Method for force control of an electromechanical motor vehicle brake and electromechanical motor vehicle brake

Abstract

The present invention relates generally to a method for force control of an electromechanical motor vehicle brake and to a motor vehicle brake with an electromechanical motor vehicle brake designed in this way. The method comprises checking whether a braking power PAkt, soll does not exceed a predetermined limit value for the maximum power of an actuator PAkt, max, and reducing or modifying a desired actuator speed ωAkt, Soll to a modified desired actuator speed ωAkt, Soll, mod if the predetermined limit value PAkt, max is exceeded.

Description

The present invention relates generally to a method for the force control of an electromechanical motor vehicle brake and to a motor vehicle brake having an electromechanical motor vehicle brake designed in this way.Increasingly, electrically actuatable motor vehicle brakes, also referred to as electromechanical motor vehicle brake, are used as brake systems for motor vehicles. These motor vehicle brakes offer several advantages over conventional hydraulically actuated wheel brakes. Thus, a complex hydraulic system is no longer required, and an electromechanical wheel brake is also significantly more space-saving.Such electromechanical wheel brakes typically have an electrical or electronic drive unit which interacts with a mechanism or a transmission. On the output side, a brake unit can then be arranged, which can comprise a brake piston with a friction lining, which can be pressed onto a brake disk or drum by means of a translatory movement. This can cause a delay during operation.The electric drive unit can comprise an electrically driven motor, in particular a brushless electric motor, hereinafter also referred to as actuator. The force control of such actuators is of great importance because-unlike, for example, hydraulically actuatable wheel brakes-inter alia frequently no feedback to a driver can take place any longer.For regulating the actuator, therefore, a force regulator unit is generally provided, which can comprise a force regulator. The force regulator can generate a setpoint value for the actuator speed or actuator rotational speed in a known manner on the basis of a predefined setpoint force, which can correspond to a driver braking request, in order to set this setpoint force as quickly as possible. In this way, the brake application of the wheel brake, i.e. the application of the application force in the application direction, of the electromechanical motor vehicle brake can take place.In particular in the case of sudden changes in the nominal clamping force, as can arise, for example, when a strongly applied wheel brake is released rapidly, so-called overshoots or undershoots can occur. This means that the desired desired desired forces can be exceeded or underrun during the change to be made. This risk exists in particular in the case of disc brakes which comprise a brake caliper.Accordingly, a method for regulating an electromechanical wheel brake is desirable, which method does not have or at least weakens the disadvantages mentioned above.The inventors have assumed this task.Surprisingly simply, this object is achieved by a method for regulating an actuator, in particular an electric motor for operating an electromechanical motor vehicle brake, and such an electromechanical motor vehicle brake according to one of the independent claims. Preferred embodiments and developments of the invention can be taken from the respective dependent claims.The method comprises at least the following steps:providing a target value for the clamping force of the actuator to be achieved as target clamping force F soll,calculating a target value for the actuator speed as the target actuator speed ω Akt, Soll based on the target clamping force F soll,calculating a torque M Akt, Soll based on the target actuator speed ω Akt, Soll,calculating the required braking power of the actuator P Akt, soll on the basis of the torque M Akt, Soll and the setpoint actuator speed WAkt, Setpoint,checking whether the braking power P Akt, soll exceeds a predefined limit value for the maximum power of the actuator P Akt, max,reducing the setpoint actuator speed ω Akt, Soll to a modified setpoint actuator speed ω Akt, Soll, mod, if the predefined limit value P Akt, max is exceeded,operating the actuator at the setpoint actuator speed ω Akt, Soll or the modified setpoint actuator speed ω Akt, Soll, mod in order to achieve the setpoint clamping force F soll.The actuator can comprise an electric motor, in particular an electric motor for operating an electromechanical motor vehicle brake of a motor vehicle. A motor vehicle in the sense of the invention means a vehicle having axles, wherein at least one of these axles comprises steerable wheels and, in addition, the drive of the wheels of at least one axle can be adjusted in a wheel-specific manner.According to the invention, a force regulator unit can be provided for carrying out the method mentioned above. The force regulator unit can be understood in particular as a functional unit which is designed to realize the aforementioned functions. It can be of modular construction, for example. The force controller unit may be implemented in hardware or software, for example. It can be designed, for example, as a microcontroller, microprocessor, application specific integrated circuit (ASIC), programmable logic controller or as another programmable or hard-wired unit. In particular, it can have processor means and memory means, wherein the memory means store program code, the