CN110614985B - Brake mitigation control method and device - Google Patents
Brake mitigation control method and device Download PDFInfo
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- CN110614985B CN110614985B CN201910916326.1A CN201910916326A CN110614985B CN 110614985 B CN110614985 B CN 110614985B CN 201910916326 A CN201910916326 A CN 201910916326A CN 110614985 B CN110614985 B CN 110614985B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
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- Regulating Braking Force (AREA)
Abstract
The invention discloses a brake release control method and a brake release control device, wherein a driving parameter of a vehicle is obtained by obtaining a brake release instruction, whether the driving parameter meets at least one preset requirement is determined, and if so, the current release brake mode is determined according to the brake release instruction as follows: and controlling the pressure value of a brake cylinder of a brake mechanism of the vehicle to be reduced according to the slow-speed-relieving braking mode, wherein the reduction rate of the first reduction mode is lower than the preset rate, and when the vehicle is in a specific running working condition, the braking relieving process of the vehicle can be controlled according to the slow-speed-relieving braking mode, so that the vehicle has sufficient time to establish traction force enough to overcome starting resistance in the braking relieving process, the vehicle sliding risk is avoided, and the braking impact force is reduced.
Description
Technical Field
The invention relates to the technical field of air braking, in particular to a braking mitigation control method and device.
Background
With the improvement of air brake technology, the technology of locomotive brake release control is continuously improved.
Brake release is the process by which the braking action is reduced or eliminated. In the prior art, in order to reduce the response time of the locomotive and improve the rapidity of locomotive control, the locomotive is provided with a larger brake release rate (a reduction value of a braking force in unit time) in an automatic driving mode.
However, in the process of automatic starting of the locomotive on a slope, after a braking relieving instruction is obtained, sufficient traction force cannot be established in time due to a large braking relieving speed, and further slipping can be caused, so that the process of starting the locomotive on the slope completely depends on manual operation of a driver.
Disclosure of Invention
In view of the above problems, the present invention provides a brake release control method and device that overcomes or at least partially solves the above problems, and the technical solution is as follows:
a brake mitigation control method, the method comprising:
obtaining a braking relieving instruction and obtaining a running parameter of the vehicle;
determining whether the running parameters meet at least one preset requirement, if so, determining that the current braking relieving mode is as follows according to the braking relieving instruction: a slow-release braking mode;
and controlling the brake cylinder pressure value of a brake mechanism of the vehicle to be reduced according to the slow relieving brake mode according to a preset first reduction mode, wherein the reduction rate of the first reduction mode is lower than a preset rate.
Optionally, the obtaining a braking mitigation instruction and obtaining a driving parameter of the vehicle include:
and when the vehicle is in an automatic driving mode, obtaining a braking relieving instruction and obtaining the running parameters of the vehicle.
Optionally, the driving parameters include: road grade and/or travel speed.
Optionally, the driving parameters include: and when the road gradient and the running speed are required, the preset requirements are as follows: the road grade is greater than a preset grade threshold, or the travel speed is less than a preset speed threshold.
Optionally, the controlling, according to the slow-release braking manner, a brake cylinder pressure value of a braking mechanism of the vehicle to be reduced according to a preset first reduction manner includes:
according to the slow-release braking mode, obtaining an initial pressure value of a brake cylinder matched with the position of an individual brake controller in a braking mechanism of the vehicle at the current moment;
determining brake cylinder pressure values of a vehicle at a plurality of moments in a driving process after the current moment according to a preset brake cylinder pressure value reduction formula and the brake cylinder initial pressure value;
and controlling the single brake controller to move to a position matched with the brake cylinder pressure value according to the brake cylinder pressure value corresponding to the moment at the moments in the driving process after the current moment.
Optionally, the preset brake cylinder pressure value reduction formula is as follows:
P0＝P1-n*T*Pm/t
wherein, P0For the brake cylinder pressure control target value after the current time, P1The initial pressure value of the brake cylinder, n is the operation cycle number of the brake system control program, T is the operation cycle of the brake system control program, PmAnd T is a preset duration parameter value for controlling the release rate, wherein the time interval between each moment after the current moment and the adjacent previous moment is T.
Optionally, the method further includes:
if the current running state of the vehicle is not the preset state, determining that the current brake releasing mode is as follows according to the brake releasing instruction: a braking mode is quickly relieved;
and controlling the braking force of a braking mechanism of the vehicle to be reduced according to the quick release braking mode according to a preset second reduction mode, wherein the reduction rate of the second reduction mode is greater than that of the first reduction mode.
A brake mitigation control apparatus, the apparatus comprising: a first obtaining unit, a first mode determining unit, and a first pressure control unit, wherein:
the first obtaining unit is used for obtaining a braking relieving instruction and obtaining the running parameters of the vehicle;
the first mode determining unit is used for determining whether the driving parameters meet at least one preset requirement, and if so, determining that the current braking mode for relieving the braking is as follows according to the braking relieving instruction: a slow-release braking mode;
the first pressure control unit is used for controlling the brake cylinder pressure value of the brake mechanism of the vehicle to be reduced according to the slow relieving brake mode in a preset first reduction mode, and the reduction rate of the first reduction mode is lower than a preset rate.
Optionally, the first obtaining unit is specifically configured to:
and when the vehicle is in an automatic driving mode, obtaining a braking relieving instruction and obtaining the running parameters of the vehicle.
Optionally, the driving parameters include: road grade and/or travel speed.
Optionally, the driving parameters include: and when the road gradient and the running speed are required, the preset requirements are as follows: the road grade is greater than a preset grade threshold, or the travel speed is less than a preset speed threshold.
Optionally, the first pressure control unit specifically includes: initial pressure obtaining unit, pressure confirm unit and movement control unit, wherein:
the initial pressure obtaining unit is used for obtaining an initial pressure value of a brake cylinder matched with the position of an individual brake controller in a brake mechanism of the vehicle at the current moment according to the slow-release braking mode;
the pressure determining unit is used for determining brake cylinder pressure values of a plurality of moments in the running process of the vehicle after the current moment according to a preset brake cylinder pressure value reduction formula and the brake cylinder initial pressure value;
and the movement control unit is used for controlling the single brake controller to move to a position matched with the brake cylinder pressure value according to the brake cylinder pressure value corresponding to the moment at the moments in the driving process after the current moment.
