Method for controlling force of electromechanical motor vehicle brake and electromechanical motor vehicle brake

Abstract

The invention relates generally to a method for controlling the force of an electromechanical motor vehicle brake and to a motor vehicle brake having an electromechanical motor vehicle brake designed in this way. The method comprises checking the braking power Pactuator, whether the target does not exceed a specified limit Pactuator, maximum for the maximum power of the actuator, and if the specified limit Pactuator, maximum is exceeded, reducing or modifying the target actuator speed Omega-actuator, the target to a modified target actuator speed Omega-actuator, the target, the modification.

Description

[0001] The present invention generally relates to a method for controlling the force of an electromechanical motor vehicle brake and a motor vehicle brake having an electromechanical motor vehicle brake designed in this way.

[0002] Electrically actuable motor vehicle brakes (also referred to as electromechanical motor vehicle brakes) are increasingly being used as braking systems for motor vehicles. These motor vehicle brakes offer many advantages over conventional hydraulically actuated wheel brakes. For example, a complex hydraulic system is no longer required, and electromechanical wheel brakes also take up significantly less space.

[0003] This type of electromechanical wheel brake typically has an electrical or electronic drive unit that interacts with a mechanism or transmission. The brake unit can then be arranged on the output side, and the brake unit can include a brake piston with a friction lining that can be pressed against a brake disc or brake drum by translational movement. Deceleration can thereby be induced during operation.

[0004] Here, the electric drive unit can include an electric drive motor, in particular a brushless motor (also referred to hereinafter as an actuator). Controlling the force of such an actuator is very important because, unlike in the case of, for example, hydraulically actuable wheel brakes, it is no longer possible, in particular, to provide feedback to the driver.

[0005] Therefore, a force controller unit that can include a force controller is typically provided for controlling the actuator. The force controller can generate a target value for the actuator speed or rotational speed in a known manner based on a specified target force, which can correspond to the driver's braking request, in order to set this target force as quickly as possible. The application of the wheel brake of the electromechanical motor vehicle brake can be carried out in this way, that is, a force is applied in the direction of action.

[0006] In particular, in the case of a sudden change in the target acting force, such as can occur when a strongly applied wheel brake is released quickly, so-called overshoot or undershoot can occur. This means that when the change is made, the desired target force may not be reached or may be exceeded. This is particularly risky in the case of disc brakes that include brake calipers.

[0007] Therefore, a method for controlling an electromechanical wheel brake is desired that does not have or at least mitigates the above-mentioned disadvantages.

[0008] The technical problem to be solved by the present invention is based on this.

[0009] This object is achieved in a surprisingly simple manner by a method for controlling an actuator, in particular for operating an electric motor of an electromechanical motor vehicle brake, according to any one of the independent claims, and by an electromechanical motor vehicle brake of this type. Preferred embodiments and refinements of the invention can be derived from the respective dependent claims.

[0010] The method comprises at least the following steps:

[0011] - providing a target value for the force to be exerted by the actuator as a target force F 目标 ,

[0012] - calculating a target value for the actuator speed as a target actuator speed ω based on the target force F 目标 执行器，目标 ,

[0013] - calculating a torque M based on the target actuator speed ω 执行器，目标 执行器，目标 ,

[0014] - calculating the braking power P required for the actuator based on the torque M 执行器，目标 and the target actuator speed ω 执行器，目标 执行器，目标 ,

[0015] - checking whether the braking power P 执行器，目标 exceeds a specified limit value P of the maximum power of the actuator 执行器，最大 ,

[0016] - if the specified limit value P 执行器，最大 is exceeded, reducing the target actuator speed ω 执行器，目标 to a modified target actuator speed ω 执行器，目标，修改 ,

[0017] - operating the actuator at the target actuator speed ω 执行器，目标 or at the modified target actuator speed ω 执行器，目标，修改 to achieve the target force F 目标 .

[0018] The actuator can comprise an electric motor, in particular an electric motor for operating an electromechanical motor vehicle brake of a motor vehicle. For the purposes of the present invention, a motor vehicle means a vehicle having axles, where at least one of these axles can comprise steerable wheels, and furthermore, the drive of the wheels on at least one axle can be adapted in a wheel-specific manner.

