Aircraft brake system derating optimization control method based on high-torque brake material
By identifying the anti-slip status and performing derating and optimization control, the brake system of high-torque brake materials is optimized, and the brake unstable caused by frequent anti-slip is solved, achieving stable and efficient braking performance and safety improvement.
Patent Information
- Application Number
- CN202510548062.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-28
- Publication Date
- 2025-07-18
AI Technical Summary
In the prior art, aircraft brake systems based on high torque brake materials frequently prevent slipping under low-track bonding coefficient conditions, resulting in unstable brakes, increased braking distance, and lack of derating control capabilities, which poses safety hazards.
By obtaining the aircraft's enclave ground speed, brake command signal and maximum brake command signal, identifying the anti-slip state, obtaining anti-slip control signals according to the wheel speed changes, calculating the number of deep anti-slip times, performing derating and optimization control, optimizing the brake control volume, and achieving stable and efficient braking.
Effectively reduce the number of anti-slip times, improve the reliability and safety of the brake system, ensure stable and efficient braking process, avoid brake pitch and tire wear, and shorten the braking distance.
Smart Images
Figure CN120327461A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of aircraft brake control, and particularly relates to a derating optimization control method for an aircraft brake system based on a high-torque brake material. Background Art
[0002] There are many influencing factors in aircraft anti-skid brake control. Among them, the coefficient of adhesion of the runway surface, the performance of the brake disc, and the control of the brake pressure are the key factors directly affecting the smoothness of anti-skid braking. When the coefficient of adhesion of the runway surface is low, such as on ice or wet runways, or when the braking torque of the main brake wheel of the brake is too large, etc., it will cause the system to perform frequent anti-skid work. Seriously, it may cause problems such as tire wear or brake pitching.
[0003] High-torque brake materials generally refer to carbon-ceramic materials, which are common aircraft brake materials. Their advantages are low torque decay in a wet environment, good braking performance, long service life, etc. However, carbon-ceramic materials also have problems such as high braking torque and brake torque rush. When the brake system is matched with a carbon-ceramic brake disc, if rated brake pressure control is adopted, after a deep skid occurs once, it often causes subsequent torque to rush continuously, resulting in continuous skidding work, extremely unstable braking process, tire wear, increased braking distance, etc.
[0004] At present, most aircraft adopt a quasi-regulation control method based on rated brake pressure, which cannot handle the problem of deep skidding caused by high-torque rush. This control method has the following disadvantages: 1) It does not have the ability to adapt to the runway surface. On a wet and slippery runway, it can only complete braking through frequent anti-skid work, resulting in unstable braking and increased braking distance.
[0005] 2) The pressure control method is too single, and overshoot problems are likely to occur during system control and cannot converge.
[0006] 3) It does not have derating control, and cannot optimize control parameters in a timely manner under the condition of frequent skidding.
[0007] When the aircraft brakes in a high-speed landing state, without other braking measures such as a drag chute or speed brakes, or on runways with water accumulation, rubber pollution, etc., the rated brake pressure control method may cause the aircraft to run off the runway during actual use. Summary of the Invention
[0008] To solve the deficiencies in the above-mentioned background technology, the present invention mainly addresses the problem in the prior art that, based on the anti-skid working conditions, only the brake control signal is reduced. The shortcoming of this technology is that it does not consider the matching of anti-skid parameters after voltage reduction, resulting in frequent anti-skidding even when the ground contact torque is low. The present invention provides a derating optimization control method for an aircraft brake system based on high-torque brake materials. This method can effectively judge the change of the anti-skid control signal and timely derate and optimize the brake pressure, enabling the aircraft to complete stable and efficient braking during normal landing braking, and improving the reliability and safety of the brake system.
[0009] The first object of the present invention is to provide a derating optimization control method for an aircraft brake system based on high-torque brake materials, including: Obtain the ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal; Judge whether to perform anti-skid state identification and disposal based on the ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal; When entering the anti-skid state identification and disposal, obtain the anti-skid control signal according to the wheel speed change; Obtain the brake control amount according to the brake command signal; Obtain the number of occurrences of deep anti-skidding according to the difference between the anti-skid control signal and the brake control amount; Derate and optimize the brake control amount according to the number of occurrences of deep anti-skidding to obtain the optimized brake control amount; Perform brake control according to the optimized brake control amount.