Optionally, the preset brake cylinder pressure value reduction formula is as follows:
P0＝P1-n*T*Pm/t
wherein, P0For the brake cylinder pressure control target value after the current time, P1The initial pressure value of the brake cylinder, n is the operation cycle number of the brake system control program, T is the operation cycle of the brake system control program, PmThe maximum brake cylinder pressure value during service braking and t is controlAnd a preset duration parameter value of the mitigation rate, wherein the time interval between each moment after the current moment and the adjacent previous moment is T.
Optionally, the apparatus further comprises: a second mode determination unit and a second pressure control unit, wherein:
the second mode determining unit is configured to determine, according to the brake release instruction, that the current release braking mode is: a braking mode is quickly relieved;
and the second pressure control unit is used for controlling the braking force of a braking mechanism of the vehicle to be reduced according to a preset second reduction mode according to the quick-release braking mode, and the reduction rate of the second reduction mode is greater than that of the first reduction mode.
The invention discloses a brake release control method and a brake release control device, wherein a driving parameter of a vehicle is obtained by obtaining a brake release instruction, whether the driving parameter meets at least one preset requirement is determined, and if so, the current release brake mode is determined according to the brake release instruction as follows: and controlling the pressure value of a brake cylinder of a brake mechanism of the vehicle to be reduced according to the slow-speed-relieving braking mode, wherein the reduction rate of the first reduction mode is lower than the preset rate, and when the vehicle is in a specific running working condition, the braking relieving process of the vehicle can be controlled according to the slow-speed-relieving braking mode, so that the vehicle has sufficient time to establish traction force enough to overcome starting resistance in the braking relieving process, the vehicle sliding risk is avoided, and the braking impact force is reduced.
Drawings
Fig. 1 is a flowchart of a brake release control method according to the present embodiment;
FIG. 2 is a flow chart of another method of brake mitigation control proposed by the present embodiment;
FIG. 3 is a flow chart of another method of brake mitigation control proposed by the present embodiment;
fig. 4 is a schematic structural diagram of a brake release control apparatus according to the present embodiment;
fig. 5 is a schematic structural diagram of another brake release control apparatus according to the present embodiment;
fig. 6 is a schematic structural diagram of another brake release control apparatus according to the present embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention proposes a brake release control method, which may include the steps of:
s10, obtaining a braking relieving instruction and obtaining the driving parameters of the vehicle;
optionally, the vehicle in the invention can be a locomotive or a working vehicle.
The brake release is the brake release, and the brake release instruction is generated when the brake of the vehicle is reduced or released. After the vehicle receives the brake release instruction, the vehicle can be braked and released according to a corresponding brake release mode.
It should be noted that the present invention can be performed in an automatic driving mode and a manual driving mode of a vehicle.
Optionally, step S10 may specifically include:
and when the vehicle is in an automatic driving mode, obtaining a braking relieving instruction and obtaining the running parameters of the vehicle.
Optionally, step S10 may also specifically include:
and when the vehicle is in a manual driving mode, obtaining a braking relieving instruction and obtaining the driving parameters of the vehicle.
Specifically, when the vehicle is in an automatic driving mode, the slow-release braking mode in the invention is added in the control logic of the microcomputer braking control unit, so that when the condition that the slow-release braking mode in the invention is triggered occurs in the running process of the vehicle, the invention can control the current braking release process of the vehicle according to the slow-release braking mode; when the condition of triggering the slow speed relieving braking mode in the invention does not occur in the running process of the vehicle, the invention can control the automatic braking relieving process of the current vehicle according to the relieving braking mode in the prior art.
Specifically, the present invention may be provided with a switch for turning on or off the slow-release brake control mode of the present invention on the vehicle. When the switch is turned on, no matter the vehicle is in an automatic driving mode or a manual driving mode, the invention can add a slow speed relieving braking mode in the invention in the control logic of the microcomputer braking control unit; when the switch is closed and the vehicle is in a manual driving mode, the microcomputer brake control unit controls the brake relieving process of the vehicle according to the manual operation of a driver; when the switch is closed and the vehicle is in an automatic driving mode, the microcomputer brake control unit controls the automatic brake release process of the vehicle according to the brake release mode in the prior art.
The driving parameters of the vehicle can reflect the driving state of the vehicle and the states of all devices in the vehicle.
Optionally, the driving parameters may include: road grade and/or travel speed.
The road gradient may include the gradient of the road on which the vehicle is located when ascending, or may include the gradient of the road on which the vehicle is located when descending.
The vehicle may measure the gradient value of the road through the gradient sensor during the driving process, and may measure the driving speed through the speed sensor during the driving process, it should be noted that the invention is not limited to the type of the sensor used for obtaining the gradient and the driving speed of the road.
Of course, the running parameters of the vehicle may also include resistance, acceleration and fuel during running of the vehicle. The present invention is not limited to the type of the vehicle driving parameter.
It should be noted that, in step S10, the execution order of obtaining the braking mitigation instruction and obtaining the driving parameter of the vehicle according to the present invention is not sequential, that is, the braking mitigation instruction may be obtained in advance, the driving parameter of the vehicle may be obtained again, the driving parameter of the vehicle may be obtained in advance, the braking mitigation instruction may be obtained again, or both the braking mitigation instruction and the driving parameter may be obtained simultaneously.
S20, determining whether the driving parameters meet at least one preset requirement, if so, determining that the current brake releasing mode is as follows according to the brake releasing instruction: a slow-release braking mode;
the slow-release braking mode provided by the invention is opposite to the (fast) release braking mode provided by the prior art when the vehicle is in the automatic driving mode.
It should be noted that, in the prior art, if a vehicle in an automatic driving mode performs automatic braking under a specific driving condition (such as hill start), the vehicle cannot have enough time to build the traction to a certain value by quickly releasing the braking so as to overcome the force preventing the vehicle from advancing, such as gravity, road resistance or braking force, and thus the vehicle speed is reduced or even slips.