[0019] According to the present invention, a force controller unit for performing the above method can be provided. The force controller unit can be understood to refer in particular to a functional unit designed to implement the functions mentioned. For example, it can have a modular construction. The force controller unit can be implemented, for example, using hardware or using software. It can be designed, for example, as a microcontroller, a microprocessor, an application specific integrated circuit (ASIC), a programmable logic controller, or another programmable or hard-wired unit. In particular, the force controller unit can have a processor device and a storage device, wherein a program code is stored in the storage device, and when the program code is executed, the processor device performs the functions as specified herein.

[0020] The force controller unit may include a force controller designed to generate a force F based on a specified target force F for the actuator. 目标 A target value for the actuator speed is generated as the target actuator speed ω 执行器，目标 The force controller can preferably reproduce the functionality known from the prior art to generate a target value for the actuator speed based on the target force. 目标 May be performed by the vehicle controller, by an onboard computer or by another vehicle computer.

[0021] Here, the target actuator speed ω 执行器，目标 This is usually the value to which the actuator, in particular the motor, is intended to be set as a velocity, in particular an angular velocity, in order to achieve the desired specified target force F 目标 If the specified target force is currently being achieved, the target actuator velocity is typically zero.

[0022] If the electromechanical motor vehicle brake applies a force greater or less than the specified target force, respectively, the desired specified target force can be set by a negative actuator speed or a positive actuator speed. This is usually maintained until the desired target force is set, and then the target value for the actuator speed is zero again.

[0023] It is proposed within the scope of the invention to examine the specific constraints for achieving the desired target force F 目标 Positive or negative actuator speed ω 执行器，目标 The constraints may be caused in particular by the type and action state of the wheel brakes and the actuator or motor, and if the specified limit value is exceeded, the actuator speed ω is correspondingly modified and / or corrected, in particular reduced. 执行器，目标 In this way, it can be prevented that limit values ​​or constraints are exceeded or that undesirable operating conditions are reached.

[0024] For this purpose, a modification unit can be provided. The modification unit can also be understood to refer to a functional unit that is designed to implement the mentioned functions. It can also have a modular construction or can be implemented, for example, in a force controller. The modification unit can be designed as, for example, a microcontroller, a microprocessor, an application-specific integrated circuit (ASIC), a programmable logic controller, or another programmable or hardwired unit. In particular, the modification unit can have a processor device and a storage device, in which the program code and the modification parameters are stored.

[0025] According to a preferred embodiment of the invention, the method provides for a target value to be achieved by the force of the actuator as the target force F 目标 , and then, based on the target force F 目标 a target value for the actuator speed is calculated as the target actuator speed ω 执行器，目标 . On this basis, a torque M 执行器，目标 can be calculated based on the target actuator speed ω 执行器，目标 . Generally, the basic rule is determined in such a way that the target force F 目标 is reached as quickly as possible in order to reach the required new braking torque as quickly as possible. Therefore, the calculated target actuator speed ω 执行器，目标 can often be determined only based on the technical parameters of the actuator (such as the maximum actuator speed) or can be limited by these technical parameters. However, this does not take into account whether the wheel brake is already acting or the degree of action of the wheel brake. Precisely in the case of a wheel brake that is designed as a disc brake and includes a brake caliper, when a strongly acting wheel brake is released quickly, this can lead to so-called overshoot or undershoot. This means that when making a change, the desired target force may not be reached or exceeded, and thus the desired target force F 目标 is reached with a delay.

[0026] To check whether there is a risk of undershoot or overshoot, according to the invention, first, based on the torque M 执行器，目标 and the target actuator speed ω 执行器，目标 the required braking power P 执行器，目标 of the motor or actuator is calculated. This braking power is necessary to enable the actuator to precisely maintain at the new desired point, and the required target force F 目标 can also be reached at this desired point without undershoot or overshoot. Based on this braking power P 执行器，目标 , it can be checked whether the specified power limit P 执行器，最大 of the actuator may be exceeded. Therefore, it is checked whether the braking power P 执行器，目标 exceeds the specified limit P 执行器，最大 of the maximum power of the actuator.

[0027] In this case, the braking power P required by the actuator 执行器，目标 can no longer be ensured in the best possible way, and there is a risk of undershoot or overshoot. Therefore, the present invention very advantageously provides that if the braking power P 执行器，目标 exceeds the specified limit value P 执行器，最大 , then the target actuator speed ω 执行器，目标 is reduced to a modified target actuator speed ω 执行器，目标，修改 .

[0028] Accordingly, if the limit value of the maximum power is exceeded, the actuator can run at a modified target actuator speed ω 执行器，目标，修改 instead of at the target actuator speed ω 执行器，目标 to achieve the target acting force F 目标 .