[0010] Preferably, judging whether to perform anti-skid state identification and disposal based on the ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal includes: when the ground speed of the aircraft ≥ 25 km / h and the brake command signal ≥ 0.9 times the maximum brake command signal, perform anti-skid state identification and disposal; otherwise, do not perform.
[0011] Preferably, the brake command signal includes the left brake command signal and the right brake command signal; the maximum brake command signal includes the left maximum brake command signal and the right maximum brake command signal.
[0012] Preferably, the brake control amount includes the left brake control amount and the right brake control amount; Among them, the left brake control amount is obtained according to the left brake command signal; the right brake control amount is obtained according to the right brake command signal.
[0013] Preferably, the number of occurrences of deep anti-skidding is obtained according to the number of times when the anti-skid control signal > 0.7 times the brake control amount; among them, when the anti-skid control signal > 0.7 times the brake control amount, it is defined as one deep anti-skid operation; The deep anti-skid operation includes the left deep anti-skid operation and the right deep anti-skid operation, and the larger value between the left deep anti-skid operation and the right deep anti-skid operation is used as the number of times of the system deep anti-skid.
[0014] Preferably, the brake control optimization amount includes the left brake control optimization amount and the right brake control optimization amount, and its calculation formula is: V BL0 =V BL ×(10 - N) / 10 V BR0 =V BR ×(10 - N) / 10 In the formula, V BL0 is the left brake control optimization amount; V BL is the left brake control amount; V BR0 is the right brake control optimization amount; V BR is the right brake control amount; N is the number of times of deep anti-skid.
[0015] Preferably, when optimizing the brake control amount according to the number of times of deep anti-skid, it includes obtaining the left brake control optimization amount and the right brake control optimization amount after reduction, and the lowest reduction is to 50% of the left brake control amount and the right brake control amount.
[0016] The second object of the present invention is to provide a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the above-mentioned method for optimizing the derating control of an aircraft brake system based on high-torque brake materials.
[0017] The third object of the present invention is to provide an electronic device, including: A processor; and A memory for storing executable instructions of the processor; wherein, the processor is configured to execute the above-mentioned method for optimizing the derating control of an aircraft brake system based on high-torque brake materials by executing the executable instructions.
[0018] The fourth object of the present invention is to provide a derating optimization control system for an aircraft brake system based on high-torque brake materials, including: A data acquisition module for acquiring the ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal; A data processing module for judging whether to perform anti-skid state recognition and disposal according to the ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal; when entering the anti-skid state recognition and disposal, acquiring the anti-skid control signal according to the wheel speed change; acquiring the brake control amount according to the brake command signal; and acquiring the number of times of deep anti-skid according to the difference between the anti-skid control signal and the brake control amount; An optimization control module is used to perform derating optimization on the brake control amount according to the number of times of deep anti-skid, obtain the optimized brake control amount, and perform brake control according to the optimized brake control amount.
[0019] The present invention has at least the following beneficial effects: The present invention provides a derating optimization control method for an aircraft brake system based on a high-torque brake material. This method is a method for controlling the optimal brake pressure for a high-torque brake material according to the anti-skid control signal. Considering that the system control output pressure is too large, resulting in frequent operation of the brake system, if not disposed of in time, it will cause unstable braking, low braking efficiency, and in severe cases, problems such as braking pitch and tire wear. The present invention can effectively judge the change of the anti-skid control signal, and timely perform derating optimization on the brake pressure, so that the aircraft can complete stable and efficient braking during the normal landing braking process, improving the reliability and safety of the brake system. This step controls the aircraft brake pressure according to the current deceleration rate and the deceleration rate target range. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a flowchart of a derating optimization control method for an aircraft brake system based on a high-torque brake material provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0021] In order to elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description in combination with embodiments.
