A method and system for improving real-time performance of an anti-skid control

Abstract

The present application relates to the field of vehicle anti-skid technology, and particularly relates to a method and system for improving real-time anti-skid control. The method comprises: obtaining input parameters of an anti-skid control unit through a speed sensor; calculating the Euclidean distance between the input parameters and corresponding set threshold features, selecting the minimum value and the second minimum value from the multiple Euclidean distances, and setting them as the first Euclidean distance and the second Euclidean distance respectively, judging the threshold state corresponding to the input parameters according to the ratio of the first Euclidean distance and the second Euclidean distance, calculating the slip level, and then controlling the anti-skid exhaust valve according to the slip level to perform anti-skid control; finally, updating the set threshold features and storing the ratio of the first Euclidean distance and the second Euclidean distance, and entering the anti-skid control of the next cycle. Through the method proposed in the present application, the relationship between the input and the threshold feature can be adjusted in real time, thereby improving the accuracy and real-time performance of the anti-skid control.

Description

Technical Field

[0001] This invention relates to the field of vehicle anti-skid technology, and in particular to a method and system for improving the real-time performance of anti-skid control. Background Technology

[0002] The air anti-skid system mainly consists of an anti-skid control unit, a speed sensor, a speed measuring gear, and an anti-skid exhaust valve, using a reference speed V. f The deceleration a and speed difference ΔV are used as inputs for coasting judgment. The coasting level is calculated based on the set control threshold. Finally, the anti-skid exhaust valve is controlled to charge, pressurize and exhaust the brake cylinder, thereby maximizing the use of wheel-rail adhesion and reducing the risk of wheelset abrasion.

[0003] Anti-slip control requires high real-time performance from the system, and it uses a reference speed V. f Deceleration a, velocity difference ΔV, etc., are used as control input parameters. When the values ​​of the control input parameters change within the set control threshold range, such as... Figure 1 As shown, when the control input parameter approaches threshold a infinitely but does not reach threshold b, although the control input parameter is very close to the threshold b state, the control output always remains at the state of threshold a; similarly, when the control input parameter approaches threshold b infinitely but does not reach threshold a, although the control input parameter is very close to the threshold a state, the control output always remains at the state of threshold b. Moreover, the larger the control threshold range, the worse the real-time performance of the control system. Summary of the Invention

[0004] This invention addresses the technical problem of poor real-time performance in existing anti-slip control technologies by proposing a method and system to improve the real-time performance of anti-slip control.

[0005] In a first aspect, embodiments of this application provide a method for improving the real-time performance of anti-slip control, including:

[0006] The above-mentioned methods for improving the real-time performance of anti-slip control include:

[0007] Input parameter acquisition steps: Obtain the input parameters of the anti-slip control unit through the speed sensor;

[0008] Euclidean distance calculation steps: Calculate the Euclidean distance between the input parameter and the corresponding set threshold features, and sort the obtained Euclidean distances in order of magnitude;

[0009] State determination steps: Select the minimum and second minimum values ​​from multiple Euclidean distances according to the sorting results. Let the minimum value be the first Euclidean distance and the second minimum value be the second Euclidean distance. Determine the threshold state corresponding to the input parameter based on the ratio of the first Euclidean distance to the second Euclidean distance.

[0010] Anti-slip exhaust valve control steps: Calculate the slip level based on the threshold state corresponding to the input parameters, and then control the anti-slip exhaust valve to perform anti-slip control based on the slip level;

[0011] Threshold feature update step: Update multiple set threshold features and store the ratio of the first Euclidean distance to the second Euclidean distance, return to the input parameter acquisition step, and enter the next cycle of anti-slip control.

[0012] The aforementioned method for improving the real-time performance of anti-slip control includes the following state determination step:

[0013] Ratio calculation steps: Calculate the ratio of the first Euclidean distance to the second Euclidean distance;

[0014] First state determination step: Determine whether the ratio is less than a first preset value. If so, determine the input parameter as a first threshold state; otherwise, execute the second state determination step.

