AND METHOD THEREOF Download PDF

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Publication number
KR970069714A
KR970069714A KR1019960013182A KR19960013182A KR970069714A KR 970069714 A KR970069714 A KR 970069714A KR 1019960013182 A KR1019960013182 A KR 1019960013182A KR 19960013182 A KR19960013182 A KR 19960013182A KR 970069714 A KR970069714 A KR 970069714A
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KR
South Korea
Prior art keywords
control
vehicle wheel
vehicle
slip ratio
threshold value
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KR1019960013182A
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Korean (ko)
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KR0152207B1 (en
Inventor
채경선
엄정우
민중기
김영식
유석종
조수래
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배순훈
대우전자 주식회사
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Priority to KR1019960013182A priority Critical patent/KR0152207B1/en
Publication of KR970069714A publication Critical patent/KR970069714A/en
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Publication of KR0152207B1 publication Critical patent/KR0152207B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
    • B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
    • B60T8/3675—Electromagnetic valves specially adapted for anti-lock brake and traction control systems integrated in modulator units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B60Y2400/3032—Wheel speed sensors

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

본 발명은 솔레노이드 밸브를 채택한 유압식 ABS를 제어하기 위한 제어장치에 관한 것으로서, 상세히는 ABS모듈레이터에 사용되는 2위치/3웨이 솔레노이드 밸브를 펄스폭 변조(Pulse WIdth Modulation; PWM)방식으로 제어하는 ABS의 제어장치 및 방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control apparatus for controlling a hydraulic ABS using a solenoid valve, and more particularly to a control apparatus for controlling an ABS modulator using a 2-position / 3-way solenoid valve by a pulse width modulation To a control apparatus and method.

ABS 제어장치는 통상적인 차량의 주행상태를 판단하는 단계(제1단계)와, ABS제어로 들어가기 전에 필요한 노면조건과 차량바퀴의 상태에 관한 정보 등을 확보하는 단계(제2단계)와, 차량바퀴의 슬립율이 슬립율 임계치2를 초과하는 경우에는 브레이크 압력을 저하하여 현재 차량바퀴가 잠금(lock-up) 상태임을 표시하는 단계(제3단계), 그러나 상기와는 다른 경우로 차량바퀴의 슬립율이 슬립율 임계치 2를 초과하지 않을 경우에는 브레이크 압력이 계속 저감되도록 하는 감압제어 단계(제4단계)와, 노면조건 판단에 따라 설정된 차량바퀴의 최적 슬립율 임계치를 계산하는 단계(제5단계)와, 상기의 과정(감압제어)에 의하여 회복된 차량바퀴의 슬립율이 슬립율 임계치 1보다 작아질 경우 스텝업 제어를 위한 펄스폭변조 제어방법을 이용하여 스텝업 제어를 하는 단계(제6단계)와, 운전자가 브레이크 페달에서 발을 떼어 제동상황이 종료되는 경우에 브레이크 장치를 리세트(reset)하여 브레이크 신호를 감지하는 초기 상황으로 되돌아가는 단계(제7단계)와, ABS 제어중 차량의 속도가 5km/h 이하이면 앞에서와 마찬가지로 브레이크 장치를 리세트(reset)하여 초기화시켜 ABS제어 상황의 종류를 표시하는 단계(제8단계)로 이루어져 있다.The ABS control device includes a step (step 1) of judging a normal running state of the vehicle, a step (step 2) of securing information on the road surface condition and the state of the vehicle wheel necessary before entering the ABS control If the slip ratio of the wheel exceeds the slip ratio threshold value 2, the brake pressure is lowered to indicate that the current vehicle wheel is in a lock-up state (step 3). However, (Step 4) of continuously reducing the brake pressure when the slip rate does not exceed the slip ratio threshold value 2, calculating the optimum slip ratio threshold of the vehicle wheel set according to the road surface condition determination Up control by using the pulse width modulation control method for the step-up control when the slip rate of the vehicle wheel recovered by the above process (decompression control) becomes smaller than the slip rate threshold value 1 (Step 6); and returning to an initial state where the driver releases his / her foot from the brake pedal and resets the brake device when the braking situation is finished to sense a brake signal (step 7) If the speed of the vehicle is less than or equal to 5 km / h during the ABS control, the brake device is reset and initialized to indicate the type of the ABS control situation (step 8).

