CN109849876B - Brake assembly based on pedal feedback, working state identification method and device and storage medium - Google Patents
Brake assembly based on pedal feedback, working state identification method and device and storage medium Download PDFInfo
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- CN109849876B CN109849876B CN201811509092.0A CN201811509092A CN109849876B CN 109849876 B CN109849876 B CN 109849876B CN 201811509092 A CN201811509092 A CN 201811509092A CN 109849876 B CN109849876 B CN 109849876B
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Abstract
The embodiment of the invention provides a brake assembly based on pedal feedback, a working state identification method, a device and a storage medium, wherein the brake assembly comprises the following components: the brake device comprises a pedal, a pedal operating mechanism, a displacement sensor, a brake adjusting assembly, a brake controller and an elastic element. The embodiment of the invention can improve the takeoff/landing running safety of the airplane.
Description
Technical Field
The invention relates to the field of braking, in particular to a brake assembly based on pedal feedback, a working state identification method and device and a storage medium.
Background
During the takeoff/landing running process of the airplane, a pilot generates a displacement instruction by stepping on a pedal to control the brake pressure so as to decelerate the airplane. In this phase, the pilot relies primarily on his own senses to control the process of the aircraft's retarder braking.
Generally, a brake system of an airplane has three working states of normal, antiskid failure and brake failure, when the brake system is in the latter two working states, namely an 'abnormal' state, a fault prompt (in a mode of lighting and the like) can be carried out on a prompt panel in a cockpit, and after a pilot sees the 'abnormal' state of the brake system, the pilot can adopt a corresponding brake strategy to decelerate the airplane. However, the information on the prompt panel is numerous, in the process of short braking, the pilot usually concentrates the visual attention on the overall state of the aircraft and the situation of the runway in front most of the time, the operation pressure is high, the visual prompt on the prompt panel is usually ignored in the process, so that the pilot cannot receive the abnormal situation of the braking system in the first time, the aircraft is in the antiskid failure state or the braking failure state, and the pilot still operates the aircraft according to the normal state under the unknown state, thereby bringing about serious consequences.
The fault information of the brake system in the cockpit is generally transmitted to the pilot in a visual reminding mode, but the pilot has high operation pressure and tense attention distribution in the airplane braking process, and the transmission of the abnormal state information of the brake system to the pilot by adopting a traditional method increases the operation burden of the pilot and influences the safety of the airplane.
Disclosure of Invention
The embodiment of the invention provides a brake assembly based on pedal feedback, a working state identification method, a working state identification device and a storage medium, which can improve the takeoff/landing running safety of an airplane.
In a first aspect, a brake assembly based on pedal feedback is provided, comprising: the brake device comprises a pedal, a pedal operating mechanism, a displacement sensor, a brake adjusting assembly, a brake controller and an elastic element;
the pedal is fixed on the pedal operating mechanism and is linked with the brake adjusting component through the pedal operating mechanism; the displacement sensor is arranged on the brake adjusting assembly, the brake adjusting assembly is not fixed with one end of the pedal operating mechanism and one end of the elastic element, and the other end of the elastic element is fixed on the inner wall of the aircraft; the control end of the brake controller is connected with the output end of the displacement sensor, and the output end of the brake controller is connected with the control end of the brake adjusting assembly;
the brake controller acquires the working state of a brake system; adjusting instructions to the brake adjusting assembly according to the working state; the brake adjusting component adjusts the damping force according to the adjusting instruction; when the pedals are acted by two feet, the pedal control mechanism pushes the brake adjusting component with the damping force to move, and when the brake controller triggers the brake according to the displacement change acquired by the displacement sensor.
Optionally, the brake adjusting assembly includes: the device comprises a cylinder body, a piston rod and a piston assembly which are matched with the cylinder body, a multi-directional switch and an energy accumulator;
wherein the piston rod penetrates through the cylinder body; the piston rod is nested on the piston; the piston divides the cylinder into a first piston cavity and a second piston cavity;
the multi-way switch comprises at least 4 interfaces, wherein a first interface is connected with the atmosphere, a second interface is connected with the energy accumulator, a third interface is connected with the first piston cavity, and a fourth interface is connected with the second piston cavity;
a reversing mechanism is arranged in the multi-directional switch, and the reversing mechanism has three positions of neutral, left-side deviation and right-side deviation.