When the driving parameters meet the preset requirements, the method can consider that the vehicle is currently in a specific driving working condition.
The number of preset requirements set by the vehicle is not limited. Moreover, specific contents of the preset requirements can be formulated by technicians according to the aspects of the relevant brake standard requirements, the vehicle brake performance, the actual brake requirements and the like, and the invention is not limited to this.
The specific driving condition may also be determined by a technician according to the related braking standard requirements, the vehicle braking performance, the actual braking requirements, and the like, which is not limited in the present invention.
Alternatively, a technician may determine the type of the specific driving condition in advance, determine the type of the corresponding driving parameter according to the characteristic of the specific driving condition, and determine the specific preset requirement. For example, when the specific driving condition is hill start, the invention may use the gradient of the road on which the vehicle is traveling as the driving parameter to be obtained, and use whether the gradient of the road is greater than a preset gradient threshold value as the preset requirement.
Specifically, the invention can control the brake release process of the vehicle in the hill start according to the slow release brake mode.
And S30, controlling the brake cylinder pressure value of the brake mechanism of the vehicle to be reduced according to the slow release braking mode according to a preset first reduction mode, wherein the reduction rate of the first reduction mode is lower than a preset rate.
When the vehicle brakes, air enters the brake cylinder, the pressure of the brake cylinder is increased, the pressure pushes the piston to move, and then the piston is conducted by the foundation brake device to act on the brake shoe, so that the brake shoe presses the wheel; when the brake is released, air in the brake cylinder is exhausted, the pressure of the brake cylinder is reduced, the piston is pushed back to the original position by the brake release spring, and the brake shoe is separated from the wheel.
When the pressure value of the brake cylinder is reduced, the braking force output by the brake mechanism is reduced, and the braking is relieved; when the pressure of the brake cylinder is increased, the braking force output by the braking mechanism is increased along with the pressure, and the vehicle is braked or the braking action is strengthened.
The reduction rate of the first reduction mode is a difference of the brake cylinder pressure values at adjacent times in a unit time, for example, when the brake cylinder pressure value at the current time of the brake mechanism is 1000 pa, and the brake cylinder pressure value at the next time is reduced to 900 pa, the reduction rate is a value obtained by dividing the difference (i.e., 100 pa) between 1000 pa and 900 pa by the time interval at the adjacent time.
The first reduction mode may be set by a technician according to the braking related standard requirement, the vehicle braking performance, the actual braking requirement, and the like, and the invention is not limited thereto.
The preset rate may also be set by a technician in consideration of actual conditions, which is not limited in the present invention.
Alternatively, the rate of reduction in the present invention may be varied.
Specifically, the invention may associate the value of the reduction rate with the type and value of the driving parameter, so that the reduction rate may be changed along with the change of the type or value of the driving parameter, so that the vehicle may obtain a better or optimal reduction rate in a corresponding specific working condition.
Of course, the reduction rate in the present invention may also be a single value, i.e. the reduction rate is fixed for any type and value of driving parameter, which is advantageous for the simplification of the control logic.
Specifically, the present invention may place software code implementing the first reduction mode in the brake microcomputer control unit of the vehicle, so that the present invention may use the slow release braking mode for brake release under specific conditions.
In practical applications, the road gradient and the running speed may be used as the running parameters for determining whether the vehicle is taking off a hill, that is, the running parameters obtained in step S10 are the road gradient and the running speed. At the same time, road grade threshold and travel speed threshold are preset, with the preset requirements set to: the road gradient obtained in step S10 is greater than a preset road gradient threshold value, and the travel speed obtained in step S10 is greater than a preset travel speed threshold value.
Specifically, when the vehicle is in an automatic driving mode and the driving parameters meet preset requirements, the method can judge that the current driving working condition of the vehicle is automatic hill start, and when the vehicle has a brake release instruction, the method can control the pressure value of the brake cylinder according to a slow release brake control mode to reduce according to a first reduction mode, namely the pressure of the brake cylinder is reduced at a reduction rate in the first reduction mode, so that the vehicle has sufficient time to establish traction force enough to overcome starting resistance in the brake release process, the vehicle sliding risk is avoided, and the brake impact force is reduced.
Or, the vehicle may first obtain the brake release instruction and then determine whether the vehicle is currently in the automatic driving mode and whether the driving parameter meets the preset requirement (corresponding to the specific driving condition of the automatic hill start), and the present invention does not limit the determination of whether the vehicle is in the automatic driving mode and the sequence of executing the two instructions obtained in step S10.
Of course, when the vehicle is in the manual driving mode and the slow release brake control switch is turned on, the invention can also control the brake release process of the vehicle according to the slow release brake control mode in the process of hill start of the vehicle, thereby completing the hill start of the vehicle.
According to the brake mitigation control method provided by the embodiment, the driving parameter of the vehicle is obtained by obtaining the brake mitigation instruction, whether the driving parameter meets at least one preset requirement is determined, and if so, the current mitigation braking mode is determined according to the brake mitigation instruction as follows: and controlling the pressure value of a brake cylinder of a brake mechanism of the vehicle to be reduced according to the slow-speed-relieving braking mode, wherein the reduction rate of the first reduction mode is lower than the preset rate, and when the vehicle is in a specific running working condition, the braking relieving process of the vehicle can be controlled according to the slow-speed-relieving braking mode, so that the vehicle has sufficient time to establish traction force enough to overcome starting resistance in the braking relieving process, the vehicle sliding risk is avoided, and the braking impact force is reduced.
Based on the steps shown in fig. 1, the present embodiment proposes another brake mitigation control method in which, in the running parameters, there are: the preset requirements may be, for example, at road grade and travel speed: the road grade is greater than a preset grade threshold, or the travel speed is less than a preset speed threshold.
When the vehicle is braked and relieved during running on a road with a road gradient greater than a certain value, if the braking is relieved in a mode of quickly relieving the braking, the vehicle may have a situation that the vehicle has no time to build enough traction force to cause vehicle sliding (such as during the running of the vehicle on a hill start, an ascending slope or a descending slope), and in addition, the vehicle may also be subjected to an excessive braking impact force due to a quick braking speed relieving rate, so that vehicle equipment is damaged.