상술한 바와 같이, 본 발명은 차량의 급격한 제동으로 인하여 발생되는 차륜에서의 록업(lock-up) 현상을 방지하기 위하여 사용되는 ABS 제어에 관한 것으로서 종래의 한개의 차량바퀴당 두개의 2위치/2웨이 솔레노이드 밸브를 사용하던 것과는 달리 한개의 2위치/3웨이 솔레노이드 밸브만으로도 제어할 수 있게 한 것으로서 한개의 2위치/3웨이 솔레노이드 밸브만을 사용하여 가압모드와 감압모드의 작동비율을 결정하는 펄스의 폭을 변조하여 제어함으로써 브레이크 압력을 효과적으로 스텝업(step-up) 제어하는 제어장치와 그 방법을 제공한다.As described above, the present invention relates to an ABS control used to prevent a lock-up phenomenon in a wheel caused by a sudden braking of a vehicle. In the conventional ABS control, two two positions / 2 Unlike the way solenoid valve, it can be controlled by only one 2-position / 3-way solenoid valve. It is possible to control the width of the pulse that determines the operation ratio of the pressure mode and the decompression mode by using only one 2-position / 3-way solenoid valve And controlling the brake pressure in a step-up manner, and a method thereof.

Description

펄스폭변조방식을 이용한 에이비에스 제어장치 및 그 방법EVIE CONTROL DEVICE USING PULSE WIDTH MODULATION METHOD AND METHOD THEREOF

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is a trivial issue, I did not include the contents of the text.

제2(A)도는 2위치/3웨이 솔레노이드 밸브의단면도이다. 제2(B)도는 2위치/3웨이 솔레노이드 밸브를 이용한 ABS이다, 제3도는 ABS를 제어하기 위하여 본 발명에서 안출한 ABS제어장치의 구성도이다. 제4도는 상기 ABS제어장치가 동자갛는 순서를 나타내는 기능 흐름도이다.2 (A) is a cross-sectional view of a two-position / three-way solenoid valve. FIG. 2 (B) is an ABS using a two-position / three-way solenoid valve, and FIG. 3 is a block diagram of an ABS control device according to the present invention for controlling the ABS. FIG. 4 is a functional flowchart showing the order in which the ABS controller is turned on.

Claims (11)