The multi-directional switch receives the adjusting instruction, and when the adjusting instruction indicates that the working state is normal, the reversing mechanism is controlled to be switched to a neutral position state, and the first piston cavity and the second piston cavity are communicated with the atmosphere; when the adjustment instruction indicates that the working state is anti-skid failure, controlling a reversing mechanism of the multi-directional switch to be switched to a left offset position state, wherein the first piston cavity is communicated with the atmosphere, and the second piston cavity is communicated with an energy accumulator; and when the adjustment instruction represents that the working state is brake failure, controlling a reversing mechanism of the multi-directional switch to be switched to a right deviation position state, wherein the first piston cavity is communicated with the energy accumulator, and the second piston cavity is communicated with the atmosphere.
Optionally, the multi-way switch is a solenoid directional valve.
Optionally, the cylinder body is a pneumatic cylinder or a hydraulic cylinder.
In a second aspect, a method for identifying a working state is provided, which includes:
acquiring the working state of a brake system;
and controlling the brake adjusting assembly to adjust the pedal damping force of the brake according to the working state.
Optionally, according to the operating condition, the damping force of controlling the brake adjusting assembly to adjust the brake includes:
receiving an adjustment command for adjusting the damping force;
when the adjusting instruction represents that the working state is a normal working state, the reversing mechanism of the multi-directional switch is controlled to be in a neutral position state;
when the adjusting instruction represents that the working state is an anti-skid failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a left deviation position state;
and when the adjusting instruction represents that the working state is a brake failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a right deviation position state.
In a third aspect, an operating state identification device is provided, which includes:
the acquisition module is used for acquiring the working state of the brake system;
and the control module is used for controlling the brake adjusting assembly to adjust the damping force of the brake according to the working state.
In a fourth aspect, an operating state identification apparatus is provided, including:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to:
acquiring the working state of a brake system;
and controlling the brake adjusting assembly to adjust the damping force of the brake according to the working state.
In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the method of claim 5 or 6.
Compared with sensing ways such as image and sound depending on eyes and ears, the method for sensing the working state of the brake system by adopting the leg and foot touch sense is independent of other sensing methods, the conventional sensing channel of a pilot is not occupied, meanwhile, the legs and the feet are used as the body parts of the pilot for braking operation and are fed back to the legs and the feet through the adjustment of the damping force of the pedals, the pilot can accept the method more easily, the misoperation probability can be effectively reduced, and the takeoff/landing running safety of an airplane is improved.
Drawings
FIG. 1 is a schematic structural diagram of a brake assembly based on pedal feedback according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a brake assembly based on pedal feedback according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for identifying a working status according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an operating status recognition apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an operating status recognition apparatus according to an embodiment of the present invention.
Detailed Description
Example one
An embodiment of the present invention provides a brake assembly based on pedal feedback, as shown in fig. 1, the brake assembly includes:
a pedal 101, a pedal operating mechanism 102, a displacement sensor 103, a brake adjusting assembly 104, a brake controller 105 and an elastic element 106;
the pedal 101 is fixed on the pedal operating mechanism 102, and the pedal 101 is linked with the brake adjusting assembly 104 through the pedal operating mechanism 102; the displacement sensor 103 is arranged on a brake adjusting assembly 104, one end of the brake adjusting assembly 104, which is not fixed with one end of the pedal operating mechanism 102 and one end of an elastic element 106, and the other end of the elastic element 106 is fixed on the inner wall of the aircraft; the control end of the brake controller 105 is connected with the output end of the displacement sensor 103, and the output end of the brake controller 105 is connected with the control end of the brake adjusting assembly 104;
the brake controller 105 obtains the working state of the brake system; sending an adjusting instruction to the brake adjusting component 104 according to the working state; the brake adjusting assembly 104 adjusts the damping force according to the adjusting instruction; when the two feet act on the pedal 101, the brake adjusting component 104 at the damping force is pushed to move by the pedal operating mechanism 102, and when the brake controller 105 triggers braking according to the displacement change acquired by the displacement sensor 103.