[0022] The purpose of the present invention is to address the prior art where, according to the anti-skid working conditions, only the brake control signal is reduced. The disadvantage of this technology is that it does not consider the problem of anti-skid parameter matching after voltage reduction, resulting in frequent anti-skidding when the ground contact torque is low. The present invention provides a derating optimization control method for an aircraft brake system based on a high-torque brake material.
[0023] To achieve the above purpose, as shown in Figure 1 A derating optimization control method for an aircraft brake system based on a high-torque brake material includes: S1. Obtain the ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal; Judge whether to perform anti-skid state identification and disposal according to the ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal, including: when the ground speed of the aircraft ≥ 25 km / h and the brake command signal ≥ 0.9 times the maximum brake command signal, perform anti-skid state identification and disposal, otherwise do not perform.
[0024] The brake command signal includes the left brake command signal and the right brake command signal; the maximum brake command signal includes the left maximum brake command signal and the right maximum brake command signal.
[0025] S2. Determine whether to perform anti-skid state recognition and disposal based on the enclave ground speed, as well as the brake command signal and the maximum brake command signal; When entering the anti-skid state recognition and disposal, obtain the anti-skid control signal according to the wheel speed change; Obtain the brake control amount according to the brake command signal; Obtain the number of occurrences of deep anti-skid according to the difference between the anti-skid control signal and the brake control amount; The brake control amount includes a left brake control amount and a right brake control amount; Among them, the left brake control amount is obtained according to the left brake command signal; the right brake control amount is obtained according to the right brake command signal.
[0026] The number of occurrences of the deep anti-skid is obtained according to the number of occurrences when the anti-skid control signal > 0.7 times the brake control amount; among them, when the anti-skid control signal > 0.7 times the brake control amount, it is defined as one deep anti-skid operation; The deep anti-skid operation includes a left deep anti-skid operation and a right deep anti-skid operation, and the larger value of the left deep anti-skid operation and the right deep anti-skid operation is used as the number of times of the system deep anti-skid.
[0027] S3. Perform derating optimization on the brake control amount according to the number of times of deep anti-skid to obtain the optimized brake control amount; perform brake control according to the optimized brake control amount.
[0028] The optimized brake control amount includes a left optimized brake control amount and a right optimized brake control amount, and its calculation formula is: V BL0 =V BL ×(10 - N) / 10 V BR0 =V BR ×(10 - N) / 10 In the formula, V BL0 is the left optimized brake control amount; V BL is the left brake control amount; V BR0 is the right optimized brake control amount; V BR is the right brake control amount; N is the number of times of deep anti-skid.
[0029] When performing derating optimization on the brake control amount according to the number of times of deep anti-skid, it includes obtaining the left optimized brake control amount and the right optimized brake control amount after reduction, and the minimum reduction is up to 50% of the left brake control amount and the right brake control amount.
[0030] In order to illustrate a derating optimization control method for an aircraft brake system based on high-torque brake materials provided by the present invention. The specific process of the present invention is as follows: Step 1: Obtain the current anti-skid brake state of the aircraft.
[0031] Step 2: Identify the continuous change amount of the anti-skid control signal and judge the change trend of the anti-skid control signal.
[0032] Step 3: Perform derating optimization control on the braking system.
[0033] Step 1 includes: Collecting the braking command signals of the left and right braking command sensors through the anti-skid braking controller; the braking command signals include the left braking command signal V L and the right braking command signal V R . The maximum left braking command signal is V CL , and the maximum right braking command signal is V CR . Obtain the enclave ground speed V 地 .
[0034] Step 2 includes: When the anti-skid is working, calculate that the left anti-skid control signal is V SL , and the right anti-skid control signal is V SR ; It should be noted that the anti-skid amount is related to the reduction amount of the wheel speed per unit time.
[0035] When the enclave ground speed V 地 ≥25 km / h and V L ≥0.9V CL and V R ≥0.9V CR , perform anti-skid state identification and handling, otherwise do not perform.