차량이 급제동할 때에 조향안정성과 방향안정성을 상실하는 것을 방지하고 제동거리를 단축시키기 위하여 사용되는 브레이크 장치를 제어하기 위하여 통상적인 차량의 주행상태를 판단하는 단계(제1단계)와, 제동상태로 들어가기 전에 필요한 노면조건과 차량바퀴(131)의 상태에 관한 정보 등을 확보하는 단계(제2단계)와, 차량바퀴(131)의 슬립율이 슬립율 임계치2를 초과하는 경우(417)에는 브레이크 압력을 저하하여 현재 차량바퀴(131)가 잠금 상태임을 표시하는 단계(제3단계). 그러나 상기와는 다른 경우로 차량바퀴(131)의 슬립율이 슬립율 임계치2를 초과하지 않을 경우에는 브레이크 압력이 계속 저감되도록 하는 감압제어 단계(제4단계)와, 노면조건 판단(416)에 따라 설정된 차량바퀴(131)의 최적 슬립율 임계치(450)를 계산하는 단계 (제5단계)와, 상의 과정 (감압제어)에 의하여 회복된 차량바퀴 (131)의 슬립율이 슬립율 임계치1보다 작아질 경우 스텝업 제어를 위한 펄스폭변조 제어(443)방법을 이용하여 스텝업 제어를 하는 단계(제6단계)와, 운전자가 브레이크 페달(101)에서 발을 떼어 제동상황이 종료되는 경우에 브레이크 장치를 리세트(439)하여 브레이크 신호를 감지하는 초기상항으로 되돌아가는 단계(제7단계)와, ABS 제어중 차량의 속도가 5㎞/h 이하이면 앞에서와 미찬가지로브레이크 장치를 리세트 (439)하여 초기화시켜 ABS제어 상황의 종료를 표시하는 단계(제8단계로 이루어진 것을 특징으로 하는 펄스폭변조방식을 이용하여 에이비에스 제어방법.(Step 1) of judging a normal running state of the vehicle in order to control the braking device used for preventing the steering stability and the direction stability from being lost when the vehicle suddenly brakes and shortening the braking distance, (Second step) of securing the necessary road surface condition and information on the state of the vehicle wheel 131 before entering the vehicle, and when the slip ratio of the vehicle wheel 131 exceeds the slip ratio threshold value 2 (417) The pressure is lowered to indicate that the present vehicle wheel 131 is in a locked state (third step). However, when the slip ratio of the vehicle wheel 131 does not exceed the slip ratio threshold value 2, the pressure reduction control step (step 4) (Step 5) of calculating the optimal slip ratio threshold 450 of the vehicle wheel 131 set in accordance with the slip ratio threshold value 1 and the slip ratio of the vehicle wheel 131 recovered by the phase process (Step 6) of performing a step-up control by using a pulse width modulation control method 443 for step-up control (step 6) when the brake pedal 101 is small, (Step 7) of resetting the braking device by resetting the braking device (step 439) and detecting the brake signal (step 7); and when the vehicle speed is 5 km / h or less during the ABS control, 439) to initialize the ABS And displaying an end of the second status (step 8). The method of controlling eavesdrops using the pulse width modulation method. 제1항에 있어서, 상기 제1단계는 통상적인 차량의 주행상태에서 차량의 제동신호를 감지(411)하고 또한 차량바퀴(131)의 속도를 감지(412)하여 차량의 운행속도를 연산(413)하는 것을 특징으로 하는 펄스폭변조방식을 이용한 에이비에스 제어방법.2. The method according to claim 1, wherein the first step comprises detecting (411) a braking signal of the vehicle in a running state of the vehicle and detecting (412) the speed of the vehicle wheel (131) ) Of the pulse width modulation method. 제1항에 있어서, 상기 제2단계는 운전자의 브레이크 페달(101) 조작이 감지되어 제동상태가 “온”된 경우(414)에 차량바퀴(131)의 속도와 차량속도를 사용하여 차량바퀴(131)의 슬립율(=[차량의 속도-차량바퀴(131)의 속도]차량의 속도×100)를 계산(415)하여 주행중인 노면의 조건을 판단(416)하는 것을 특징으로 하는 펄스폭변조방식을 이용한 에이비에스 제어방법.The method according to claim 1, wherein the second step is a step (414) of detecting the operation of the brake pedal (101) of the driver and the braking state of the vehicle wheel (416) a slip ratio (= [vehicle speed - speed of the vehicle wheel (131)] of the vehicle (100) A method of controlling an ebbie using a method. 제3항에 있어서, 상기 주행중인 노면조건(416)에 따라 펄스폭변조에 사용되는 작동시간 비율(Duty Ratio)을 계산(441)하는 것을 특징으로 하는 펄스폭 변조방식을 이용한 에이비에스 제어방법.4. The method according to claim 3, wherein an operation time ratio (Duty Ratio) used for pulse width modulation is calculated (441) in accordance with the road surface condition (416) during running. 