[0029] According to a preferred embodiment of the present invention, it is hereby provided that the currently existing acting force of the actuator is acquired as the actual acting force F 实际 . The actual acting force F 实际 can be acquired, for example, by measuring with a force sensor or using a model stored in a memory.

[0030] Therefore, the actual acting force F 实际 can be used to find out whether the action of the wheel brake already exists at the moment when the target acting force F 目标 is requested. In other words, it can be found out whether the acting force of the wheel brake already exists and the magnitude of this acting force. Therefore, the method can provide that the actual acting force F 执行器，目标 is also taken into account for the calculation of the torque M 实际 .

[0031] Therefore, the present invention provides great advantages, especially in the case where the actuator is mounted in at least partially expandable or deformable components (such as a brake caliper). The background is that the housing, especially the brake caliper housing, can act like a spring, which can generate corresponding reaction forces on the actuator when the brake is applied and released. Therefore, torques acting in opposite directions can act at the interface between the actuator and the transmission, and these torques are proportional to the current actual acting force F 实际 , and the frictional torque mainly depending on the direction of rotation can be superimposed on these torques. The occurrence of undershoot in force control is determined by the ratio of the maximum torque or maximum power of the actuator to the return torque or return power of the load. Here, the return power corresponds to the product of the current rotational speed and the return torque.

[0032] Since the actuator or motor can only provide less torque at high rotational speeds than at low rotational speeds due to power limitations, under certain conditions, unfavorable operating parameters may cause the actuator to be overloaded or operate in an undesirable state. For example, if the actuator accelerates backward at maximum value when the acting force is high and the actuator is stationary, the return power may become greater than the maximum allowable motor power by superimposing the motor torque and the return torque.

[0033] In this case, instead of reducing the rotational speed further, the deceleration can be achieved only by the motor torque. In this situation, the actuator can remain in this operating state until the return power drops below the maximum motor power again by continuously releasing the brake. As a result, the desired target acting force F 目标 cannot be accurately adhered to, but for example, is not reached, which then leads to the above-mentioned overshoot. This can be disadvantageous, especially in combination with wheel brakes, because the requested braking force may not be achieved as desired or may only be achieved with a delay.

[0034] By considering the actual acting force F 执行器，目标 when calculating the torque M 执行器，目标 and the braking power P required for the actuator 实际 , the force controller can identify the risk of overshoot or undershoot in a timely manner before reaching potential critical conditions. The target actuator speed ω 执行器，目标 is appropriately modified to the value P 执行器，修改 , at which the braking power required for the actuator does not exceed the limit value P 执行器，最大 . In this way, the actuator can be prevented from entering an undesirable operating state. Modifying the target actuator speed can be performed by a modification unit in a computer-aided manner.

[0035] According to an expansion scheme of the present invention, it is provided to re-correct, in particular, further reduce the target actuator speed ω 执行器，目标 or the target actuator speed ω 执行器，目标，修改 . Using a correction factor k, when k <= 1, the target actuator speed ω 执行器，目标 or the target actuator speed ω 执行器，目标，修改 can be further reduced accordingly.

[0036] This correction factor k can be selected according to other factors and parameters, including for example the current temperature of the actuator, the availability of the vehicle electrical system, or possible noise emissions, which may occur, for example, at certain critical rotational speeds or actuator speeds. The correction factor k can be selected, for example, from a matrix stored in the memory.

[0037] Therefore, according to the present invention, it can be provided that the target actuator speed ω 执行器，目标，修改Limit or reduce to the modified and corrected target actuator speed ω 执行器，目标，校正 and cause the actuator to run at the corrected target actuator speed ω 执行器，目标，校正 .

[0038] According to a particularly preferred embodiment of the invention, it can also be provided to waive the modification and / or correction of the target actuator speed ω in certain cases 执行器 . For example, this may be helpful when a dangerous situation is recognized. For example, if the sensors of a motor vehicle report that the motor vehicle is approaching an object or another motor vehicle, and thus it is necessary to reach the target force F as quickly as possible 目标 prioritizing over all modifications and / or corrections, this may be very advantageous. In such cases, for example, the correction factor or the correction of the target actuator speed ω 执行器，目标 can be waived according to specific rules. For example, the correction of the target actuator speed ω 执行器，目标，修改 implemented based on the critical rotational speed, for example due to noise emissions, can be waived because in an emergency situation where it is necessary to quickly and effectively brake the motor vehicle, possible noise is given a lower priority.