processor means executing a functionality as specified herein when executed.The force regulator unit can comprise a force regulator which is designed to generate a setpoint value for the actuator speed as the setpoint actuator speed ω Akt, Soll on the basis of a predefined setpoint force F soll for the clamping force of the actuator. The force regulator can preferably represent the functionality already known from the prior art for generating an actuator speed setpoint value based on a setpoint force. The setpoint clamping force F soll can be provided from a vehicle controller, from an on-board computer or other vehicle computer.The setpoint actuator speed ω Akt, Soll is typically that value which an actuator, in particular an electric motor, is intended to set as speed, in particular angular speed, in order to achieve the desired predefined setpoint force F soll. If the predefined setpoint force is currently reached, the setpoint actuator speed is typically zero.If the electromechanical motor vehicle brake accordingly applies a force which is greater than or less than the predefined setpoint force, the desired predefined setpoint force can be set by a negative or positive actuator speed. This is typically maintained until the desired setpoint force is set, then the setpoint value for the actuator speed is again zero.In the sense of the invention, it is provided to check the predefined value for the negative or positive actuator speed ω Akt, Soll for reaching the desired setpoint force F soll with regard to specific restrictions, which can result in particular from the actuator or electric motor and the type and the state of application of the wheel brake, and to modify and / or correct, in particular to reduce, the actuator speed oil ω Akt, Soll accordingly when predefined limit values are exceeded. In this way, it is to be avoided that these limit values or restrictions are exceeded or that undesirable operating states are reached.A modification unit can be provided for this purpose. The modification unit can likewise be understood as a functional unit which is designed to realize the aforementioned functions. It can likewise be of modular construction or else be implemented, for example, in the force regulator. The modification unit can be designed, for example, as a microcontroller, microprocessor, application-specific integrated circuit (ASIC), programmable logic controller or as another programmable or hard-wired unit. In particular, it can have processor means and memory means, wherein program code and modification parameters are stored in the memory means.According to a preferred embodiment of the invention, the method provides for providing a setpoint value for the clamping force of the actuator to be achieved as the setpoint clamping force F soll followed by calculating a setpoint value for the actuator speed as the setpoint actuator speed ω Akt, Soll on the basis of the setpoint clamping force F soll. Based on this, the torque M Akt, Soll can be calculated based on the target actuator speed ω Akt, Soll. Typically, the underlying rules are determined in such a way that the setpoint clamping force F soll is reached as quickly as possible in order to achieve the required new braking torque as quickly as possible. Consequently, the calculated setpoint actuator speed ω Akt, Soll can frequently be determined or limited solely as a function of the technical parameters of the actuator, for example the maximum actuator speed. However, it is not taken into account here whether or how strongly the wheel brake is already applied. Particularly in the case of wheel brakes which are designed as a disc brake and comprise a brake caliper, this can lead to so-called overshoot or undershoot occurring during the rapid release of a greatly applied wheel brake. This means that the desired desired desired forces can be exceeded or underrun during the change to be made and, consequently, the desired desired clamping force F soll is reached with a delay.To check whether there is a risk of an undershoot or overshoot, according to the invention, the required braking power of the electric motor or of the actuator P Akt, soll is calculated first on the basis of the torque M Akt, Soll and the setpoint actuator speed ω Akt, Soll. This braking power is necessary so that the actuator can be held exactly at the new target point and the required desired clamping force F soll can also be achieved at this target point without undershooting or overshoot taking place. On the basis of this braking power P Akt, soll it can then be checked whether a predefined power limit of the actuator P Akt, max could be exceeded. It is thus checked whether the braking power P Akt, soll exceeds a predefined limit value for the maximum power of the actuator P Akt, max.In this case, the necessary braking power of the actuator P Akt, soll can no longer be ensured as well as possible, and there is the risk of undershooting or overshoot. The invention therefore provides for the setpoint actuator speed ω Akt, Soll to be reduced to a modified setpoint actuator speed ω Akt, Soll, mod when the braking power P Akt, soll exceeds the predefined limit value P Akt, max.Accordingly, in the event of the limit value for the maximum power being exceeded, the actor can then be operated instead of the target actuator speed ω Akt, Soll with the modified target actuator speed ω Akt, Soll, mod in order to achieve the target clamping force F soll.According to a preferred embodiment of the invention, it is provided that the currently applied clamping force of the actuator is detected as the actual clamping force F Ist. The actual