In the process of executing brake operation by a pilot, double feet act on the pedal 101, the brake adjusting assembly 104 generates corresponding displacement through the pedal operating mechanism 102, the displacement sensor 103 outputs a corresponding displacement signal a to the brake controller 105, the brake controller 105 outputs a corresponding instruction to the brake executing element according to the displacement signal a, meanwhile, the brake controller 105 judges the working state of the brake system, and outputs a working state instruction b to the brake adjusting assembly 104.
When the brake system is in a normal state, the brake controller 105 outputs a corresponding instruction to the brake adjusting assembly 104, so that the damping force of the pedal is kept unchanged and is transmitted to the leg of the pilot through the pedal control mechanism 102, and the pilot only needs to overcome the resistance of the elastic element 106 when stepping on the pedal for braking; when the brake system is in the antiskid failure state, the brake controller 105 outputs a corresponding instruction to the brake adjusting assembly 104, so that the pedal damping force of the brake adjusting assembly is obviously increased and is transmitted to the leg of the pilot through the pedal control mechanism 102 to prompt the pilot of the antiskid failure state at the moment; when the brake system is in a brake failure state, the brake controller 105 sends a corresponding command to the brake adjusting assembly 104, so that the pedal damping force is significantly reduced and transmitted to the leg of the pilot through the pedal control mechanism 102, and the pilot is prompted to disable the brake at the moment.
The working state of the airplane brake system is reflected by the pedal damping force in the braking process.
The damping force is obviously increased to represent that the brake system is in an anti-skid failure state; a significant decrease in the damping force is indicative of the braking system being in a brake failure state.
Compared with sensing ways such as images and sounds depending on eyes and ears, the embodiment of the invention adopts a method that the working state of the brake system is sensed by the leg and foot touch sense and is independent of other sensing ways, does not occupy the existing sensing channel of a pilot, and meanwhile, the legs and feet are used as the body part of the pilot for braking operation and are fed back to the legs and feet through the adjustment of the damping force of the pedals, so that the pilot can accept the method more easily, the misoperation probability can be effectively reduced, and the takeoff/landing running safety of an airplane is improved.
Further, as shown in fig. 2, the brake assembly includes:
the brake system comprises a pedal 101, a pedal operating mechanism 102, a displacement sensor 103, a brake adjusting assembly 104, a brake controller 105, an elastic element 106, a cylinder 107, a piston rod and piston assembly 108 matched with the cylinder, a multi-directional switch 109 and an energy accumulator 110;
wherein the piston rod penetrates through the cylinder body; the piston rod is nested on the piston; the piston divides the cylinder into a first piston cavity and a second piston cavity;
the multi-way switch 109 comprises at least 4 ports, wherein a first port is connected with the atmosphere, a second port is connected with the accumulator, a third port is connected with the first piston cavity, and a fourth port is connected with the second piston cavity;
the multi-directional switch 109 has a reversing mechanism therein, and the reversing mechanism has three positions of neutral, left-biased and right-biased.
The multi-directional switch 109 receives the adjusting instruction, and when the adjusting instruction indicates that the working state is normal, the reversing mechanism of the multi-directional switch 109 is controlled to be switched to a neutral position state, and the first piston cavity and the second piston cavity are communicated with the atmosphere; when the adjustment instruction indicates that the working state is anti-skid failure, controlling the reversing mechanism of the multi-way switch 109 to be switched to a left-offset position state, wherein the first piston cavity is communicated with the atmosphere, and the second piston cavity is communicated with the energy accumulator 110; when the adjustment instruction indicates that the working state is a brake failure, the reversing mechanism of the multi-directional switch 109 is controlled to be switched to a right-biased position state, at the moment, the first piston cavity is communicated with the energy accumulator 110, and the second piston cavity is communicated with the atmosphere.