It should be noted that, when the vehicle running speed is less than the preset speed threshold, if the vehicle relieves the brake in a manner of quickly relieving the brake, a situation that the vehicle runs down due to insufficient traction force may occur (for example, during the vehicle running on a hill start or an uphill slope). Alternatively, when the vehicle is in a low constant speed driving condition (a specific driving condition in the automatic driving mode), an excessive brake release rate may cause adverse effects such as a large brake impulse and a large constant speed error to the vehicle.
Specifically, the invention can add a slow speed relieving brake mode in an automatic driving mode of the vehicle, and when the vehicle is in the automatic driving process, if the road gradient or the running speed meets the preset requirement, the invention can control the brake relieving process of the vehicle according to the slow speed relieving brake mode; if the road gradient or the running speed do not meet the preset requirements, the braking relieving process of the vehicle can control the automatic braking relieving process of the vehicle according to the rapid braking relieving mode set by the prior art.
Specifically, the invention can also add a slow speed relieving brake mode in the manual driving mode of the vehicle, when the switch of the slow speed relieving brake control mode is turned on, the invention can control the brake relieving process of the vehicle according to the slow speed relieving brake mode when the road gradient or the driving speed meets the preset requirement; when the road gradient or the running speed do not meet the preset requirements, the brake relieving process of the vehicle can be controlled according to the manual operation of a driver.
The preset gradient threshold and the preset running speed threshold may be set by a technician according to the braking related standard requirements, the vehicle braking performance, the actual braking requirements, and the like, which is not limited in the present invention.
According to the braking mitigation control method provided by the embodiment, when the slope of the vehicle running road is larger than the preset gradient threshold value or the running speed is smaller than the preset speed threshold value, the braking mitigation process of the vehicle can be controlled according to the slow-speed mitigation braking mode, the vehicle sliding risk and the overlarge braking impact force in the running process of the vehicle are avoided, and the adverse effect of speed control deviation is reduced.
Based on the steps shown in fig. 1, the present embodiment proposes another braking mitigation control method, and as shown in fig. 2, the step S30 may specifically include the following steps:
s31, obtaining an initial pressure value of a brake cylinder matched with the position of an individual brake controller in a brake mechanism of the vehicle at the current moment according to the slow-release braking mode;
the single brake controller controls the pressure value of the brake cylinder by controlling the single control valve, and can be used for controlling the braking and the braking relief of the locomotive independently, and is irrelevant to the braking and the braking relief state of other parts of the locomotive.
S32, determining brake cylinder pressure values of a vehicle at a plurality of moments in the driving process after the current moment according to a preset brake cylinder pressure value reduction formula and the brake cylinder initial pressure value;
the brake cylinder pressure value reduction formula can be formulated by technicians according to the aspects of the related brake standard requirements, the vehicle brake performance, the actual brake requirements and the like, and the invention is not limited to this aspect.
And S33, controlling the single brake controller to move to a position matched with the brake cylinder pressure value according to the brake cylinder pressure value corresponding to the moment at each moment in the driving process after the current moment.
Optionally, the preset brake cylinder pressure value reduction formula is as follows:
P0＝P1-n*T*Pm/t
wherein, P0For the brake cylinder pressure control target value after the current time, P1The initial pressure value of the brake cylinder, n is the operation cycle number of the brake system control program, T is the operation cycle of the brake system control program, PmFor maximum service brake cylinder pressure value, t for rate of release controlAnd presetting a time length parameter value, wherein the time interval between each moment after the current moment and the adjacent previous moment is T.
Wherein the invention changes the brake release rate value of the vehicle, i.e. P, by changing the value of tmThe specific value of/t, t can be formulated by technical personnel according to aspects such as relevant standard requirements of braking, vehicle braking performance and actual braking requirements, and specifically, the technical personnel can set the value of t to be 15-20 seconds. The present invention is not limited to the formulation of the t value.
It should be noted that, in a normal release braking mode, that is, a rapid release braking mode, a technician may also control the brake cylinder pressure value according to the above brake cylinder pressure value reduction formula, specifically, the technician may set the value t to be 2 to 4 seconds.
When the slow release braking mode is executed according to the brake cylinder pressure value reduction formula, the vehicle brake cylinder pressure value is reduced by T P every time the operation of a braking system control program is finishedmT, the brake cylinder pressure value of the vehicle will decrease by P every secondmThe rate of reduction is a single value (fixed for any type and value of driving parameter, which facilitates simplification of the control logic). For example, if P m300 kilonewtons and t is 15 seconds, the rate of decrease of the brake cylinder pressure value decrease formula would be 20 kilonewtons per second.
T is determined by the calculation performance of the brake system control program, and the present invention is not limited thereto.
According to the brake mitigation control method provided by the embodiment, the slow mitigation braking mode is specifically executed by providing the preset brake cylinder pressure value reduction formula, and a single value is used as the reduction rate of the first reduction mode, so that the control logic is simplified while the slow mitigation braking mode is realized.
Based on the steps shown in fig. 1, the present embodiment proposes another braking mitigation control method, as shown in fig. 3, the method may further include the following steps:
s41, if the current running state of the vehicle is not the preset state, determining that the current brake releasing mode is as follows according to the brake releasing instruction: a braking mode is quickly relieved;
the running state of the vehicle may be described in accordance with the running parameters obtained in step S10, for example, the running state of the vehicle includes a running speed and a gradient of a road on which the vehicle is running.
The preset state may be formulated by a technician according to the braking related standard requirements, the vehicle braking performance, the actual braking requirement, and the like, for example, the vehicle travels on a road with a slope value greater than a certain value, or the travel speed is less than a certain value, which is not limited in the present invention.
Specifically, when the vehicle is in the automatic driving mode and the driving parameters do not meet the preset requirements, the current driving state of the vehicle can be considered as not being the preset state by the invention.