[0015] Second state determination step: Determine whether the ratio is greater than the second preset value. If so, determine the input parameter as the second threshold state; otherwise, execute the third state determination step.

[0016] The third state determination step is to determine whether the ratio of the previous cycle is greater than a third preset value. If so, the input parameter is determined to be in the second threshold state; otherwise, the input parameter is determined to be in the first threshold state.

[0017] In the above method for improving the real-time performance of anti-slip control, the second preset value is greater than the first preset value.

[0018] The aforementioned method for improving the real-time performance of anti-slip control further includes, in the state determination step:

[0019] Threshold feature labeling steps: Label the threshold feature corresponding to the first Euclidean distance as the first threshold feature, and label the threshold feature corresponding to the second Euclidean distance as the second threshold feature;

[0020] Threshold feature storage steps: Determine whether the first threshold feature and the second threshold feature of the current period are equal to the first threshold feature and the second threshold feature of the previous period, respectively. If not, store the first threshold feature and the second threshold feature of the current period.

[0021] The above-mentioned method for improving the real-time performance of anti-slip control further includes the third state determination step as follows: if the current cycle is the first cycle, determine whether the preset initial value is greater than the third preset value; if so, determine the input parameter as the second threshold state; otherwise, determine the input parameter as the first threshold state.

[0022] The above method for improving the real-time performance of anti-slip control, wherein the input parameter acquisition step includes:

[0023] Signal acquisition steps: The anti-skid control unit acquires the pulse signal from the speed sensor, and obtains the axle speed of the vehicle based on the pulse signal;

[0024] Input parameter acquisition steps: Obtain the shaft deceleration and shaft speed difference based on the shaft speed and the reference speed, and use the shaft deceleration and shaft speed difference as the input parameters.

[0025] Secondly, embodiments of this application provide a system for improving the real-time performance of anti-slip control, used to implement the method for improving the real-time performance of anti-slip control described in the first aspect, comprising:

[0026] Input parameter acquisition unit: Acquires input parameters of the anti-slip control unit through the speed sensor;

[0027] Euclidean distance calculation unit: calculates the Euclidean distance between the input parameter and multiple threshold features set accordingly, and sorts the obtained Euclidean distances in order of magnitude;

[0028] State determination unit: Select the minimum and second minimum values ​​from multiple Euclidean distances according to the sorting results, let the minimum value be the first Euclidean distance, let the second minimum value be the second Euclidean distance, and determine the threshold state corresponding to the input parameter according to the ratio of the first Euclidean distance to the second Euclidean distance;

[0029] Anti-slip exhaust valve control unit: Calculates the slipping level based on the threshold state corresponding to the input parameters, and then controls the anti-slip exhaust valve to perform anti-slip control based on the slipping level;

[0030] Threshold feature update unit: updates multiple set threshold features and stores the ratio of the first Euclidean distance to the second Euclidean distance, returns to the input parameter acquisition unit, and enters the next cycle of anti-slip control.

[0031] The aforementioned system for improving the real-time performance of anti-slip control, wherein the state determination unit includes:

[0032] Ratio calculation module: Calculates the ratio of the first Euclidean distance to the second Euclidean distance;

[0033] First state determination module: Determines whether the ratio is less than a first preset value. If so, the input parameter is determined to be in the first threshold state; otherwise, proceeds to the second state determination module.

[0034] Second state judgment module: Determines whether the ratio is greater than a second preset value. If so, the input parameter is determined to be in the second threshold state; otherwise, proceeds to the third state judgment module.

[0035] The third state determination module determines whether the ratio of the previous cycle is greater than a third preset value. If so, the input parameter is determined to be in the second threshold state; otherwise, the input parameter is determined to be in the first threshold state.

