# US 11,077,836 B2 · Method for controlling a hydraulic braking system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,836 B2 - Document ID: US11077836B2 - Status: Granted - Kind: B2 - Application number: 16/382,979 - Filed: 2019-04-12 - Published: 2019-12-05 - Granted: 2021-08-03 - Earliest claimed: 2018-05-30 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Christoph Emde; Heiko Druckenmueller; Holger Kurz; Patrick Schellnegger; Yakup Navruz; Andreas Schmidtlein - Web page: https://patentgrep.com/patent/US11077836B2 ## CPC - B60T 13/20: with control of pump driving means - B60T 17/22: Devices for monitoring or checking brake systems; Signal devices - B60T 7/042: {by electrical means, e.g. using travel or force sensors} - B60T 8/173: Eliminating or reducing the effect of unwanted signals, e.g. due to vibrations or electrical noise - B60T 8/4054: {involving the delivery pressure control (B60T8/4072 takes precedence)} - B60T 13/146: {Part of the system directly actuated by booster pressure} - B60T 13/662: {characterised by specified functions of the control system components} - B60T 13/686: {in hydraulic systems or parts thereof} - B60T 17/02: Arrangements of pumps or compressors, or control devices therefor - H02P 6/10: Arrangements for controlling torque ripple, e.g. providing reduced torque ripple - H02P 6/17: and for generating speed information - B60T 8/4068: {the additional fluid circuit comprising means for attenuating pressure pulsations} - B60T 8/4872: {pump-back systems} - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract In a method for controlling a hydraulic braking system, wherein the braking system includes a hydraulic pump that is driven by an electric motor so as to generate a volume of fluid flow for the hydraulic braking system. the electric motor is controlled in such a manner that fluid pulsation in the hydraulic braking system is counteracted by means of modulating a rotational speed of the electric motor. The modulation is generated by means of the control procedure. Furthermore, a device is designed and configured so as to perform the method. ## Claims ### Claim 1 A method for controlling a hydraulic braking system comprising: controlling an electric motor, which drives a hydraulic pump so as to generate a volume of flow in the hydraulic braking system, in such a manner that fluid pulsation in the hydraulic braking system is counteracted by modulating a rotational speed of the electric motor in a sinusoidal manner, said modulation being generated by a control procedure. ### Claim 2 (depends on 1) The method according to claim 1, wherein the rotational speed of the electric motor is modulated during one rotation. ### Claim 3 (depends on 1) The method according to claim 1, wherein the rotational speed of the electric motor is modulated in dependence upon a rotor position. ### Claim 4 (depends on 1) The method according to claim 1, wherein the rotational speed of the electric motor is modulated by taking into consideration an approach using Fourier modes. ### Claim 5 (depends on 1) The method according to claim 1, wherein the control procedure is configured as a control procedure of a brushless DC motor. ### Claim 6 (depends on 1) The method according to claim 1, further comprising at least one of: determining a rotor position of the electric motor; determining a position of an outlet valve; defining a desired rotational speed of the electric motor so as to counteract fluid pulsation in the hydraulic braking system; and controlling the electric motor so as to set the desired rotational speed. ### Claim 7 A control unit configured to execute program instructions stored in a non-transitory memory to: control an electric motor, which drives a hydraulic pump so as to generate a volume of flow in a hydraulic braking system, in such a manner that fluid pulsation in the hydraulic braking system is counteracted by modulating a rotational speed of the electric motor in a sinusoidal manner, said modulation being generated by a control procedure. ### Claim 8 A hydraulic braking system comprising: an electric motor; a hydraulic pump driven by the electric motor so as to generate a volume of flow in the hydraulic braking system; and a control unit that is configured to control the electric motor in such a manner that fluid pulsation in the hydraulic braking system is counteracted by modulating a rotational speed of the electric motor in a sinusoidal manner, said modulation being generated by a control procedure, wherein the braking system does not comprise a hydraulic damping component configured to counteract fluid pulsation in the hydraulic braking system. ### Claim 9 (depends on 8) The hydraulic braking system of claim 8, wherein the braking system does not include a hydraulic low-pass filter configured to counteract the fluid pulsation in the hydraulic braking system.