[0036] Calculate the left brake control amount V L and the right brake control amount V R through the magnitudes of the left brake command signal V BL and the right brake command signal V BR , where both k and b are constants and are related to the output characteristics of the servo valve. The calculation process is as follows: V BL =kV L +b; (1) V BR =kV R +b; (2) In the anti-skid algorithm, limit the maximum value of the anti-skid control signal. When the left anti-skid control signal V SL is greater than the left brake control amount V BL , then make V SL =V BL , and when the right anti-skid control signal V SR is greater than the right brake control amount V BR , then make V SR =V BR .
[0037] If deep anti-skid work occurs on the left or right side of the system, it is considered that the system needs to perform derating optimization. One deep anti-skid work is defined as follows: when the anti-skid control signal increases to V SL >0.7V BL or V SR >0.7V BR and then the anti-skid control signal starts to decrease, it is considered that one deep skid has occurred. The deep skid times on the left and right sides are calculated independently and have an accumulative memory function. The larger value of the deep skid times on the left and right sides is taken as the system deep anti-skid times. When the enclave ground speed < 25 km / h, the system deep anti-skid times are cleared.
[0038] Step 3 includes: performing derating optimization control on the braking system: if N deep anti-skid works occur on the left or right side of the system, where N takes the larger value of the left and right sides, then reduce the left brake control amount V BL and the right brake control amount V BR . After reduction, the left brake control optimization amount V BL0 and the right brake control optimization amount V BR0 are obtained, and the minimum reduction is to 50% of the left brake control amount V BL and the right brake control amount V BR . The calculation method is as follows: V BL0 =V BL ×(10 - N) / 10; (3) V BR0 =V BR ×(10 - N) / 10; (4) If the system calculates the left brake control optimization amount V BL0 and the right brake control optimization amount V BR0 , then this value is used for actual brake control, and the maximum value of the left anti-skid control signal V SL is equal to the left brake control amount V BL0 ; the maximum value of the right anti-skid control signal V SR is equal to the right brake control amount V BR0 .
[0039] The present invention is a method for controlling the optimal brake pressure for high-torque brake materials according to the anti-skid control signal. Considering that the system control output pressure is too large, resulting in frequent operation of the braking system. If not disposed of in time, it will cause an unstable braking process, low braking efficiency, and in severe cases, problems such as braking pitch and tire wear.
[0040] In response to this problem, the present invention can effectively determine the change of the anti-skid control signal, and timely reduce the rating and optimize the braking pressure, so that the aircraft can complete stable and efficient braking during normal landing braking, improving the reliability and safety of the braking system. This step controls the braking pressure of the aircraft according to the current deceleration rate and the deceleration rate target range. The present invention proposes a method for reducing the rating and optimizing the control of an aircraft braking system with high-torque braking materials, and the comparison with the conventional technology is shown in Table 1.
[0041] Table 1 Comparison between the control method of the present invention and the conventional control method
[0042] To further illustrate the method provided by the present invention, specific examples are used for illustration.
[0043] This embodiment is a hydraulic braking system of an aircraft that matches a carbon-ceramic material brake disc, and adopts a method of reducing the rating and optimizing control. This method is applicable to a digital fly-by-wire hydraulic braking system that matches a carbon-ceramic material brake disc.
[0044] Step 1: Collect the braking command signals of the left and right braking command sensors through the anti-skid braking controller; the braking command signals include the left braking command signal V L and the right braking command signal V R , where the change range of V L and V R is 1.8V to 6.5V.
[0045] The maximum left braking command signal is V CL , and the maximum right braking command signal is V CR , so V CL and V CR均 are 6.5V.
[0046] Step 2: At this time, the system outputs the left braking command V L = 6.2V, the right braking command V R = 6.0V, and calculate the left braking control amount V BL and the right braking control amount V BR . When designing the corresponding relationship between the command braking control amount V L is 1.8V to 6.5V, the corresponding V BL is 200 to 3600, and the calculation method of the right braking control amount is the same as that of the left. Therefore, the calculation process is as follows: V BL = 723.4V L - 1102.12; (1) V BR = 723.4V L - 1102.12; (2) The left braking command VL = 6.2V, right brake command V R = 6.0V, calculate the left brake control amount V BL = 3383 and the right brake control amount V BR = 3238.