It should be noted that, in the prior art, a fast-release braking mode is provided to control an automatic braking release process of a vehicle, and the fast-release braking mode is opposite to the slow-release braking mode in the present invention.
And S42, controlling the braking force of the braking mechanism of the vehicle to be reduced according to the rapid-release braking mode according to a preset second reduction mode, wherein the reduction rate of the second reduction mode is greater than that of the first reduction mode.
The reduction rate of the second reduction mode may be set by a technician according to the braking related standard requirement, the vehicle braking performance, the actual braking requirement, and the like, which is not limited by the present invention.
The brake release control method provided by the embodiment can control the automatic brake release process of the vehicle by using the quick release brake under the driving state that the vehicle does not need to perform the slow release brake, and is beneficial to reducing the regulation time of a brake control system and improving the rapidity of the brake control system.
Corresponding to the steps shown in fig. 1, as shown in fig. 4, the present embodiment proposes a brake release control apparatus, which may include: a first obtaining unit 100, a first mode determining unit 200, and a first pressure control unit 300, wherein:
the first obtaining unit 100 is configured to obtain a braking mitigation instruction and obtain a driving parameter of the vehicle;
optionally, the vehicle in the invention can be a locomotive or a working vehicle.
The brake release is the brake release, and the brake release instruction is generated when the brake of the vehicle is reduced or released. After the vehicle receives the brake release instruction, the vehicle can be braked and released according to a corresponding brake release mode.
It should be noted that the present invention can be performed in an automatic driving mode and a manual driving mode of a vehicle.
Optionally, the first obtaining unit 100 may be specifically configured to:
and when the vehicle is in an automatic driving mode, obtaining a braking relieving instruction and obtaining the running parameters of the vehicle.
Optionally, the first obtaining unit 100 may also be specifically configured to:
and when the vehicle is in a manual driving mode, obtaining a braking relieving instruction and obtaining the driving parameters of the vehicle.
Specifically, when the vehicle is in an automatic driving mode, the slow-release braking mode in the invention is added in the control logic of the microcomputer braking control unit, so that when the condition that the slow-release braking mode in the invention is triggered occurs in the running process of the vehicle, the invention can control the current braking release process of the vehicle according to the slow-release braking mode; when the condition of triggering the slow speed relieving braking mode in the invention does not occur in the running process of the vehicle, the invention can control the automatic braking relieving process of the current vehicle according to the relieving braking mode in the prior art.
Specifically, the present invention may be provided with a switch for turning on or off the slow-release brake control mode of the present invention on the vehicle. When the switch is turned on, no matter the vehicle is in an automatic driving mode or a manual driving mode, the invention can add a slow speed relieving braking mode in the invention in the control logic of the microcomputer braking control unit; when the switch is closed and the vehicle is in a manual driving mode, the microcomputer brake control unit controls the brake relieving process of the vehicle according to the manual operation of a driver; when the switch is closed and the vehicle is in an automatic driving mode, the microcomputer brake control unit controls the automatic brake release process of the vehicle according to the brake release mode in the prior art.
The driving parameters of the vehicle can reflect the driving state of the vehicle and the states of all devices in the vehicle.
Optionally, the driving parameters may include: road grade and/or travel speed.
The road gradient may include the gradient of the road on which the vehicle is located when ascending, or may include the gradient of the road on which the vehicle is located when descending.
The vehicle may measure the gradient value of the road through the gradient sensor during the driving process, and may measure the driving speed through the speed sensor during the driving process, it should be noted that the invention is not limited to the type of the sensor used for obtaining the gradient and the driving speed of the road.
Of course, the running parameters of the vehicle may also include resistance, acceleration and fuel during running of the vehicle. The present invention is not limited to the type of the vehicle driving parameter.
It should be further noted that, the execution order of obtaining the braking mitigation instruction and obtaining the driving parameter of the vehicle is not sequential, that is, the braking mitigation instruction may be obtained in advance, the driving parameter of the vehicle may be obtained again, the driving parameter of the vehicle may be obtained in advance, the braking mitigation instruction may be obtained again, or both the braking mitigation instruction and the driving parameter may be obtained simultaneously.
The first mode determining unit 200 is configured to determine whether the driving parameter meets at least one preset requirement, and if so, determine, according to the braking mitigation instruction, that a current braking mitigation mode is: a slow-release braking mode;
the slow-release braking mode provided by the invention is opposite to the (fast) release braking mode provided by the prior art when the vehicle is in the automatic driving mode.
It should be noted that, in the prior art, if a vehicle in an automatic driving mode performs automatic braking under a specific driving condition (such as hill start), the vehicle cannot have enough time to build the traction to a certain value by quickly releasing the braking so as to overcome the force preventing the vehicle from advancing, such as gravity, road resistance or braking force, and thus the vehicle speed is reduced or even slips.
When the driving parameters meet the preset requirements, the method can consider that the vehicle is currently in a specific driving working condition.
The number of preset requirements set by the vehicle is not limited. Moreover, specific contents of the preset requirements can be formulated by technicians according to the aspects of the relevant brake standard requirements, the vehicle brake performance, the actual brake requirements and the like, and the invention is not limited to this.
The specific driving condition may also be determined by a technician according to the related braking standard requirements, the vehicle braking performance, the actual braking requirements, and the like, which is not limited in the present invention.
Alternatively, a technician may determine the type of the specific driving condition in advance, determine the type of the corresponding driving parameter according to the characteristic of the specific driving condition, and determine the specific preset requirement.
Specifically, the invention can control the brake release process of the vehicle in the hill start according to the slow release brake mode.
The first pressure control unit 300 is configured to control a brake cylinder pressure value of a brake mechanism of the vehicle to decrease according to a preset first decreasing manner according to the slow-release braking manner, where a decreasing rate of the first decreasing manner is lower than a preset rate.
When the vehicle brakes, air enters the brake cylinder, the pressure of the brake cylinder is increased, the pressure pushes the piston to move, and then the piston is conducted by the foundation brake device to act on the brake shoe, so that the brake shoe presses the wheel; when the brake is released, air in the brake cylinder is exhausted, the pressure of the brake cylinder is reduced, the piston is pushed back to the original position by the brake release spring, and the brake shoe is separated from the wheel.
