Brake energy balancing system for multiple brake units

A brake energy balancing system for applying and controlling a plurality of wheel brakes independently of operator brake application, comprising:

• a plurality of wheel brake assemblies, each of said wheel brake assemblies having at least one wheel and at least one wheel brake;
• wheel velocity signal generating means for producing wheel velocity signals that are a function of the rotational speed of each said wheel;
• wheel velocity measurement means for generating an average velocity signal based upon said wheel velocity signals for each said wheel for each said wheel brake assembly;
• command brake torque signal generating means for generating a command brake torque signal for limiting said command brake torque signal;
• torque comparison means for comparing said brake torque signals with said command brake torque signal for generating brake torque difference signals indicative of the difference between said brake torque signals and said command brake torque signal;
• autobrake velocity reference generating means for generating a reference velocity signal in response to a deceleration command;
• comparison means for comparing said average velocity signal for each of said wheels for each said wheel brake assembly with said reference velocity signal for generating average velocity error signals indicative of the difference between said average wheel velocity signals and said reference velocity signal;
• torque signal generating means for producing brake torque signals that are a function of the braking torque applied to each said wheel;
• wheel velocity comparison means for comparing said average wheel velocity signals with said reference velocity signal for generating individual wheel velocity error signals indicative of the difference between said wheel velocity signals and said reference velocity signal;
• brake application means for applying braking torque to said wheel brakes independently of operator brake application;
• and
• control means for providing an energy balancing control signal to said brake application means to control said brake application means independent of operator brake application, in response to said average velocity error signals, said individual wheel velocity error signals, and said brake torque difference signals.

A method of balancing brake energy for applying and controlling a plurality of wheel brakes independently of operator brake application, comprising the steps of:

• measuring brake torque of plurality of wheel brakes for a plurality of wheels and generating brake torque signals that are a function of the brake torque applied to each said wheel;
• comparing said brake torque signals with a command brake torque signal and generating brake torque difference signals indicative of the difference between said brake torque signals and said command brake torque signal;
• applying brake torque to said wheel in response to a deceleration command;
• and
• providing an energy balancing brake application control signal to control said application of brake pressure, independent of operator brake application, in response to said break torque difference signals.