[0047] During anti-skid operation, according to the wheel speed change, the calculated left anti-skid control signal is V SL , and the right anti-skid control signal is V SR , where V SL and V SR vary in the range of 0 to 3600.
[0048] At this time, 0.9V CL = 0.9 × 6.5 = 5.85V; 0.9V CR = 0.9 × 6.5 = 5.85V; Therefore, it meets the condition of V L ≥ 0.9V CL and V R ≥ 0.9V CR condition.
[0049] When the enclave ground speed V 地 ≥ 25 km / h, an anti-skid control signal V SL > 0.7V BL or V SR > 0.7V BR occurs, then the derating optimization control can be entered.
[0050] Step 3, perform derating optimization control on the brake system: The left side of the system first has 1 anti-skid operation. At this time, V SL The calculation result is 3000. When the anti-skid control signal gradually decreases, it accumulates and increases to 2800 again, and then gradually decreases to 0. Therefore, when the anti-skid control signal increases, there are 2 times greater than 0.7V BL = 2368 situation, so it is recognized that the left side has 2 deep anti-skid operations.
[0051] The right side of the system first has 1 anti-skid operation. At this time, V SL The calculation result is 2900. When the anti-skid control signal gradually decreases, it accumulates and increases to 3000. When the anti-skid control signal gradually decreases again, it accumulates and increases to 2900 again, and then gradually decreases to 0. Therefore, when the anti-skid control signal increases, there are 3 times greater than 0.7V BL = 2368 situation, so it is recognized that the right side has a total of 3 deep anti-skid operations.
[0052] The number of skidding times on the right side above is greater than that on the left side. Therefore, take the 3 deep skidding times on the right side as the input for the system derating control.
[0053] After reduction, the left brake control optimization amount V is obtained. BL0 and the right brake control optimization amount V BR0 , with the lowest reduction to the left brake control amount V BL and the right brake control amount V BR by 50%. The calculation results are as follows: V BL0 = V BL × (10 - N) / 10 = 3383 × (10 - 3) / 10 = 2368; (3) V BR0 = V BR × (10 - N) / 10 = 3238 × (10 - 3) / 10 = 2267; (4) Finally, during the system control, due to multiple occurrences of deep skidding, the system actively reduces the rating and optimizes, ultimately avoiding deep skidding of the system and ensuring a stable and efficient braking process.
[0054] The comparison of the main test data is shown in Table 2. According to the data in the table and theoretical analysis, it can be concluded that the conventional rated control method causes a reduction in braking efficiency, especially on ice - wet runways, where the braking performance deteriorates more severely. By adopting the reduction - rating optimization control method, on runways in various states, the number of anti - skid times can be effectively reduced, the braking deceleration rate can be increased, and the braking distance can be reduced.
[0055] Table 2 Main test data
[0056] In this embodiment, according to the anti - skid state, optimal control of the braking pressure is achieved. Tests and theoretical analysis show that the braking system adopting the reduction - rating optimization control method improves the braking performance of the braking system.
[0057] The present invention provides a computer program product, including a computer program, which when executed by a processor implements the above - mentioned reduction - rating optimization control method for an aircraft braking system based on high - torque braking materials.
[0058] The present invention provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein, the processor is configured to execute the above - mentioned reduction - rating optimization control method for an aircraft braking system based on high - torque braking materials by executing the executable instructions.
[0059] The present invention provides a reduction - rating optimization control system for an aircraft braking system based on high - torque braking materials, including: a data acquisition module for acquiring the ground speed of the aircraft, as well as the braking command signal and the maximum braking command signal; A data processing module, configured to determine whether to perform anti-skid state recognition and handling based on the enclave ground speed, as well as the brake command signal and the maximum brake command signal; when entering the anti-skid state recognition and handling, obtain the anti-skid control signal according to the wheel speed change; obtain the brake control amount according to the brake command signal; obtain the number of occurrences of deep anti-skid according to the difference between the anti-skid control signal and the brake control amount. An optimization control module, configured to perform derating optimization on the brake control amount according to the number of occurrences of deep anti-skid to obtain an optimized brake control amount; perform brake control according to the optimized brake control amount.