When the pressure value of the brake cylinder is reduced, the braking force output by the brake mechanism is reduced, and the braking is relieved; when the pressure of the brake cylinder is increased, the braking force output by the braking mechanism is increased along with the pressure, and the vehicle is braked or the braking action is strengthened.
The reduction rate of the first reduction mode is the difference value of the brake cylinder pressure values at the adjacent moments in unit time.
The first reduction mode may be set by a technician according to the braking related standard requirement, the vehicle braking performance, the actual braking requirement, and the like, and the invention is not limited thereto.
The preset rate may also be set by a technician in consideration of actual conditions, which is not limited in the present invention.
Alternatively, the rate of reduction in the present invention may be varied.
Specifically, the invention may associate the value of the reduction rate with the type and value of the driving parameter, so that the reduction rate may be changed along with the change of the type or value of the driving parameter, so that the vehicle may obtain a better or optimal reduction rate in a corresponding specific working condition.
Of course, the reduction rate in the present invention may also be a single value, i.e. the reduction rate is fixed for any type and value of driving parameter, which is advantageous for the simplification of the control logic.
Specifically, the present invention may place software code implementing the first reduction mode in the brake microcomputer control unit of the vehicle, so that the present invention may use the slow release braking mode for brake release under specific conditions.
In practical applications, the road gradient and the running speed may be used as the running parameters for determining whether the vehicle is taking off a slope, that is, the running parameters obtained in the first obtaining unit 100 are the road gradient and the running speed. At the same time, road grade threshold and travel speed threshold are preset, with the preset requirements set to: the road gradient obtained in the first obtaining unit 100 is greater than a preset road gradient threshold value, and the running speed obtained in the first obtaining unit 100 is greater than a preset running speed threshold value.
Specifically, when the vehicle is in an automatic driving mode and the driving parameters meet preset requirements, the method can judge that the current driving working condition of the vehicle is automatic hill start, and when the vehicle has a brake release instruction, the method can control the pressure value of the brake cylinder according to a slow release brake control mode to reduce according to a first reduction mode, namely the pressure of the brake cylinder is reduced at a reduction rate in the first reduction mode, so that the vehicle has sufficient time to establish traction force enough to overcome starting resistance in the brake release process, the vehicle sliding risk is avoided, and the brake impact force is reduced.
Or, the vehicle may also determine whether the vehicle is currently in the automatic driving mode and whether the driving parameter meets the preset requirement (corresponding to the specific driving condition of the automatic hill start) after the vehicle obtains the brake release instruction in advance, and the determination of whether the vehicle is in the automatic driving mode and the sequential execution order of obtaining the two instructions in the first obtaining unit 100 are not limited in the present invention.
Of course, when the vehicle is in the manual driving mode and the slow release brake control switch is turned on, the invention can also control the brake release process of the vehicle according to the slow release brake control mode in the process of hill start of the vehicle, thereby completing the hill start of the vehicle.
The brake mitigation control apparatus provided in this embodiment obtains a driving parameter of a vehicle by obtaining a brake mitigation instruction, and determines whether the driving parameter meets at least one preset requirement, and if so, determines that a current mitigation braking manner is according to the brake mitigation instruction: and controlling the pressure value of a brake cylinder of a brake mechanism of the vehicle to be reduced according to the slow-speed-relieving braking mode, wherein the reduction rate of the first reduction mode is lower than the preset rate, and when the vehicle is in a specific running working condition, the braking relieving process of the vehicle can be controlled according to the slow-speed-relieving braking mode, so that the vehicle has sufficient time to establish traction force enough to overcome starting resistance in the braking relieving process, the vehicle sliding risk is avoided, and the braking impact force is reduced.
Based on the apparatus shown in fig. 4, the present embodiment proposes another brake release control apparatus in which, in the running parameters, there are: the preset requirements may be, for example, at road grade and travel speed: the road grade is greater than a preset grade threshold, or the travel speed is less than a preset speed threshold.
When the vehicle is braked and relieved during running on a road with a road gradient greater than a certain value, if the braking is relieved in a manner of quickly relieving the braking, the vehicle may have a situation that the vehicle has no time to build enough traction force and slips, and in addition, the vehicle may also receive an excessive braking impact force due to a quick braking speed relieving rate, and the vehicle equipment may be damaged.
It should be noted that when the vehicle running speed is less than the preset speed threshold, if the vehicle releases the brake in a manner of releasing the brake quickly, the vehicle may have to build enough traction force to cause vehicle rolling. Alternatively, when the vehicle is in a low constant speed driving condition (a specific driving condition in the automatic driving mode), an excessive brake release rate may cause adverse effects such as a large brake impulse and a large constant speed error to the vehicle.
Specifically, the invention can add a slow speed relieving brake mode in an automatic driving mode of the vehicle, and when the vehicle is in the automatic driving process, if the road gradient or the running speed meets the preset requirement, the invention can control the brake relieving process of the vehicle according to the slow speed relieving brake mode; if the road gradient or the running speed do not meet the preset requirements, the braking relieving process of the vehicle can control the automatic braking relieving process of the vehicle according to the rapid braking relieving mode set by the prior art.
Specifically, the invention can also add a slow speed relieving brake mode in the manual driving mode of the vehicle, when the switch of the slow speed relieving brake control mode is turned on, the invention can control the brake relieving process of the vehicle according to the slow speed relieving brake mode when the road gradient or the driving speed meets the preset requirement; when the road gradient or the running speed do not meet the preset requirements, the brake relieving process of the vehicle can be controlled according to the manual operation of a driver.
The preset gradient threshold and the preset running speed threshold may be set by a technician according to the braking related standard requirements, the vehicle braking performance, the actual braking requirements, and the like, which is not limited in the present invention.
The brake release control device provided by the embodiment can control the brake release process of the vehicle according to the slow release braking mode when the slope of the running road of the vehicle is greater than the preset gradient threshold value or the running speed is less than the preset speed threshold value, so that the vehicle sliding risk and the overlarge brake impact force in the running process are avoided, and the adverse effect of speed control deviation is reduced.