clamping force F Ist can be measured, for example, by a force sensor or can be carried out on the basis of a model stored in a memory.With the actual clamping force F Ist it can be detected whether the wheel brake is already engaged at the time of the request for the desired clamping force F soll. In other words, it is possible to detect whether and to what extent a brake application force of the wheel brake is already acting. The method can therefore provide for the additional consideration of actual clamping force F Ist for the calculation of torque M Akt, Soll.The invention thus offers a great advantage, in particular if the actuator is installed in an at least partially expandable or deformable component such as a brake caliper. The background is that the housing, in particular a brake caliper housing, can act like a spring, which can generate corresponding counterforces on the actuator during the clamping and release. At the interface between actuator and transmission, therefore, a counter-rotating torque can act, which is proportional to the current actual clamping force F Ist and which can be superimposed by a friction torque, which is mainly dependent on the direction of rotation. The occurrence of an undershoot in the force control is determined by the ratio of the maximum torque or the maximum power of the actuator to the back-drive torque or the back-drive power of the load. The back-drive power corresponds here to the product of the current rotational speed and back-drive torque.Since an actuator or an electric motor can only provide a lower torque at high rotational speeds than at low rotational speeds because of a power limitation, overloading or undesirable operating states of the actuator can occur under certain conditions as a result of unfavourable operating parameters. If, for example, in the case of a high clamping force and standstill of the actuator, the actuator is accelerated backwards to the maximum extent, the drive-back power can become greater than the maximum permissible motor power by superposition of motor torque and drive-back torque.In this case, the rotational speed can then no longer be reduced, but only the increase due to the motor torque can be slowed down. In the aforementioned case, the actuator can remain in this operating state until the back-drive power has fallen below the maximum motor power again by increasing release of the brake. As a result, it may happen that a desired desired clamping force F soll cannot be exactly maintained, but is, for example, undershot, which can then lead to the aforementioned undershoot. This can be disadvantageous precisely in connection with wheel brakes, since a requested braking force can then possibly not be reached as desired or only with a delay.By taking into account the actual clamping force F Ist when calculating the torque M Akt, Soll and calculating the necessary braking power of the actuator P Akt, soll the risk of undershoots or overshoot can be detected in good time by the force control before a potentially critical state is reached. The modification of the setpoint actuator speed ω Akt, Soll is advantageously carried out to a value P Akt, mod, at which the required braking power of the actuator does not exceed the limit value P Akt, max. In this way, it is possible to prevent the actuator from entering the undesired operating state. The modification of the setpoint actuator speed can be effected with computer assistance by the modification unit.According to a further development of the invention, it is provided that the setpoint actuator speed ω Akt, Soll or the setpoint actuator speed ω Akt, Soll,mod is corrected again, in particular further reduced. By means of a correction factor k, the setpoint actuator speed ω Akt, Soll or the setpoint actuator speed ω Akt, Soll, mod can be reduced further with k<=1 accordingly.This correction factor k can be selected as a function of further factors and parameters, including, for example, the current temperature of the actuator, the availability of the on-board power supply system or also possible noise emissions, which can occur, for example, at specific, critical rotational speeds or actuator speeds. The correction factor k can be selected, for example, from a matrix stored in a memory.Accordingly, it may be provided according to the invention to limit or reduce the setpoint actuator speed ω Akt, Soll, mod once again by means of a correction factor k to a modified, corrected setpoint actuator speed ω Akt, Soll, korr and to operate the actuator at the corrected setpoint actuator speed ω Akt, Soll, korr.According to a particularly preferred embodiment of the invention, it can furthermore be provided that, under certain circumstances, the modification and / or the correction of the setpoint actuator speed ω is suspended in Akt. This can be helpful, for example, in detected hazardous situations. It can thus be very advantageous if, for example, sensors of the motor vehicle report an approach of the motor vehicle to an object or another motor vehicle and, consequently, the quickest possible achievement of the desired clamping force F soll enjoys priority over all modifications and / or corrections. In such cases, for example, the correction factor or the correction of the setpoint actuator speed ω Akt, Soll can be suspended according to specific rules. Thus, for example, the correction of the setpoint actuator speed ω Akt, Soll, mod can be suspended with regard to critical rotational speeds, for example with regard to noise emissions, since, for example, in cases of emergency in which rapid and effective braking of the motor vehicle