[0060] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A derating optimization control method for an aircraft braking system based on high-torque braking materials, characterized in that Including: Obtain the enclave ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal; Judge whether to perform anti-skid state recognition and handling according to the enclave ground speed, the brake command signal and the maximum brake command signal; When entering the anti-skid state recognition and handling, obtain the anti-skid control signal according to the wheel speed change; Obtain the brake control amount according to the brake command signal; Obtain the number of occurrences of deep anti-skid according to the difference between the anti-skid control signal and the brake control amount; Perform derating optimization on the brake control amount according to the number of occurrences of deep anti-skid to obtain the optimized brake control amount; Perform brake control according to the optimized brake control amount.
2. The method for derating optimization control of an aircraft braking system based on a high-torque braking material according to claim 1, wherein Judging whether to perform anti-skid state recognition and handling according to the enclave ground speed, the brake command signal and the maximum brake command signal includes: when the enclave ground speed ≥ 25 km / h and the brake command signal ≥ 0.9 times the maximum brake command signal, perform anti-skid state recognition and handling, otherwise do not perform.
3. The aircraft brake system derating optimization control method based on high torque brake materials according to claim 1, characterized in that, The brake command signal includes the left brake command signal and the right brake command signal; the maximum brake command signal includes the left maximum brake command signal and the right maximum brake command signal.
4. The aircraft brake system derating optimization control method based on high-torque brake materials according to claim 3, characterized in that The brake control amount includes the left brake control amount and the right brake control amount; Among them, the left brake control amount is obtained according to the left brake command signal; the right brake control amount is obtained according to the right brake command signal.
5. The aircraft brake system derating optimization control method based on high torque brake materials according to claim 4, characterized in that The number of occurrences of the deep anti-skid is obtained according to the number of occurrences when the anti-skid control signal > 0.7 times the brake control amount; among them, when the anti-skid control signal > 0.7 times the brake control amount, it is defined as one deep anti-skid operation; The deep anti-skid operation includes the left deep anti-skid operation and the right deep anti-skid operation, and the larger value of the left deep anti-skid operation and the right deep anti-skid operation is used as the number of times of the system deep anti-skid.
6. The aircraft brake system derating optimization control method based on high torque brake materials according to claim 5, characterized in that The optimized brake control amount includes the left optimized brake control amount and the right optimized brake control amount, and its calculation formula is: V BL0 = V BL × (10 - N) / 10 V BR0 =V BR × (10 - N) / 10 Where, V BL0 is the optimized amount of left brake control; V BL is the left brake control amount; V BR0 is the optimized amount of right brake control; V BR is the right brake control amount; N is the number of times of deep anti-slip.
7. The aircraft brake system derating optimization control method based on high torque brake materials according to claim 6, characterized in that When performing derating optimization on the brake control amount according to the number of occurrences of deep anti-skid, it includes obtaining the left optimized brake control amount and the right optimized brake control amount after reduction, and the lowest reduction is to 50% of the left brake control amount and the right brake control amount.
8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the derating optimization control method of the aircraft brake system based on high-torque brake materials described in any one of claims 1 to 7.
9. An electronic device, characterized in that, Including: A processor; And A memory for storing the executable instructions of the processor; Among them, the processor is configured to execute the derating optimization control method of the aircraft brake system based on high-torque brake materials described in any one of claims 1 to 7 by executing the executable instructions.
10. An aircraft braking system derating optimization control system based on high torque braking materials, characterized in that, Including: A data acquisition module for obtaining the enclave ground speed of the aircraft, as well as the brake command signal and the maximum brake command signal; A data processing module for judging whether to perform anti-skid state recognition and handling according to the enclave ground speed, the brake command signal and the maximum brake command signal; when entering the anti-skid state recognition and handling, obtaining the anti-skid control signal according to the wheel speed change; obtaining the brake control amount according to the brake command signal; obtaining the number of occurrences of deep anti-skid according to the difference between the anti-skid control signal and the brake control amount; An optimization control module, which is used to perform derating optimization on the brake control amount according to the number of times of deep anti-skid, obtain the optimized brake control amount, and perform brake control according to the optimized brake control amount.