[0036] The aforementioned system for improving the real-time performance of anti-slip control further includes a state determination unit that includes:

[0037] Threshold feature marking module: Marks the threshold feature corresponding to the first Euclidean distance as the first threshold feature, and marks the threshold feature corresponding to the second Euclidean distance as the second threshold feature;

[0038] Threshold feature storage module: Determine whether the first threshold feature and the second threshold feature of the current period are equal to the first threshold feature and the second threshold feature of the previous period, respectively. If not, store the first threshold feature and the second threshold feature of the current period.

[0039] The aforementioned system for improving the real-time performance of anti-slip control further includes a third state determination module that: if the current cycle is the first cycle, determines whether the preset initial value is greater than a third preset value; if so, determines the input parameter as a second threshold state; otherwise, determines the input parameter as a first threshold state.

[0040] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0041] This invention calculates the Euclidean distance between the input parameter and a set threshold in real time. Based on the ratio of the minimum to the second minimum value in the Euclidean distance, it determines the threshold state corresponding to the input parameter. By determining the threshold state of the input parameter in real time, the accuracy of the output state corresponding to the input parameter in the threshold range and the real-time performance of the system control can be improved. Attached Figure Description

[0042] Figure 1 A schematic diagram showing the variation of input parameters of the anti-slip control system within a threshold range;

[0043] Figure 2 A schematic diagram illustrating the steps of a method for improving the real-time performance of anti-slip control provided by the present invention;

[0044] Figure 3 The present invention provides a basis for Figure 2 A flowchart illustrating step S3;

[0045] Figure 4A schematic flowchart of an embodiment of a method for improving the real-time performance of anti-slip control provided by the present invention;

[0046] Figure 5 This invention provides a framework diagram of a system for improving the real-time performance of anti-slip control. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0048] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0049] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0050] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0051] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not intended to limit the present invention. Equivalent changes or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0052] Before detailing the various embodiments of the present invention, the core inventive concept of the present invention is summarized and then described in detail through the following several embodiments.

[0053] This invention proposes a method to improve the real-time performance of anti-slip control by calculating the reference speed V in real time. f The Euclidean distance between input parameters such as deceleration a and velocity difference ΔV and threshold features is calculated. The calculated Euclidean distances are sorted in ascending order, and the threshold features with the minimum value a and the second smallest value b are marked. By calculating the change of the value ds = da / db, the relationship between the input and the threshold features is adjusted in real time, thereby improving the accuracy and real-time performance of anti-slip control.

[0054] Example 1:

[0055] Figure 2 This invention provides a schematic diagram illustrating the steps of a method for improving the real-time performance of anti-slip control. (See attached diagram.) Figure 2As shown in the figure, this embodiment discloses a specific implementation of a method for improving the real-time performance of anti-slip control (hereinafter referred to as "the method").

[0056] Specifically, the method disclosed in this embodiment mainly includes the following steps:

[0057] Step S1: Obtain the input parameters of the anti-slip control unit through the speed sensor;

[0058] Step S1 includes the following steps:

[0059] Step S11: The anti-skid control unit collects the pulse signal from the speed sensor and obtains the axle speed of the vehicle based on the pulse signal;

[0060] Step S12: Obtain the shaft deceleration and shaft speed difference based on the shaft speed and the reference speed. Optionally, the shaft deceleration and shaft speed difference can be used as the input parameter; wherein, the shaft speed difference can be determined based on the difference between the shaft speed and the reference speed.

[0061] Step S2: Calculate the Euclidean distance between the input parameter and the corresponding set threshold features, and sort the obtained Euclidean distances in order of magnitude;

[0062] Furthermore, taking the input parameters as shaft speed difference and shaft deceleration as an example, the Euclidean distance between the shaft deceleration and each threshold feature set by the anti-slip control deceleration is calculated, and the calculated Euclidean distances are sorted in ascending order; the Euclidean distance between the shaft speed difference and each threshold feature set by the anti-slip control speed difference is calculated, and the calculated Euclidean distances are sorted in ascending order.