is required, the possible noises are given a lower priority.In conjunction with an ABS control as well, it may be advantageous to suspend the modification and / or the correction of the setpoint actuator speed ω Akt, Soll for example if the wheel has too much slip and an increase in the track stability and a standstill of the wheel is to be prevented. This makes it possible to further reduce the braking distance.Consequently, the modification and / or the correction of the setpoint actuator speed ω Akt, Soll can be overdriven or suspended if the higher-order vehicle control, the onboard computer or the vehicle computer specifies this. The corresponding rules can be stored in a memory of the modification unit.According to a further development of the invention, it is also possible to prioritize the modifications and / or corrections to be carried out by the vehicle controller, the on-board computer or the vehicle computer, it being possible, for example, to access a decision matrix stored in a memory. For example, different types of prioritization depending on the factors can also be stored in the decision matrix, and the correction factor k can be selected accordingly.According to one specific embodiment of the present invention, it may be provided that the modification of setpoint actuator speed ω Akt, Soll to modified setpoint actuator speed ω Akt, Soll, mod and / or the correction of setpoint actuator speed ω Akt, Soll, mod to corrected setpoint actuator speed ωAkt, Soll, mod, take place in a correct manner once. This can be advantageously carried out when a braking cycle begins and the newly set desired clamping force Fdes, holding, deviates from the currently set actual clamping force F Ist. Depending on the output of the test, the actuator can then be operated correctly at the once established setpoint actuator speed ω Akt, Soll, mod or the corrected setpoint actuator speed ωAkt, Soll, mod, until the new setpoint clamping force Fsoll, Hold is reached.According to a further, preferred embodiment of the invention, it can be provided that the modification of the setpoint actuator speed ω Akt, Soll to the modified setpoint actuator speed ω Akt, Soll, mod and / or the correction of the setpoint actuator speed ω Akt, Soll, mod to the corrected setpoint actuator speed ωAkt, Soll, mod, takes place repeatedly, preferably cyclically, during the actual braking process. This makes it possible to change the modification and / or correction of the setpoint actuator speed ω Akt, Soll in order, for example, to be able to react to changes that occur.In a further aspect, the invention also relates to a force regulator unit, in particular for use in or with a control device for a motor vehicle brake, designed to carry out a method as described above.In yet another aspect, the invention also relates to a motor vehicle comprising an electromechanical motor vehicle brake having a force regulator unit as described above.Compared to solutions with a generally more severe limitation of the setpoint actuator speed, the setpoint force-dependent modification and / or correction of the setpoint actuator speed ω Akt, Soll according to the invention offers the advantage that the highest possible system dynamics can be maintained. As a consequence, this means that the motor vehicle brake can be actuated with high dynamics, but at the same time the specific actual application force can also be taken into account in order to avoid an overshoot or undershoot of the actuator.This makes it possible to achieve a distinct improvement in the control quality, in particular with regard to the clamping force control, as a result of which, for example, a shortening of the brake paths can be achieved in conjunction with an ABS control.It is also possible to dispense with travel limitation by corresponding mechanical stops, since the risk of overshoot or undershoot and thus the risk of overshooting of mechanically caused end points can be avoided.Further details of the invention will become apparent from the description of the illustrated embodiments and the appended claims.The drawings show: FIG. 1 shows a simplified illustration of a force regulator unit for the method for regulating an actuator on the basis of an exemplary embodiment, FIG. 2 shows the profile of the braking force of an actuator with the setpoint value and actual value on the basis of an exemplary embodiment, and FIG. 3 shows the profile of the actuator speed with the setpoint value and actual value on the basis of a further exemplary embodiment.In the following detailed description of preferred embodiments, for the sake of clarity, like reference numerals designate substantially like parts in or on those embodiments. However, for better clarification of the invention, the preferred embodiments shown in the figures are not always drawn to scale.FIG. 1 shows a greatly simplified illustration of a force regulator unit 10 for the method for regulating an actuator on the basis of an exemplary embodiment in a schematic view. The force regulator unit 10 is suitable for carrying out the method according to the invention.The force regulator unit 10 has an input for the desired clamping force F soll and an input for the actual clamping force F Ist. Furthermore, an input for the maximum actuator speed ω Akt, max Z Soll is provided. In the exemplary embodiment, the modification unit 11 is integrated into the force regulator unit 10, and the modification unit 11 is designed to implement the aforementioned functions, in particular the modification and / or the correction of the setpoint actuator speed ω Akt, Soll.In the exemplary embodiment, the