[0039] It may also be advantageous in combination with an ABS controller: for example, if the wheels slip too much and it is necessary to improve the vehicle track stability and avoid wheel lock-up, waive the modification and / or correction of the target actuator speed ω 执行器，目标 . This can further reduce the braking distance.

[0040] Therefore, the modification and / or correction of the target actuator speed ω 执行器，目标 can be overridden or waived if specified by a higher-level vehicle controller, on-board computer, or vehicle computer. The corresponding rules can be stored in the memory of the modification unit.

[0041] According to an extension of the invention, it is also possible to set the priority of the performed modification and / or correction by a vehicle controller, on-board computer, or vehicle computer, where, for example, access can be made to a decision matrix stored in the memory. For example, different types of priorities related to factors can be stored in the decision matrix, and the correction factor k can be selected accordingly.

[0042] According to an embodiment of the invention, it can be provided here that the target actuator speed ω 执行器，目标 is modified to the modified target actuator speed ω 执行器，目标，修改 and / or the target actuator speed ω 执行器，目标，修改 is corrected to the corrected target actuator speed ω 执行器，目标，修改，校正 exactly once. This can be done at the start of a braking cycle and when the newly set target force F 目标，保持 differs from the currently set actual force F实际 are not advantageously carried out simultaneously. Depending on the inspection result, the actuator can then be caused to run at a previously defined target actuator speed ω 执行器，目标，修改 or a corrected target actuator speed ω 执行器，目标，修改，校正 until a new target force F 目标，保持 .

[0043] According to another preferred embodiment of the invention, it can be provided that during the current braking process, the modification of the target actuator speed ω 执行器，目标 to a modified target actuator speed ω 执行器，目标，修改 and / or the correction of the target actuator speed ω 执行器，目标，修改 to a corrected target actuator speed ω 执行器，目标，修改，校正 is carried out repeatedly, preferably cyclically. This enables the modification and / or correction of the target actuator speed ω 执行器，目标 to be changed, for example, in order to be able to react to the changes that occur.

[0044] On the other hand, the invention also relates to a force controller unit which is used in particular in or together with a control device of a motor vehicle brake and which is designed to carry out the method described above.

[0045] In yet another aspect, the invention also relates to a motor vehicle which includes an electromechanical motor vehicle brake having the force controller unit described above.

[0046] Compared with solutions that usually impose stronger restrictions on the target actuator speed, the modification and / or correction of the target actuator speed ω 执行器，目标 related to the target force according to the invention has the advantage that the highest possible system dynamics can be maintained. Therefore, this means that the motor vehicle brake can be controlled with high dynamics, but at the same time specific actual forces can also be taken into account in order to prevent overshoot or undershoot of the actuator.

[0047] Therefore, a significant improvement in the control quality (especially with regard to force control) can be achieved, as a result of which, for example, the braking distance can be shortened in combination with ABS control.

[0048] The travel limitation can also be omitted by means of appropriate mechanical stops, since the risk of overshoot or undershoot and thus the risk of hitting the mechanical end point can be prevented.

[0049] Further details of the invention can be obtained from the description of the exemplary embodiments shown and the appended claims.

[0050] In the drawings:

[0051] Figure 1A simplified diagram of a force controller unit for a method of controlling an actuator according to an exemplary embodiment is shown.

[0052] Figure 2 A curve of the braking force of an actuator with a target value and an actual value based on an exemplary embodiment is shown.

[0053] Figure 3 A curve of the actuator speed with a target value and an actual value based on another exemplary embodiment is shown.

[0054] In the following detailed description of the preferred exemplary embodiments, for clarity, the same reference numerals denote substantially the same parts in these embodiments or these embodiments. However, for better elucidation of the present invention, the preferred embodiments shown in the drawings are not always drawn to scale.

[0055] Figure 1 A highly simplified illustration of a force controller unit 10 for a method of controlling an actuator based on an exemplary embodiment is shown schematically. The force controller unit 10 is adapted to perform the method according to the present invention.

[0056] The force controller unit 10 has an input for a target acting force F 目标 and an input for an actual acting force F 实际 An input for a maximum actuator speed ω 执行器，最大Z目标 is also provided. In an exemplary embodiment, a modification unit 11 is integrated in the force controller unit 10. The modification unit 11 is designed to perform the functions mentioned, in particular to modify and / or correct the target actuator speed ω 执行器， target.