[0063] The formula used to calculate the Euclidean distance is as follows: Where x represents the input parameter, including but not limited to deceleration and velocity difference; y represents the threshold feature corresponding to the input parameter; k represents the first measurement value of the threshold feature; and n represents the last measurement value of the threshold feature.

[0064] Step S3: Select the minimum and second minimum values ​​from the multiple Euclidean distances according to the sorting results. Let the minimum value be the first Euclidean distance and the second minimum value be the second Euclidean distance. Determine the threshold state corresponding to the input parameter based on the ratio of the first Euclidean distance to the second Euclidean distance.

[0065] Reference Figure 3 As shown, step S3 specifically includes the following:

[0066] Step S31: Mark the threshold feature corresponding to the first Euclidean distance as the first threshold feature, and mark the threshold feature corresponding to the second Euclidean distance as the second threshold feature;

[0067] Specifically, the minimum value da, the second minimum value db, and their corresponding threshold features ta and tb are extracted from the Euclidean distance between the input parameters such as axis deceleration and velocity difference and the set threshold. Here, da is the first Euclidean distance, db is the second Euclidean distance, ta is the first threshold feature, and tb is the second threshold feature.

[0068] Step S32: Determine whether the first threshold feature and the second threshold feature of the current period are equal to the first threshold feature and the second threshold feature of the previous period, respectively. If not, store the first threshold feature and the second threshold feature of the current period.

[0069] Specifically, if the current threshold feature ta is equal to the threshold feature ta_buf of the previous cycle, and the threshold feature tb is equal to the threshold feature tb_buf of the previous cycle, then the threshold features are not updated; otherwise, the threshold features are updated by setting ta_buf = ta and tb_buf = tb. It should be noted that since the reference speed, deceleration, speed difference, etc., change in real time during train operation, the corresponding thresholds are also adjusted in real time.

[0070] Step S33: Calculate the ratio of the first Euclidean distance to the second Euclidean distance;

[0071] Step S34: Determine whether the ratio is less than a first preset value. If so, determine the input parameter as a first threshold state; otherwise, execute the second state determination step. Wherein, the second preset value is greater than the first preset value.

[0072] Step S35: Determine whether the ratio is greater than the second preset value. If so, determine the input parameter as the second threshold state; otherwise, execute the third state determination step.

[0073] Step S36: Determine whether the ratio of the previous cycle is greater than the third preset value. If so, determine the input parameter as the second threshold state; otherwise, determine the input parameter as the first threshold state.

[0074] Furthermore, step S36 further includes: if the current period is the first period, then determine whether the preset initial value is greater than the third preset value; if so, then determine the input parameter as the second threshold state; otherwise, determine the input parameter as the first threshold state.

[0075] In specific implementation, the value of ds = da / db is calculated. When ds is less than 0.4 (i.e., the first preset value), the input parameter is determined to be in threshold state a (i.e., the first threshold state); when ds is greater than 0.6 (i.e., the second preset value), the input parameter is determined to be in threshold state b (i.e., the second threshold state); when ds is greater than or equal to 0.4 and less than or equal to 0.6, if ds_buf is greater than 0.5 (i.e., the third preset value), the input parameter is determined to be in threshold state b; otherwise, the input parameter is determined to be in threshold state a. Furthermore, ds_buf has an initial value of 0.5. If the current cycle is the first cycle, the input parameter is determined to be in threshold state a.

[0076] Step S4: Calculate the coasting level based on the threshold state corresponding to the input parameters, and then control the anti-slip exhaust valve to perform anti-slip control based on the coasting level;

[0077] Among these, the skidding level is a core parameter of the anti-skid control strategy, determined comprehensively based on parameters such as the set reference speed, deceleration, speed difference, and train operating conditions. The reference speed V is used. f The deceleration a and speed difference ΔV are used as input parameters for judging the skidding. The skidding level is calculated based on the control threshold corresponding to the set input parameters. The anti-skid host controls the anti-skid exhaust valve to perform actions such as exhaust, pressure holding and air charging according to the skidding level, so as to realize the air charging, pressure holding and exhaust of the brake cylinder, thereby maximizing the use of wheel-rail adhesion and reducing the risk of wheelset abrasion.