제1항에 있어서, 상기 제3단계는 차량바퀴(131)의 슬립율이 슬립율 임계치2를 초과하게 될 경우에는 에이비에스 플래그(Flag)를 “온”(418)으로 설정하여 현재 에이비에스가 작동중임을 표시하고 에이비에스 스테이지를 잠금(419)으로 설정하여 현재 차량바퀴(131)가 잠금상태임을 표시하고, 유압펌프(120)를 작동(420)시키고 2위치/3웨이 솔레노이드 밸브(210)를 작동(421)시켜 브레이크 실린더(130)의 과도한 압력이 저감되도록 하는 것을 특징으로 하는 펄스폭변조방식을 이용한 에이비에스 제어방법.The method according to claim 1, wherein, in the third step, when the slip ratio of the vehicle wheel (131) exceeds the slip ratio threshold value (2), an ebb flag 3-way solenoid valve 210 and the ABS stage is set to the lock 419 to indicate that the current vehicle wheel 131 is in the locked state, the hydraulic pump 120 is operated 420, (421) so as to reduce the excess pressure of the brake cylinder (130). 제1항에 있어서, 상기 제4단계는 차량바퀴(131)의 슬립율이 슬립율 임계치2를 초과하지 않을 경우에는 에이비에스 플래그가 “온”상태인지를 판단(429)하여 “온”상태이면 차량바퀴(131)의 슬립율이 슬립율 임계치1과 슬립율 임계치2 사이의 범위 내인지를 판단(430)하여 범위 내에 있을 경우 에이비에스 스테이지가 잠금상태에 있는지를 판단(431)하여 잠금상태에 있을 경우에는 2위치/3웨이 솔레노이드 밸브(210)를 작동(421)시켜 브레이크 압력이 계속 저감되도록 하는 것을 특징으로 하는 펄스폭변조방식을 이용한 에이비에스 제어방법.The method according to claim 1, wherein, in the fourth step, when the slip ratio of the vehicle wheel (131) does not exceed the slip ratio threshold value (2), it is determined (429) It is determined 430 whether the slip rate of the vehicle wheel 131 is within the range between the slip rate threshold value 1 and the slip rate threshold value 2. If the slip rate is within the range, it is judged 431 whether the AV / , The 2 position / 3 way solenoid valve (210) is operated (421) so that the brake pressure is continuously reduced. 제1항에 있어서, 상기 제5단계는 노면조건 판단(416)에 따라 설정된 차량바퀴(131)의 최적 슬립율 임계치를 계산하여 각 차량바퀴(131)에 가해지는 압력모드를 결정하는 것을 특징으로 하는 펄스촉변조방식을 이용한 에이비에스 제어방법.The method according to claim 1, wherein, in the fifth step, the optimum slip rate threshold of the vehicle wheel (131) is determined according to the road surface condition determination (416) to determine a pressure mode applied to each vehicle wheel A method of controlling an azimuth using a pulse prompt modulation method. 제1항에 있어서, 상기 제6단계는 차량바퀴(131)의 슬립율이 슬립율 임계치1보다 작아질 경우 에이비에스 상태를 “안정”상태로 설정(442)하여 차량바퀴(131)가 안정된 슬립율 영역에 있음을 표시하고 스텝업 제어를 위한 펄스폭 제어(443)가 이루어지는 것을 특징으로 하는 펄스폭변조방식을 이용한 에이비에스 제어방법.The method of claim 1, wherein, in the sixth step, the ABS state is set to a " stable " state (442) when the slip rate of the vehicle wheel (131) becomes smaller than the slip rate threshold value And a pulse width control (443) for step-up control is performed. 제1항에 있어서, 상기 제7단계는 운전자가 브레이크 페달(101)에서 발을 떼어 제동상황이 종료되는 경우에는 에이비에스 플래그가 “온”상태인지를 판단(442)하여 에이비에스 플래그가“온”상태로 되어 있으면 에이비에스 제어상황이 발생하더라도 에이비에스 플래그를 “오프”(440)하여 브레이크 장치를 리세트(439)하고 이미 작동중인 브레이크 장치의 유압펌프(120) 및 2위치/3웨이 솔레노이드 밸브(210)의 전원을 차단하여 초기상태로 만들고 에이비에스 플래그가“오프”되어 있어 제동중임에도 에이비에스 제어가 이루어지지 않았다면 그대로 브레이크 신호를 감지하는 초기상황으로 되돌아 가는 것을 특징으로 하는 펄스폭변조방식을 이용한 에이비에스 제어방법.The method as claimed in claim 1, wherein, in the seventh step, when the driver releases his / her foot from the brake pedal (101) and the braking situation is terminated, it is determined whether the ebbs flag is " (440), the brake device is reset (439) even if an ebbis control condition occurs, and the hydraulic pump 120 of the already operating brake device and the 2 position / 3 way solenoid The power supply of the valve 210 is turned off to bring it into an initial state, and if the ebbs control is not performed even though the ebbs flag is turned " off " A method of controlling an ebbie using a method. 