Based on the device shown in fig. 4, the present embodiment proposes another brake release control device, and as shown in fig. 5, the first pressure control unit 300 may specifically include: an initial pressure obtaining unit 301, a pressure determining unit 302, and a movement control unit 303, wherein:
the initial pressure obtaining unit 301 is configured to obtain, according to the slow-release braking manner, an initial pressure value of a brake cylinder that is matched with a position where an individual brake controller in a braking mechanism of the vehicle is located at a current time;
the single brake controller controls the pressure value of the brake cylinder by controlling the single control valve, and can be used for controlling the braking and the braking relief of the locomotive independently, and is irrelevant to the braking and the braking relief state of other parts of the locomotive.
The pressure determining unit 302 is configured to determine brake cylinder pressure values at multiple moments in a driving process of the vehicle after the current moment according to a preset brake cylinder pressure value reduction formula and the brake cylinder initial pressure value;
the brake cylinder pressure value reduction formula can be formulated by technicians according to the aspects of the related brake standard requirements, the vehicle brake performance, the actual brake requirements and the like, and the invention is not limited to this aspect.
The movement control unit 303 is configured to control the individual brake controller to move to a position matching the brake cylinder pressure value according to the brake cylinder pressure value corresponding to the time at the plurality of times in the driving process after the current time.
Optionally, the preset brake cylinder pressure value reduction formula is as follows:
P0＝P1-n*T*Pm/t
wherein, P0For the brake cylinder pressure control target value after the current time, P1The initial pressure value of the brake cylinder, n is the operation cycle number of the brake system control program, T is the operation cycle of the brake system control program, PmAnd T is a preset duration parameter value for controlling the release rate, wherein the time interval between each moment after the current moment and the adjacent previous moment is T.
Wherein the invention changes the brake release rate value of the vehicle, i.e. P, by changing the value of tmThe specific value of/t, t can be formulated by technical personnel according to aspects such as relevant standard requirements of braking, vehicle braking performance and actual braking requirements, and specifically, the technical personnel can set the value of t to be 15-20 seconds. The present invention is not limited to the formulation of the t value.
It should be noted that, in a normal release braking mode, that is, a rapid release braking mode, a technician may also control the brake cylinder pressure value according to the above brake cylinder pressure value reduction formula, specifically, the technician may set the value t to be 2 to 4 seconds.
When the slow release braking mode is executed according to the brake cylinder pressure value reduction formula, the vehicle brake cylinder pressure value is reduced by T P every time the operation of a braking system control program is finishedmT, vehicleThe pressure value of the brake cylinder will decrease by P every secondmThe rate of reduction is a single value (fixed for any type and value of driving parameter, which facilitates simplification of the control logic).
T is determined by the calculation performance of the brake system control program, and the present invention is not limited thereto.
The brake mitigation control device provided by the embodiment specifically executes the slow mitigation braking mode by providing the preset brake cylinder pressure value reduction formula, and uses a single value as the reduction rate of the first reduction mode, so that the control logic is simplified while the slow mitigation braking mode is realized.
Based on the apparatus shown in fig. 4, the present embodiment proposes another brake release control apparatus, and as shown in fig. 6, the apparatus may further include: a second mode determination unit 401 and a second pressure control unit 402, wherein:
the second mode determining unit 401 is configured to determine, according to the brake release instruction, that the current release braking mode is: a braking mode is quickly relieved;
the running state of the vehicle may be described in accordance with the running parameters obtained in the first obtaining unit 100, and includes, for example, a running speed and a gradient of a road on which the vehicle is running.
The preset state can be set by a technician according to the related brake standard requirements, the vehicle brake performance, the actual brake requirements and the like, which is not limited in the present invention.
Specifically, when the vehicle is in the automatic driving mode and the driving parameters do not meet the preset requirements, the current driving state of the vehicle can be considered as not being the preset state by the invention.
It should be noted that, in the prior art, a fast-release braking mode is provided to control an automatic braking release process of a vehicle, and the fast-release braking mode is opposite to the slow-release braking mode in the present invention.
The second pressure control unit 402 is configured to control the braking force of the braking mechanism of the vehicle to decrease according to a preset second decreasing manner according to the fast-relieving braking manner, wherein the decreasing rate of the second decreasing manner is greater than that of the first decreasing manner.
The reduction rate of the second reduction mode may be set by a technician according to the braking related standard requirement, the vehicle braking performance, the actual braking requirement, and the like, which is not limited by the present invention.
The brake release control device provided by the embodiment can control the automatic brake release process of the vehicle by using the quick release brake under the driving state that the vehicle does not need to carry out the slow release brake, and is favorable for reducing the regulation time of a brake control system and improving the rapidity of the brake control system.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A brake mitigation control method, the method comprising:
obtaining a braking relieving instruction and obtaining a running parameter of the vehicle;
determining whether the running parameters meet at least one preset requirement, if so, determining that the current braking relieving mode is as follows according to the braking relieving instruction: a slow-release braking mode;
controlling a brake cylinder pressure value of a brake mechanism of the vehicle to be reduced according to the slow-release braking mode in a preset first reduction mode, wherein the reduction rate of the first reduction mode is lower than a preset rate;
wherein, the controlling the brake cylinder pressure value of the brake mechanism of the vehicle according to the slow release braking mode to be reduced according to a preset first reduction mode comprises:
according to the slow-release braking mode, obtaining an initial pressure value of a brake cylinder matched with the position of an individual brake controller in a braking mechanism of the vehicle at the current moment;
determining brake cylinder pressure values of a vehicle at a plurality of moments in a driving process after the current moment according to a preset brake cylinder pressure value reduction formula and the brake cylinder initial pressure value;
and controlling the single brake controller to move to a position matched with the brake cylinder pressure value according to the brake cylinder pressure value corresponding to the moment at the moments in the driving process after the current moment.
2. The method of claim 1, wherein obtaining the brake mitigation command, obtaining the driving parameters of the vehicle, comprises:
and when the vehicle is in an automatic driving mode, obtaining a braking relieving instruction and obtaining the running parameters of the vehicle.