[0078] Step S5: Update the set multiple threshold features and store the ratio of the first Euclidean distance to the second Euclidean distance, return to the input parameter acquisition step, and enter the next cycle of anti-slip control.

[0079] This method improves the accuracy and real-time performance of anti-slip control by calculating the Euclidean distance between the control input and the set threshold in real time and determining the relationship between the control input and the threshold based on the ratio of the minimum to the second minimum value.

[0080] Please refer to the following. Figure 4 The present invention provides a method for improving the real-time performance of anti-slip control, which includes the following steps, described in further detail with reference to specific embodiments:

[0081] (1) Parameter acquisition and calculation

[0082] The anti-slip control unit acquires pulse signals from the speed sensor and calculates the shaft speed, reference speed, shaft deceleration, and shaft speed difference. The shaft speed difference is obtained by comparing the reference speed with the shaft speed.

[0083] (2) Eigenvalue distance calculation and sorting

[0084] Calculate the Euclidean distance between the shaft deceleration and each threshold feature set for the anti-slip control deceleration, and sort the calculated Euclidean distances in ascending order; calculate the Euclidean distance between the shaft speed difference and each threshold feature set for the anti-slip control speed difference, and sort the calculated Euclidean distances in ascending order.

[0085] Anti-slip control involves comprehensively considering control parameters such as reference speed, deceleration, and speed difference to determine the wheel-rail adhesion relationship of the train under different operating conditions. Since the reference speed, deceleration, and speed difference change in real time during train operation, the corresponding thresholds are also adjusted in real time.

[0086] (3) Threshold feature extraction

[0087] Extract the minimum value da, the second minimum value db, and the threshold features ta and tb from multiple Euclidean distances between the shaft deceleration, the shaft velocity difference, and the set threshold;

[0088] (4) Threshold feature judgment

[0089] If the current threshold feature ta is equal to the threshold feature ta_buf of the previous period, and the threshold feature tb is equal to the threshold feature tb_buf of the previous period, then the threshold features are not updated; otherwise, the threshold features are updated by setting ta_buf = ta and tb_buf = tb.

[0090] Calculate the value of ds = da / db. When ds is less than 0.4, the input parameter is judged to be in threshold state a; when ds is greater than 0.6, the input parameter is judged to be in threshold state b; when ds is greater than or equal to 0.4 and less than or equal to 0.6, if the ratio of da to db in the previous cycle, ds_buf, is greater than 0.5, the input parameter is judged to be in threshold state b; otherwise, the control input is judged to be in threshold state a.

[0091] In summary, the control method designed in this invention calculates the Euclidean distance between the control input and a set threshold, marks the threshold characteristic states ta and tb between the minimum value da and the second minimum value db, and follows the change of the value ds = da / db. When ds is less than 0.4, the control input is judged to be in threshold state a; when ds is greater than 0.6, the control input is judged to be in threshold state b; when ds is greater than or equal to 0.4 and less than or equal to 0.6, if ds_buf is greater than 0.5, the control input is judged to be in threshold state b; otherwise, the control input is judged to be in threshold state a. This method can improve the accuracy of the output state corresponding to the control input in the threshold interval [a, b] and the real-time performance of the system control.

[0092] Example 2:

[0093] Based on the method for improving the real-time performance of anti-slip control disclosed in the above embodiments, this embodiment discloses a specific implementation example of a system for improving the real-time performance of anti-slip control (hereinafter referred to as "the system").