제1항에 있어서, 상기 제8단계는 에이비에스 제어 중 차량의 속도가 5km/h 이하인지를 판단(457)하여 차량의 속도가 5km/h이하여서 차량이 정지상태에 이른 경우에는 에이비에스 플래그를 “오프”(440)시키고 앞에서와 마찬가지로 브레이크 장치를 리세트(439)하여 초기화시켜 에이비에스 제어상황의 종료를 표시하는 것을 특징으로 하는 펄스폭변조방식을 이용한 에이비에스 제어방법.The method according to claim 1, wherein, in the eighth step, it is determined (457) whether the speed of the vehicle is less than or equal to 5 km / h during the EV control. When the vehicle speed is less than or equal to 5 km / h, (440), and the brake device is reset (439) by initializing as described above to indicate the end of the EB control state. 2위치/3웨이 솔레노이드 밸브(210)를 이용하여 에이비에스를 제어하기 위하여 운행중인 차량바퀴(131)의 속도를 계측하는 속도센서(335); 상기 속도센서(335)가 감지한 신호를 기초로 주행중인 차량바퀴(335)의 속도와 차량의 속도를 연산하여 에이비에스가 작동할 때 초기정보로 이용될 자료를 제공하면서 차량바퀴(131)에서 발생되는 슬립율을 계산하는 중앙처리장치(340)와, 상기 중앙처리장치(340)의 제어하에 밸브(210)를 개폐시키는 솔레노이드 구동회로(347)와, 상기 중앙처리장치(340)의 제어하에 펌프모터(220)를 작동시키는 모터구동회로(347)를 갖는 에이비에스 제어유니트(350); 상기 솔레노이드구동회로(347)의 제어로 개폐되어 유제의 흐름을 제어하는 2위치/3웨이 솔레노이드밸브(210)와, 상기 모터 구동회로(349)의 제어로 작동되러 유압펌프(120)를 작동시켜 유체를 순환시키는 펌프모터(220)로 이루어져 브레이크 실린더(130)에 가해지는 모드(가압모드,감압모드)를 조정하는 에이비에스 모듈레이터(370)를 포함하여 이루어짐을 특징으로 하는 펄스폭변조방식을 이용한 에이비에스 제어장치.A speed sensor 335 for measuring the speed of the vehicle wheel 131 in operation to control the ebbs using the two-position / three-way solenoid valve 210; The speed sensor 335 calculates the speed of the vehicle wheel 335 and the speed of the vehicle based on the signal detected by the speed sensor 335 to provide data to be used as initial information when the ebi bus is operated, A solenoid drive circuit 347 for opening and closing the valve 210 under the control of the central processing unit 340 and a control unit 340 for controlling the solenoid drive circuit 347 under the control of the central processing unit 340 An ebias control unit 350 having a motor drive circuit 347 for operating the pump motor 220; A two-position / three-way solenoid valve 210 which is opened and closed under the control of the solenoid drive circuit 347 to control the flow of the oiled oil and a hydraulic pump 120 operated by the control of the motor drive circuit 349 And an EEV modulator (370) comprising a pump motor (220) for circulating the fluid and adjusting a mode (pressurization mode, depressurization mode) applied to the brake cylinder (130) Ebis control device. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: It is disclosed by the contents of the first application.
KR1019960013182A 1996-04-26 1996-04-26 Abs control device using pulse width modulation method and method KR0152207B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100465396B1 (en) * 2000-12-28 2005-01-13 주식회사 만도 Circuit for driving solenoid valve of anti-lock brake system
KR100550948B1 (en) * 2004-05-17 2006-02-13 현대모비스 주식회사 Feedable UEM Control of Solenoid Valve Using Duty Ratio Map

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100465396B1 (en) * 2000-12-28 2005-01-13 주식회사 만도 Circuit for driving solenoid valve of anti-lock brake system
KR100550948B1 (en) * 2004-05-17 2006-02-13 현대모비스 주식회사 Feedable UEM Control of Solenoid Valve Using Duty Ratio Map

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