maximum actuator speed ω Akt, max Z Soll is provided to a limiter 12 which also receives the information about the setpoint actuator speed ω Akt, Soll. The output quantity provided is the setpoint actuator speed ω Akt, Soll or the modified setpoint actuator speed ω Akt, Soll, mod or the corrected modified setpoint actuator speed ω Akt, Soll, korr.The method according to the invention for regulating the actuator, in particular an electric motor for operating an electromechanical motor vehicle brake, thus comprises the following steps:providing a target value for the clamping force of the actuator to be achieved as target clamping force F soll,calculating a target value for the actuator speed as the target actuator speed ω Akt, Soll based on the target clamping force F soll,calculating a torque M Akt, Soll based on the target actuator speed ω Akt, Soll,calculating the required braking power of the actuator P Akt, soll on the basis of the torque M Akt, Soll and the setpoint actuator speed WAkt, Setpoint,checking whether the braking power P Akt, soll exceeds a predefined limit value for the maximum power of the actuator P Akt, max,reducing the setpoint actuator speed ω Akt, Soll to a modified setpoint actuator speed ω Akt, Soll, mod, if the predefined limit value P Akt, max is exceeded,operating the actuator at the setpoint actuator speed ω Akt, Soll or the modified setpoint actuator speed ω Akt, Soll, mod in order to achieve the setpoint clamping force F soll.The setpoint clamping force F soll is provided from a vehicle control system, but can also be provided from an on-board computer or other vehicle computer.The method furthermore provides for the currently applied clamping force of the actuator to be detected as the actual clamping force F Ist which is taken into account for the calculation of the torque M Akt, Soll. A force sensor is provided for detecting the actual clamping force F Ist. Alternatively, however, the actual clamping force F Ist can also be made available from a memory, for example, on the basis of a stored model.If the braking power P Akt, soll exceeds a predefined limit value for the maximum power of the actuator P Akt, max, which is determined depending on the actuator and stored in a memory, the setpoint actuator speed ω Akt, Soll is limited or reduced to a modified setpoint actuator speed ω Akt, Soll, mod. The modified target actuator speed ω Akt, Soll, mod is selected such that a maximum power P Akt, mod of the actuator is reached which does not exceed the limit value P Akt,max. In other words, the maximum power P Akt, mod of the actuator is no longer exceeded by the limitation, and the necessary braking power can be provided exactly.According to a further development of the invention, the modified setpoint actuator speed ω Akt, Soll, mod is again limited by means of a correction factor k to a modified, corrected setpoint actuator speed ω Akt, Soll, korr and the actuator is operated at the corrected setpoint actuator speed ω Akt, Soll, korr. This makes it possible to be able to take account of further parameters and restrictions in connection with the operation of the actuator during the actuation, in particular also those which can change over the life cycle of the wheel brake or which are subject to application-dependent fluctuations.According to a preferred embodiment of the invention, the correction factor k is selected as a function of further factors, including the temperature of the actuator, the availability of the on-board power supply system or critical rotational speeds or actuator speeds, wherein the correction factor k is preferably selected from a matrix stored in a memory.According to a preferred embodiment of the invention, it is furthermore provided that the modification and / or the correction of the setpoint actuator speed ω Akt, Soll can be overdriven or suspended if the higher-order vehicle control or the onboard computer or another vehicle computer specifies this. This can help, for example, in hazardous situations which are detected by on-board sensors to provide the maximum or required braking power, wherein an overshoot or undershoot can be accepted under certain circumstances. The selection of the correction value k for ascertaining the corrected setpoint actuator speed ω Akt, Soll, korr can likewise take place on the basis of a decision matrix stored in a memory.According to one embodiment of the invention, the reduction or modification of the setpoint actuator speed ω Akt, Soll and / or the correction of the setpoint actuator speed ω Akt, Soll takes place once upon receipt of a new setpoint value for the setpoint clamping force F soll.According to another embodiment of the invention, the reduction or modification of the setpoint actuator speed ω Akt, Soll and / or the correction of the setpoint actuator speed ω Akt, Soll takes place repeatedly, preferably cyclically, until the setpoint clamping force F soll,Halten is reached.FIG. 2 shows an exemplary course of the forces in an actuator of a wheel brake according to the invention. The actuator is designed as an electric motor for operating an electromechanical motor vehicle brake. The graph shows the profile of the desired clamping force F soll and that of the actual clamping force F Ist. The illustration shows that the method according to the invention can be used to achieve a rapid attainment of the actual clamping force F Ist even in the event of abrupt changes in the setpoint clamping force F soll.FIG. 3 finally shows an exemplary profile of the actuator speed, wherein the setpoint actuator speed ω Akt, Soll and the current actual actuator speed are shown.