3. The method of claim 1, wherein the driving parameters comprise: road grade and/or travel speed.
4. The method of claim 3, wherein the driving parameters comprise: and when the road gradient and the running speed are required, the preset requirements are as follows: the road grade is greater than a preset grade threshold, or the travel speed is less than a preset speed threshold.
5. The method of claim 1, wherein the predetermined brake cylinder pressure value reduction formula is:
P0＝P1-n*T*Pm/t
wherein, P0For the brake cylinder pressure control target value after the current time, P1The initial pressure value of the brake cylinder, n is the operation cycle number of the brake system control program, T is the operation cycle of the brake system control program, PmAnd T is a preset duration parameter value for controlling the release rate, wherein the time interval between each moment after the current moment and the adjacent previous moment is T.
6. The method of claim 1, further comprising:
if the current running state of the vehicle is not the preset state, determining that the current brake releasing mode is as follows according to the brake releasing instruction: a braking mode is quickly relieved;
and controlling the braking force of a braking mechanism of the vehicle to be reduced according to the quick release braking mode according to a preset second reduction mode, wherein the reduction rate of the second reduction mode is greater than that of the first reduction mode.
7. A brake release control apparatus, characterized in that the apparatus comprises: a first obtaining unit, a first mode determining unit, and a first pressure control unit, wherein:
the first obtaining unit is used for obtaining a braking relieving instruction and obtaining the running parameters of the vehicle;
the first mode determining unit is used for determining whether the driving parameters meet at least one preset requirement, and if so, determining that the current braking mode for relieving the braking is as follows according to the braking relieving instruction: a slow-release braking mode;
the first pressure control unit is used for controlling the brake cylinder pressure value of a brake mechanism of the vehicle to be reduced according to a preset first reduction mode according to the slow release braking mode, and the reduction rate of the first reduction mode is lower than a preset rate;
wherein, the first pressure control unit specifically includes: initial pressure obtaining unit, pressure confirm unit and movement control unit, wherein:
the initial pressure obtaining unit is used for obtaining an initial pressure value of a brake cylinder matched with the position of an individual brake controller in a brake mechanism of the vehicle at the current moment according to the slow-release braking mode;
the pressure determining unit is used for determining brake cylinder pressure values of a plurality of moments in the running process of the vehicle after the current moment according to a preset brake cylinder pressure value reduction formula and the brake cylinder initial pressure value;
and the movement control unit is used for controlling the single brake controller to move to a position matched with the brake cylinder pressure value according to the brake cylinder pressure value corresponding to the moment at the moments in the driving process after the current moment.
8. The apparatus of claim 7, further comprising: a second mode determination unit and a second pressure control unit, wherein:
the second mode determining unit is configured to determine, according to the brake release instruction, that the current release braking mode is: a braking mode is quickly relieved;
and the second pressure control unit is used for controlling the braking force of a braking mechanism of the vehicle to be reduced according to a preset second reduction mode according to the quick-release braking mode, and the reduction rate of the second reduction mode is greater than that of the first reduction mode.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910916326.1A CN110614985B (en) | 2019-09-26 | 2019-09-26 | Brake mitigation control method and device |
| BR112021013747A BR112021013747A2 (en) | 2019-09-26 | 2019-12-11 | Braking relief control device and method |
| PCT/CN2019/124436 WO2021056842A1 (en) | 2019-09-26 | 2019-12-11 | Braking relief control method and device |
| SG11202106615YA SG11202106615YA (en) | 2019-09-26 | 2019-12-11 | Braking relief control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910916326.1A CN110614985B (en) | 2019-09-26 | 2019-09-26 | Brake mitigation control method and device |
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| Publication Number | Publication Date |
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| CN110614985A CN110614985A (en) | 2019-12-27 |
| CN110614985B true CN110614985B (en) | 2020-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910916326.1A Active CN110614985B (en) | 2019-09-26 | 2019-09-26 | Brake mitigation control method and device |
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| Country | Link |
|---|---|
| CN (1) | CN110614985B (en) |
| BR (1) | BR112021013747A2 (en) |
| SG (1) | SG11202106615YA (en) |
| WO (1) | WO2021056842A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112277919B (en) * | 2020-11-03 | 2022-04-05 | 中车青岛四方机车车辆股份有限公司 | Control method and device for preventing brake from being unreeased and whole train |
| CN113200028B (en) * | 2021-05-28 | 2022-05-13 | 中车株洲电力机车有限公司 | Holding brake control method in emergency traction mode, brake system and vehicle |
| CN113696866B (en) * | 2021-09-29 | 2022-05-17 | 中车大连机车研究所有限公司 | Automatic driving air brake application method for heavy-duty locomotive in long and steep downhill scene |
| CN115626192A (en) * | 2022-10-21 | 2023-01-20 | 眉山中车制动科技股份有限公司 | Electro-pneumatic release control mechanism and method for rail vehicle braking system |
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- 2019-09-26 CN CN201910916326.1A patent/CN110614985B/en active Active
- 2019-12-11 SG SG11202106615YA patent/SG11202106615YA/en unknown
- 2019-12-11 BR BR112021013747A patent/BR112021013747A2/en unknown
- 2019-12-11 WO PCT/CN2019/124436 patent/WO2021056842A1/en active Application Filing
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| CN204055760U (en) * | 2013-10-16 | 2014-12-31 | 现代摩比斯株式会社 | Electro-hydraulic brake device |
| CN105235689A (en) * | 2015-11-06 | 2016-01-13 | 株洲南车时代电气股份有限公司 | Method for relieving start-up impulse of rail train |
| US20170232969A1 (en) * | 2016-02-12 | 2017-08-17 | Ford Global Technologies, Llc | Systems and methods for managing torque |
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Also Published As
| Publication number | Publication date |
|---|---|
| BR112021013747A2 (en) | 2021-11-09 |
| WO2021056842A1 (en) | 2021-04-01 |
| CN110614985A (en) | 2019-12-27 |
| SG11202106615YA (en) | 2021-07-29 |
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