[0057] In an exemplary embodiment, the maximum actuator speed ω 执行器，最大Z目标 is provided to a limiter 12, which also receives information about the target actuator speed ω 执行器，目标 The target actuator speed ω 执行器，目标 or the modified target actuator speed ω 执行器，目标，修改 or the corrected modified target actuator speed ω 执行器，目标，校正 is provided as an output variable.

[0058] Thus, a method according to the present invention for controlling an actuator, in particular for operating an electric motor of an electromechanical motor vehicle brake, comprises the following steps:

[0059] - Providing a target value to be achieved by the acting force of the actuator as a target acting force F 目标 ,

[0060] - Calculating a target value of the actuator speed as a target actuator speed ω based on the target acting force F 目标 ​执行器，目标 ,

[0061] - Calculate the torque M based on the target actuator speed ω 执行器，目标 Calculate the torque M 执行器，目标 ,

[0062] - Calculate the required actuator braking power P based on the torque M 执行器，目标 and the target actuator speed ω 执行器，目标 Calculate the required actuator braking power P 执行器，目标 ,

[0063] - Check whether the braking power P 执行器，目标 exceeds the specified limit P of the maximum power of the actuator 执行器，最大 ,

[0064] - If the specified limit P is exceeded 执行器，最大 , then reduce the target actuator speed ω 执行器，目标 to the modified target actuator speed ω 执行器，目标，修改 ,

[0065] - Run the actuator at the target actuator speed ω 执行器，目标 or the modified target actuator speed ω 执行器，目标，修改 to achieve the target acting force F 目标 .

[0066] The provision of the target acting force F 目标 is performed by the vehicle controller, but can also be performed by an on-board computer or another vehicle computer.

[0067] The method also provides for obtaining the currently applied acting force of the actuator as the actual acting force F 实际 , and considering this actual acting force when calculating the torque M 执行器，目标 . A force sensor is provided for obtaining the actual acting force F 实际 . However, as an alternative, the actual acting force F 实际 can also be provided, for example, using a stored model from the memory.

[0068] If the braking power P 执行器，目标 exceeds the specified limit P of the maximum power of the actuator determined according to the actuator and stored in the memory 执行器，最大 , then the target actuator speed ω 执行器，目标 is limited or reduced to the modified target actuator speed ω 执行器，目标，修改 . The modified target actuator speed ω 执行器，目标，修改 is selected such that the maximum power P of the actuator not exceeding the limit P 执行器，最大 is achieved 执行器，修改 . In other words, due to this limitation, the maximum power P of the actuator is no longer exceeded 执行器，修改 , and the required braking power can be accurately provided.

[0069] According to an extended embodiment of the invention, the modified target actuator speed ω is again limited to the modified and corrected target actuator speed ω by means of a correction factor k 执行器，目标，修改 and the actuator is run at the corrected target actuator speed ω 执行器，目标，校正 . This makes it possible to take into account additional parameters and constraints during the operation of the actuator, which additional parameters and constraints include in particular parameters and constraints that may vary over the lifetime of the wheel brake or are subject to use-related fluctuations 执行器，目标，校正 .

[0070] According to a preferred embodiment of the invention, the correction factor k is selected according to further factors, which factors include the temperature of the actuator, the availability of the on-board electrical system, or the critical rotational speed or actuator speed, where the correction factor k is preferably selected from a matrix stored in a memory

[0071] According to a preferred embodiment of the invention, it is further provided that the modification and / or correction of the target actuator speed ω 执行器，目标 can be overridden or waived if this is specified by a superior vehicle controller or an on-board computer or another vehicle computer. For example, in the event of a hazard detected by an on-board sensor, this can help to provide maximum or required braking power, where an overshoot or undershoot can be accepted in certain cases. A decision matrix stored in a memory can also be used to select the correction value k for determining the corrected target actuator speed ω 执行器，目标，校正 .

[0072] According to one embodiment of the invention, when a new target value for the target force F 目标 is received, the reduction or modification of the target actuator speed ω 执行器，目标 and / or the correction of the target actuator speed ω 执行器，目标 is carried out once

[0073] According to another embodiment of the invention, the reduction or modification of the target actuator speed ω 执行器，目标 and / or the correction of the target actuator speed ω 执行器，目标 is carried out repeatedly, preferably cyclically, until the target force F 目标，保持 is reached

[0074] Figure 2 shows an exemplary curve of the force in the actuator of a wheel brake according to the invention. The actuator is designed as an electric motor for operating an electro-mechanical motor vehicle brake. The curve diagram shows the curve of the target force F 目标 and the curve of the actual force F 实际 . The diagram shows that with the method according to the invention, even with a target force F 目标Even in the case of sudden changes, the actual acting force F can be quickly achieved. 实际 。

[0075] Figure 3 Finally, an exemplary curve of the actuator speed is shown, which shows the target actuator speed ω 执行器，目标 and the current actual actuator speed.