In the process of executing brake operation by a pilot, double feet act on a pedal 101 to generate displacement, a piston rod and a piston assembly 108 matched with the cylinder body generate corresponding displacement through a pedal operation mechanism 102, a displacement signal is transmitted to a brake controller 105 through a displacement sensor 103, the brake controller 105 outputs a corresponding instruction to a brake execution element according to the displacement signal, and meanwhile, the brake controller 105 judges the working state of a brake system and transmits a related instruction to a multi-way switch 109 according to the working state.
When the braking system is in a normal state, the brake controller 105 sends a corresponding instruction to the multi-directional switch 109, controls the reversing mechanism of the multi-directional switch 109 to be switched to a neutral position state, a first piston cavity and a second piston cavity of the cylinder body 107 are communicated with atmosphere, the energy accumulator 110 is separated from the first piston cavity, the second piston cavity and the atmosphere, and the damping force of the elastic element 106 needs to be overcome when a pilot steps on the pedal for braking; when the brake system is in an anti-skid failure state, the brake controller 105 sends a corresponding instruction to the multi-directional switch 109, controls the reversing mechanism of the multi-directional switch 109 to be switched to a left-offset state, the energy accumulator 110 is communicated with the second piston cavity of the cylinder body 107, gas pressure enters the second piston cavity, when a pilot steps on the pedal to brake, the damping force of the elastic element 106 and the pressure of the second piston cavity of the cylinder body 107 need to be overcome, and the damping force of the pedal is obviously increased; when the brake system is in a brake failure state, the brake controller 105 sends a corresponding instruction to the multi-directional switch 109, controls the reversing mechanism of the multi-directional switch 109 to be switched to a right-biased position state, the energy accumulator 110 is communicated with the first piston cavity of the cylinder 107, gas pressure enters the first piston cavity, and when a pilot steps on the pedal to brake, the pilot only needs to overcome the difference between the pressure of the first piston cavity of the cylinder 107 and the damping force of the elastic element 106, so that the pedal damping force is obviously reduced.
Further, the multi-way switch is a solenoid directional valve.
Further, the cylinder body is a cylinder or a hydraulic cylinder.
Example two
An embodiment of the present invention provides a method for identifying a working state, as shown in fig. 3, the method includes:
And step 202, controlling the brake adjusting assembly to adjust the pedal damping force of the brake according to the working state.
Compared with sensing ways such as image and sound depending on eyes and ears, the method for sensing the working state of the brake system by adopting the leg and foot touch sense is independent of other sensing methods, the conventional sensing channel of a pilot is not occupied, meanwhile, the legs and the feet are used as the body parts of the pilot for braking operation and are fed back to the legs and the feet through the adjustment of the damping force of the pedals, the pilot can accept the method more easily, the misoperation probability can be effectively reduced, and the takeoff/landing running safety of an airplane is improved.
Further, step 202 may include:
the multi-directional switch 109 receives the adjustment instruction; when the adjustment instruction indicates that the working state is a normal working state, the reversing mechanism of the multi-directional switch 109 is controlled to be in a neutral position state; when the adjustment instruction indicates that the working state is an anti-skid failure working state, the reversing mechanism of the multi-directional switch 109 is controlled to be in a left offset position state; when the adjustment instruction indicates that the working state is a brake failure working state, the reversing mechanism of the multi-directional switch 109 is controlled to be in a right deviation position state.
EXAMPLE III
An embodiment of the present invention provides a device for identifying a working state, as shown in fig. 4, including:
the obtaining module 301 is configured to obtain a working state of a brake system;
and the control module 302 is configured to control the brake adjusting assembly to adjust the damping force of the brake according to the working state.
Compared with sensing ways such as image and sound depending on eyes and ears, the method for sensing the working state of the brake system by adopting the leg and foot touch sense is independent of other sensing methods, the conventional sensing channel of a pilot is not occupied, meanwhile, the legs and the feet are used as the body parts of the pilot for braking operation and are fed back to the legs and the feet through the adjustment of the damping force of the pedals, the pilot can accept the method more easily, the misoperation probability can be effectively reduced, and the takeoff/landing running safety of an airplane is improved.
