ACCELERATION CONTROLLER FOR CONTROLLING ENGINE AND CONTINUOUS BRAKING REQUIREMENTS

The invention relates to a controller, in particular an acceleration controller for regulating engine and continuous braking requirements of a commercial vehicle. The controller (1) comprises (a) a first control branch (10) which comprises a first integral element (13, 14) and a first proportional element (12), wherein the first control branch (10) is supplied with a first target acceleration (a_Eng) for at least one driving actuator and an actual acceleration (a_ist) and outputs a first control variable (M_Eng) for the at least one driving actuator; (b) a second control branch (20) which comprises a second integral element (23, 24) and a second proportional element (22), wherein the second control branch (20) is supplied with a second target acceleration (a_EB) for at least one decelerating actuator and the actual acceleration (a_ist) and outputs a second control variable (M_EB) for the at least one decelerating actuator; and (c) a decision element (30) which is supplied with the first and second control variable (M_Eng, M_EB) and the output values (I_Eng, I_EB) of the first and second integral element (13, 14, 23, 24) and outputs a first output control variable (M_Antrieb) as a torque request to the at least one driving actuator, a second output control variable (M_Bremse) as a torque request to the at least one decelerating actuator, and an integral component (I_Regler) with which the first and second integral element (14, 24) are respectively supplied. The decision element is configured to set the first output control variable (M_Antrieb) to the value of the first control variable, the second output control variable (M_Bremse) to zero and the integral component to the output value of the integral element (13, 14) of the first control branch (10) if both the first control variable (M_Eng) and the second control variable (M_EB) are greater than zero; to set the first output control variable (M_Antrieb) to zero, the second output control variable (M_Bremse) to the value of the second control variable (M_EB) and the integral component to the output value of the integral element (23, 24) of the second control branch (20) if both the first control variable (M_Eng) and the second control variable (M_EB) are less than zero; and to set the first output control variable (M_Antrieb) and the second output control variable (M_Bremse) to zero if the first control variable (M_Eng) is less than zero and the second control variable (M_EB) is greater than zero.