[0094] Reference Figure 5 As shown, the system includes:

[0095] Input parameter acquisition unit 1: Acquires input parameters of the anti-slip control unit through the speed sensor;

[0096] Euclidean distance calculation unit 2: calculates the Euclidean distance between the input parameter and the corresponding set multiple threshold features, and sorts the obtained multiple Euclidean distances in order of magnitude;

[0097] State Judgment Unit 3: Select the minimum and second minimum values ​​from multiple Euclidean distances according to the sorting results, let the minimum value be the first Euclidean distance, let the second minimum value be the second Euclidean distance, and determine the threshold state corresponding to the input parameter according to the ratio of the first Euclidean distance to the second Euclidean distance;

[0098] Specifically, the state determination unit 3 includes:

[0099] Threshold feature marking module 31: Marks the threshold feature corresponding to the first Euclidean distance as the first threshold feature, and marks the threshold feature corresponding to the second Euclidean distance as the second threshold feature;

[0100] Threshold feature storage module 32: Determine whether the first threshold feature and the second threshold feature of the current period are equal to the first threshold feature and the second threshold feature of the previous period, respectively. If not, store the first threshold feature and the second threshold feature of the current period.

[0101] Ratio calculation module 33: Calculates the ratio of the first Euclidean distance to the second Euclidean distance;

[0102] First state determination module 34: Determines whether the ratio is less than a first preset value. If so, the input parameter is determined to be in the first threshold state; otherwise, it proceeds to the second state determination module.

[0103] Second state judgment module 35: Determines whether the ratio is greater than a second preset value. If so, the input parameter is determined to be in the second threshold state; otherwise, it proceeds to the third state judgment module.

[0104] The third state judgment module 36: determines whether the ratio of the previous cycle is greater than a third preset value. If so, the input parameter is determined to be in the second threshold state; otherwise, the input parameter is determined to be in the first threshold state.

[0105] The third state determination module 36 further includes: if the current period is the first period, then determining whether the preset initial value is greater than the third preset value; if so, then determining the input parameter as the second threshold state; otherwise, determining the input parameter as the first threshold state.

[0106] Anti-slip exhaust valve control unit 4: Calculates the sliding level based on the threshold state corresponding to the input parameters, and then controls the anti-slip exhaust valve to perform anti-slip control based on the sliding level;

[0107] Threshold feature update unit 5: Updates multiple set threshold features and stores the ratio of the first Euclidean distance to the second Euclidean distance, returns to the input parameter acquisition unit, and enters the next cycle of anti-slip control.

[0108] The technical solutions for the same parts of the system for improving the real-time performance of anti-slip control disclosed in this embodiment and the method for improving the real-time performance of anti-slip control disclosed in the above embodiments are described in Embodiment 1 and will not be repeated here.

[0109] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for improving the real-time performance of anti-slip control, characterized in that, include: Input parameter acquisition steps: Obtain the input parameters of the anti-slip control unit through the speed sensor; Euclidean distance calculation steps: Calculate the Euclidean distance between the input parameter and the corresponding set threshold features, and sort the obtained Euclidean distances in order of magnitude; State determination steps: Select the minimum and second minimum values ​​from multiple Euclidean distances according to the sorting results. Let the minimum value be the first Euclidean distance and the second minimum value be the second Euclidean distance. Determine the threshold state corresponding to the input parameter based on the ratio of the first Euclidean distance to the second Euclidean distance. Anti-slip exhaust valve control steps: Calculate the slip level based on the threshold state corresponding to the input parameters, and then control the anti-slip exhaust valve to perform anti-slip control based on the slip level; Threshold feature update step: Update multiple set threshold features and store the ratio of the first Euclidean distance to the second Euclidean distance, return to the input parameter acquisition step, and enter the next cycle of anti-slip control; The state determination step includes: Ratio calculation steps: Calculate the ratio of the first Euclidean distance to the second Euclidean distance; First state determination step: Determine whether the ratio is less than a first preset value. If so, determine the input parameter as a first threshold state; otherwise, execute the second state determination step. Second state determination step: Determine whether the ratio is greater than a second preset value; if so, then... If the input parameter is determined to be in the second threshold state, otherwise, the third state determination step is executed; The third state determination step is to determine whether the ratio of the previous cycle is greater than a third preset value. If so, the input parameter is determined to be in the second threshold state; otherwise, the input parameter is determined to be in the first threshold state.