Further, the control module 302 includes:
a receiving unit configured to receive an adjustment instruction for adjusting the damping force;
a control unit for: when the adjusting instruction indicates that the working state is a normal working state, the reversing mechanism of the multi-directional switch is controlled to be in a neutral position state; when the adjusting instruction indicates that the working state is an anti-skid failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a left deviation position state; and when the adjusting instruction represents that the working state is a brake failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a right deviation position state.
Example four
An embodiment of the present invention provides a device for identifying a working state, which is applied to a brake controller, as shown in fig. 5, and includes:
a processor 401;
a memory 402 for storing the processor-executable instructions;
wherein the processor 401 is configured to:
acquiring the working state of a brake system;
and controlling the brake adjusting assembly to adjust the damping force of the brake according to the working state.
The processor 401 is configured to:
receiving an adjustment command for adjusting the damping force;
when the adjusting instruction represents that the working state is a normal working state, the reversing mechanism of the multi-directional switch is controlled to be in a neutral position state;
when the adjusting instruction indicates that the working state is an anti-skid failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a left deviation position state;
and when the adjusting instruction represents that the working state is a brake failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a right deviation position state.
EXAMPLE five
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method according to the second aspect.
Claims (7)
1. A brake assembly based on pedal feedback, comprising: the brake device comprises a pedal, a pedal operating mechanism, a displacement sensor, a brake adjusting assembly, a brake controller and an elastic element;
the pedal is fixed on the pedal operating mechanism and is linked with the brake adjusting component through the pedal operating mechanism; the displacement sensor is arranged on the brake adjusting assembly, one end of the brake adjusting assembly, which is not connected with the pedal operating mechanism, is fixed with one end of the elastic element, and the other end of the elastic element is fixed on the inner wall of the aircraft; the control end of the brake controller is connected with the output end of the displacement sensor, and the output end of the brake controller is connected with the control end of the brake adjusting assembly;
the brake controller acquires the working state of a brake system; sending an adjusting instruction to the brake adjusting component according to the working state; the brake adjusting component adjusts the damping force according to the adjusting instruction; when the pedals are acted by two feet, the pedal control mechanism pushes the brake adjusting component at the damping force to move, and when the brake controller triggers the brake according to the displacement change acquired by the displacement sensor;
the brake adjustment assembly includes: the device comprises a cylinder body, a piston rod and a piston which are matched with the cylinder body, a multi-directional switch and an energy accumulator;
wherein the piston rod penetrates through the cylinder body; the piston rod is nested on the piston; the piston divides the cylinder into a first piston cavity and a second piston cavity;
the multi-way switch comprises at least 4 interfaces, wherein a first interface is connected with the atmosphere, a second interface is connected with the energy accumulator, a third interface is connected with the first piston cavity, and a fourth interface is connected with the second piston cavity;
a reversing mechanism is arranged in the multi-directional switch, and the reversing mechanism has three positions of neutral, left-side deviation and right-side deviation;
the multi-directional switch receives the adjusting instruction, and when the adjusting instruction indicates that the working state is normal, the reversing mechanism is controlled to be switched to a neutral position state, and the first piston cavity and the second piston cavity are communicated with the atmosphere; when the adjustment instruction indicates that the working state is anti-skid failure, controlling a reversing mechanism of the multi-directional switch to be switched to a left offset position state, wherein the first piston cavity is communicated with the atmosphere, and the second piston cavity is communicated with an energy accumulator; and when the adjustment instruction represents that the working state is brake failure, controlling a reversing mechanism of the multi-directional switch to be switched to a right deviation position state, wherein the first piston cavity is communicated with the energy accumulator, and the second piston cavity is communicated with the atmosphere.
2. The pedal feedback-based brake assembly of claim 1, wherein the multi-way switch is a solenoid directional valve.
3. The pedal feedback-based brake assembly of claim 1, wherein the cylinder is a pneumatic or hydraulic cylinder.
4. A method for identifying an operating state of a brake assembly based on pedal feedback according to any one of claims 1 to 3, comprising:
acquiring the working state of a brake system;
controlling a brake adjusting component to adjust the damping force of a brake pedal according to the working state;
according to operating condition, the damping force of control brake adjusting part regulation brake includes:
receiving an adjustment command for adjusting the damping force;
when the adjusting instruction represents that the working state is a normal working state, the reversing mechanism of the multi-directional switch is controlled to be in a neutral position state;
when the adjusting instruction represents that the working state is an anti-skid failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a left deviation position state;
and when the adjusting instruction represents that the working state is a brake failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a right deviation position state.