Claims

Method for regulating an actuator, in particular an electric motor for operating an electromechanical motor vehicle brake, comprising at least the following steps: - providing a setpoint value for the clamping force of the actuator to be achieved as the setpoint clamping force F soll, - calculating a setpoint value for the actuator speed as the setpoint actuator speed ω Akt, Soll on the basis of the setpoint clamping force F soll, - calculating a torque M Akt, Soll on the basis of the setpoint actuator speed ω Akt, Soll, - calculating the required braking power of the actuator P Akt, soll on the basis of the torque M Akt, Soll and the setpoint actuator speed WAkt, Setpoint, - checking, whether the braking power P Akt, soll exceeds a predefined limit value for the maximum power of the actuator P Akt, max - reducing the setpoint actuator speed ω Akt, Soll to a modified setpoint actuator speed ω Akt, Soll, mod, if the predefined limit value P Akt, max is exceeded, - operating the actuator at the setpoint actuator speed ω Akt, Soll or the modified setpoint actuator speed ω Akt, Soll, mod in order to achieve the setpoint clamping force F soll.Method for regulating an actuator according to the preceding claim, characterized in that the setpoint clamping force F soll is provided from a vehicle regulation system, from an on-board computer or other vehicle computer.Method for regulating an actuator according to one of the preceding claims, characterized in that the method furthermore comprises the recording of the currently applied clamping force of the actuator as the actual clamping force F Ist.Method for regulating an actuator according to one of the preceding claims, characterized in that the actual clamping force F Ist is additionally taken into account for the calculation of the torque M Akt, Soll.Method for regulating an actuator according to one of the preceding claims, characterized in that a maximum power P Akt, mod of the actuator which does not exceed the limit value P Akt, max is achieved at the modified setpoint actuator speed ω Akt, Soll, mod.Method for regulating an actuator according to one of the preceding claims, characterized in that the modified setpoint actuator speed ω Akt, Soll, mod is once again limited by means of a correction factor k to a modified, corrected setpoint actuator speed ω Akt, Soll, korr and the actuator is operated in a manner correlated with the corrected setpoint actuator speed ωAkt, Soll, mod.Method for regulating an actuator according to one of the preceding claims, characterized in that the correction factor k is selected as a function of further factors comprising the temperature of the actuator, the availability of the on-board power supply system or critical rotational speeds or actuator speeds, wherein the correction factor k is preferably selected from a matrix stored in a memory.Method for regulating an actuator according to one of the preceding claims, characterized in that the modification and / or the correction of the setpoint actuator speed ω Akt, Soll can be overdriven or suspended if the superordinate vehicle regulation or the onboard computer or another vehicle computer specifies this.Method for regulating an actuator according to one of the preceding claims, characterized in that the selection of the correction value k for determining the corrected setpoint actuator speed ωAkt, Soll, mod, takes place in accordance with a decision matrix stored in a memory.Method for regulating an actuator according to one of the preceding claims, characterized in that the reduction or modification of the setpoint actuator speed ω Akt, Soll and / or the correction of the setpoint actuator speed ω Akt, Soll takes place exactly once when a setpoint value for the setpoint clamping force F soll is obtained.Method for regulating an actuator according to one of the preceding claims, characterized in that the reduction or modification of the setpoint actuator speed ω Akt, Soll and / or the correction of the setpoint actuator speed ω Akt, Soll takes place repeatedly, preferably cyclically, until the setpoint clamping force Fnominalis reached.Method for regulating an actuator according to one of the preceding claims, characterized in that the actual clamping force F Ist is detected by means of a force sensor or on the basis of a model stored in a memory.Method for regulating an actuator according to one of the preceding claims, characterized in that a force regulator unit 10 is provided for carrying out the method for regulating.Force regulator unit 10, in particular for use in or with a control device for a motor vehicle brake, designed to carry out a method according to one of the preceding claims.Motor vehicle, comprising an electromechanical motor vehicle brake with a force regulator unit 10 according to the preceding claim.

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