2. The method for improving the real-time performance of anti-slip control according to claim 1, characterized in that, The second preset value is greater than the first preset value.

3. The method for improving the real-time performance of anti-slip control according to claim 1, characterized in that, The state determination step further includes: Threshold feature labeling steps: Label the threshold feature corresponding to the first Euclidean distance as the first threshold feature, and label the threshold feature corresponding to the second Euclidean distance as the second threshold feature; Threshold feature storage steps: Determine whether the first threshold feature and the second threshold feature of the current period are equal to the first threshold feature and the second threshold feature of the previous period, respectively. If not, store the first threshold feature and the second threshold feature of the current period.

4. The method for improving the real-time performance of anti-slip control according to claim 1, characterized in that, The third state determination step further includes: if the current period is the first period, then determine whether the preset initial value is greater than the third preset value; if so, then determine the input parameter as the second threshold state; otherwise, determine the input parameter as the first threshold state.

5. The method for improving the real-time performance of anti-slip control according to claim 1, characterized in that, The input parameter acquisition steps include: Signal acquisition steps: The anti-skid control unit acquires the pulse signal from the speed sensor, and obtains the axle speed of the vehicle based on the pulse signal; Input parameter acquisition steps: Obtain the shaft deceleration and shaft speed difference based on the shaft speed and the reference speed, and use the shaft deceleration and shaft speed difference as the input parameters.

6. A system for improving the real-time performance of anti-slip control, used to implement the method for improving the real-time performance of anti-slip control as described in any one of claims 1-5, characterized in that, include: Input parameter acquisition unit: Acquires input parameters of the anti-slip control unit through the speed sensor; Euclidean distance calculation unit: calculates the Euclidean distance between the input parameter and multiple threshold features set accordingly, and sorts the obtained Euclidean distances in order of magnitude; State determination unit: Select the minimum and second minimum values ​​from multiple Euclidean distances according to the sorting results, let the minimum value be the first Euclidean distance, let the second minimum value be the second Euclidean distance, and determine the threshold state corresponding to the input parameter according to the ratio of the first Euclidean distance to the second Euclidean distance; Anti-slip exhaust valve control unit: Calculates the slipping level based on the threshold state corresponding to the input parameters, and then controls the anti-slip exhaust valve to perform anti-slip control based on the slipping level; Threshold feature update unit: updates multiple set threshold features and stores the ratio of the first Euclidean distance to the second Euclidean distance, returns to the input parameter acquisition unit, and enters the next cycle of anti-slip control; The state determination unit includes: Ratio calculation module: Calculates the ratio of the first Euclidean distance to the second Euclidean distance; First state determination module: Determines whether the ratio is less than a first preset value. If so, the input parameter is determined to be in the first threshold state; otherwise, proceeds to the second state determination module. Second state determination module: Determines whether the ratio is greater than a second preset value; if so, then... If the input parameter is determined to be in the second threshold state, otherwise, proceed to the third state determination module; The third state determination module determines whether the ratio of the previous cycle is greater than a third preset value. If so, the input parameter is determined to be in the second threshold state; otherwise, the input parameter is determined to be in the first threshold state.

7. The system for improving the real-time performance of anti-slip control according to claim 6, characterized in that, The state determination unit further includes: Threshold feature marking module: Marks the threshold feature corresponding to the first Euclidean distance as the first threshold feature, and marks the threshold feature corresponding to the second Euclidean distance as the second threshold feature; Threshold feature storage module: Determine whether the first threshold feature and the second threshold feature of the current period are equal to the first threshold feature and the second threshold feature of the previous period, respectively. If not, store the first threshold feature and the second threshold feature of the current period.

8. The system for improving the real-time performance of anti-slip control according to claim 6, characterized in that, The third state determination module further includes: if the current period is the first period, then determining whether the preset initial value is greater than the third preset value; if so, then determining the input parameter as the second threshold state; otherwise, determining the input parameter as the first threshold state.

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