5. An operating state recognition apparatus of a pedal feedback-based brake assembly according to any one of claims 1 to 3, comprising:
the acquisition module is used for acquiring the working state of the brake system;
the control module is used for controlling the brake adjusting assembly to adjust the damping force of the brake according to the working state;
the control module is specifically configured to: receiving an adjustment command for adjusting the damping force; when the adjusting instruction represents that the working state is a normal working state, the reversing mechanism of the multi-directional switch is controlled to be in a neutral position state; when the adjusting instruction represents that the working state is an anti-skid failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a left deviation position state; and when the adjusting instruction represents that the working state is a brake failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a right deviation position state.
6. An operating state recognition apparatus of a pedal feedback-based brake assembly according to any one of claims 1 to 3, comprising: a processor; a memory for storing the processor-executable instructions;
wherein the processor is configured to:
acquiring the working state of a brake system;
controlling a brake adjusting component to adjust the damping force of the brake according to the working state;
according to operating condition, the damping force of control brake adjusting part regulation brake includes:
receiving an adjustment command for adjusting the damping force;
when the adjusting instruction represents that the working state is a normal working state, the reversing mechanism of the multi-directional switch is controlled to be in a neutral position state;
when the adjusting instruction represents that the working state is an anti-skid failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a left deviation position state;
and when the adjusting instruction represents that the working state is a brake failure working state, the reversing mechanism of the multi-directional switch is controlled to be in a right deviation position state.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of claim 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811509092.0A CN109849876B (en) | 2018-12-11 | 2018-12-11 | Brake assembly based on pedal feedback, working state identification method and device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811509092.0A CN109849876B (en) | 2018-12-11 | 2018-12-11 | Brake assembly based on pedal feedback, working state identification method and device and storage medium |
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| CN109849876B true CN109849876B (en) | 2022-03-15 |
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Families Citing this family (3)
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| CN110937106B (en) * | 2019-12-10 | 2023-05-30 | 湖南山河科技股份有限公司 | Foot operating mechanism and foot operating system for light aircraft |
| CN110920873A (en) * | 2019-12-13 | 2020-03-27 | 北京青云航空仪表有限公司 | Pedal brake mechanism based on torsion bar |
| CN114382819B (en) * | 2020-10-16 | 2024-04-09 | 中航西飞民用飞机有限责任公司 | Aircraft rudder pedal damper |
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| JP2002104153A (en) * | 2000-09-28 | 2002-04-10 | Denso Corp | Braking device for vehicle |
| EP1512599A1 (en) * | 2003-09-04 | 2005-03-09 | Toyoda Iron Works Co., Ltd. | Apparatus for applying a reaction force to a pivotally supported pedal member upon depression thereof |
| CN204567631U (en) * | 2015-03-20 | 2015-08-19 | 同济大学 | A kind of semi-active type pedal sense simulator |
| CN105523020A (en) * | 2014-10-15 | 2016-04-27 | 福特全球技术公司 | System and method for brake pedal feel control |
| CN107226076A (en) * | 2017-05-17 | 2017-10-03 | 江苏理工学院 | A kind of brake feel analogue means based on motor force |
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- 2018-12-11 CN CN201811509092.0A patent/CN109849876B/en active Active
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|---|---|---|---|---|
| JP2002104153A (en) * | 2000-09-28 | 2002-04-10 | Denso Corp | Braking device for vehicle |
| EP1512599A1 (en) * | 2003-09-04 | 2005-03-09 | Toyoda Iron Works Co., Ltd. | Apparatus for applying a reaction force to a pivotally supported pedal member upon depression thereof |
| CN105523020A (en) * | 2014-10-15 | 2016-04-27 | 福特全球技术公司 | System and method for brake pedal feel control |
| CN204567631U (en) * | 2015-03-20 | 2015-08-19 | 同济大学 | A kind of semi-active type pedal sense simulator |
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