Claims

1. A method for controlling an actuator, in particular an electric motor for operating an electromechanical motor vehicle brake, the method comprising at least the following steps: - Provide the target value that the actuator force should reach as the target force F 目标 , -Based on the target force F 目标 Calculate the target value of the actuator speed as the target actuator speed ω 执行器，目标 , - Based on the target actuator speed ω 执行器，目标 Calculate the torque M 执行器，目标 , - Based on torque M 执行器，目标 and the target actuator speed ω 执行器，目标 Calculate the required actuator braking power P 执行器，目标 , - Check the braking power P 执行器，目标 Whether the specified limit P of the maximum power of the actuator is exceeded 执行器，最大 , - If the specified limit P is exceeded 执行器，最大 , then the target actuator speed ω 执行器，目标 Reduced to the modified target actuator speed ω 执行器，目标，修改 , - Make the actuator move at the target actuator speed ω 执行器，目标 or the modified target actuator speed ω 执行器，目标，修改 Run to achieve the target force F 目标 .

2. The method for controlling an actuator according to the preceding claim, characterized in that The target force F is provided by the vehicle controller, the onboard computer or another vehicle computer. 目标 .

3. A method for controlling an actuator according to any one of the preceding claims, characterized in that The method also includes obtaining the current force of the actuator as the actual force F 实际 .

4. A method for controlling an actuator according to any one of the preceding claims, characterized in that For the torque M 执行器，目标 The calculation also takes into account the actual force F 实际 .

5. A method for controlling an actuator according to any one of the preceding claims, characterized in that At the modified target actuator speed ω 执行器，目标，修改 The actuator does not exceed the limit value P 执行器，最大 The maximum power P 执行器，修改 .

6. A method for controlling an actuator according to any one of the preceding claims, characterized in that The modified target actuator speed ω is again converted by the correction factor k 执行器，目标，修改 Limit to the modified and corrected target actuator velocity ω 执行器，目标，校正 , so that the actuator moves at the corrected target actuator speed ω 执行器，目标，修改，校正 run.

7. A method for controlling an actuator according to any one of the preceding claims, characterized in that The correction factor k is selected as a function of other factors, including the temperature of the actuator, the availability of the on-board electrical system, or a critical rotational speed or actuator speed, wherein the correction factor k is preferably selected from a matrix stored in a memory.

8. A method for controlling an actuator according to any one of the preceding claims, characterized in that The target actuator speed ω is specified by a higher-level vehicle controller, an onboard computer, or another vehicle computer. 执行器，目标 In case of modification and / or correction of the target actuator speed ω 执行器，目标 Modifications and / or corrections can be overridden or aborted.

9. A method for controlling an actuator according to any one of the preceding claims, characterized in that The decision matrix stored in the memory is used to determine the corrected target actuator speed ω. 执行器，目标，修改，校正 Selection of the correction value k.

10. The method for controlling an actuator as claimed in any one of the preceding claims, characterized in that Upon receiving the target force F 目标 The target actuator speed ω is performed exactly once for a target value of 执行器，目标 reduction or modification of, and / or target actuator speed ω 执行器，目标 Correction.

11. The method for controlling an actuator as claimed in any one of the preceding claims, characterized in that The target actuator speed ω is always repeatedly, preferably cyclically, executed 执行器，目标 reduction or modification of, and / or target actuator speed ω 执行器，目标 Correction until the target force F is reached 目标，保持 .

12. Method for controlling an actuator according to any one of the preceding claims, characterized in that The actual force F is determined by means of a force sensor or according to a model stored in a memory. 实际 to obtain.

13. The method for controlling an actuator according to any one of the preceding claims, characterized in that A force controller unit (10) is provided to perform the method for controlling.

14. A force controller unit (10), in particular for use in or with a control device for a motor vehicle brake, which is designed to carry out the method as claimed in any of the preceding claims.

15. A motor vehicle comprising an electromechanical motor vehicle brake having a force controller unit (10) as claimed in the preceding claim.

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