2894 results about "Brake force" patented technology

The invention discloses a vehicle braking force determination method and device. The method comprises the steps that the minimum wheel slip rate corresponding to each axle of a vehicle serves as a target, and a target function is constructed; based on the target constraint condition, the minimum wheel slip rate corresponding to each axle of the target function under the target braking strength and the braking force distribution result corresponding to the minimum wheel slip rate are solved, the target constraint conditions include that the wheel slip rates corresponding to all the axles are different and conform to the preset locking sequence of all the axles, the wheel slip rates of all the axles determine the longitudinal adhesion coefficients corresponding to all the axles, and the longitudinal adhesion coefficients corresponding to all the axles determine the braking force distribution results corresponding to all the axles; and the sum of the braking force distribution results corresponding to the axles is equal to the total adhesive force corresponding to the target braking strength, and the safety and stability of the vehicle can be improved.

The invention relates to the technical field of automatic driving, in particular to a driving control method and system for an unmanned electric tractor, and the method comprises the following steps: obtaining humidity data to generate a state diagram, judging slip to trigger traction adjustment based on the state diagram, analyzing a slope recognition risk to generate a slope parameter, and reading a braking force to judge, coordinate and generate a distribution instruction. According to the method, the humidity difference is obtained through multi-point soil humidity monitoring, distribution characteristics are extracted, accurate sensing of the state of an operation area is achieved, the wheel rotating speed and traction force signals are combined, slipping is recognized in advance, the traction force is dynamically adjusted, and the driving force is kept stable; based on joint analysis of gradient change and vehicle state, slope risk is recognized in advance, optimization control is performed, braking force of front and rear wheels is dynamically distributed, slippage caused by unbalance is avoided, safety of complex terrains is improved, and vehicle stability, path control precision and energy utilization efficiency are improved through cooperation of multi-dimensional data perception and dynamic prediction.

The invention relates to the technical field of electric scooters, in particular to a vehicle battery energy-saving control system of a high-strength impact-resistant scooter, which comprises an impact-resistant battery bin, a battery energy-saving control system and a battery energy-saving control system, wherein the impact-resistant battery bin comprises a multi-layer composite shell, a vibration sensor and a filling layer; the energy-saving control module comprises an intelligent detection unit, a central controller and a power optimizer; the power optimizer is used for adjusting the PWM duty ratio of the motor driving circuit according to the power mapping table; the energy recovery module is used for receiving brake force, a slope angle, a motor rotating speed and a vehicle mass estimation value, calculating an optimal recovery current through a Kalman filter, and injecting the recovery current into a battery pack by adopting a bidirectional Buck-Boost circuit; and the safety cooperative controller executes a hierarchical protection strategy, and a data bus is connected with each module to realize data interaction. Therefore, the problems that in the prior art, an electric scooter is insufficient in battery endurance, low in energy recovery efficiency, weak in impact resistance, poor in collaboration and the like are solved.

The invention belongs to the technical field of automatic control, and particularly relates to a digital control system for strip coiling equipment, which comprises the following steps of: firstly, comprehensively acquiring strip tension data and state characteristic information by combining a tension sensing assembly and image acquisition equipment, dynamically adjusting a braking torque parameter, and then, acquiring a dynamic control signal by taking the linear speed of a coiling machine as a target signal; the speed of the uncoiling machine and the speed of the traction roller are synchronously aligned through a following strategy, then a taper tension control mode is adopted, the tension value is dynamically adjusted in combination with real-time coiling diameter parameters, the tension stability and the coiling regularity in the coiling process are ensured, and finally the strip deviation problem is detected and processed in real time according to a closed-loop deviation correction mechanism. The equipment control strategy in the strip coiling process is deeply bound with uncoiling control, synchronous coordination, coiling control and a deviation correction core module, and the integrated control capability of multivariable coordination and self-adaptive optimization is achieved, so that the automation and intelligence level of the strip coiling process is effectively improved.

An apparatus for a brake drum having a drum brake assembly with first and second brake shoes includes a motor and a planetary gear train for receiving torque from the motor and having an output gear. A ball ramp assembly receives torque from the output gear and has ends aligned with the respective first and second brake shoes. The motor is actuatable for lengthening the ball ramp assembly to move the brake shoes and apply braking force to the brake drum. A bi-stable locking mechanism selectively locks the planetary gear train to apply a parking brake to the brake drum.

The invention discloses a vehicle braking pitching control method, a controller, a vehicle and a storage medium, and belongs to the technical field of automobiles. The method comprises the following steps: acquiring braking data of a target vehicle; under the condition that it is determined that the braking pitching event occurs, a target braking pitching control mode is determined based on the braking data; generating a target pitching control parameter based on the target braking pitching control mode; the target pitching control parameters comprise target suspension damping, target suspension rigidity, target impact degree, target total braking force, target front axle braking force and target rear axle braking force; and controlling the braking process of the target vehicle based on the target pitching control parameter. According to the vehicle braking pitching control method disclosed by the invention, the control effect of the vehicle braking pitching phenomenon is improved.

A brake torque distribution device for distributing braking torque to wheels of a vehicle includes: a receiving unit for receiving vehicle driving information including required braking torque; a regenerative braking unit for generating regenerative braking torque; a braking torque generating unit for generating braking torque; and a braking control unit for controlling the braking torque generating unit to distribute the braking torque to the wheels of the vehicle, where the braking control unit may determine the braking torque distributed to the braking torque generating unit based on an optimal tire slip diagram stored in memory.

The invention discloses an intelligent control method and system for motorcycle calipers. According to the method, multi-modal data such as vehicle speed, wheel speed, piston displacement, brake disc temperature, inclination angle and transverse acceleration are collected in real time through a multi-source sensor and are preprocessed; calculating a braking demand and an adhesion coefficient according to the data, and recognizing a straight line, a curve or an emergency braking scene in combination with the inclination angle and the transverse acceleration; inputting the data into a pre-trained brake control machine learning model to generate a target brake force change curve; controlling the driving motor and the calipers to brake based on the curve, and regularly optimizing the model according to brake feedback and historical data; predicting a braking efficiency attenuation trend by combining a part degradation model, and compensating the braking force to update the model; the motor current is adjusted in real time through closed-loop control so as to follow the target braking force; and continuously monitoring the temperature of the brake disc, and triggering thermal attenuation compensation when the temperature exceeds a threshold value. According to the invention, self-adaptive, accurate and reliable intelligent braking of the motorcycle is realized.

The invention relates to a comfortable braking control method and device, electronic equipment and a storage medium. The comfortable braking control method comprises the steps that driving state data of a vehicle and physical parameters of the vehicle are obtained; according to the driving state data and the physical parameters of the vehicle, the required braking force needed by parking the vehicle on the current road surface is determined; determining the maximum distribution proportion of the braking force of the rear axle according to the driving state data and the required braking force; determining a front axle target braking force and a rear axle target braking force based on the maximum distribution proportion of the required braking force and the rear axle braking force; and controlling the vehicle to perform comfortable braking according to the front axle target braking force and the rear axle target braking force. According to the embodiment of the invention, longitudinal comfortable braking can be realized, energy accumulation of the suspension in the braking process is reduced, the situation that the vehicle is nodding during braking and parking is avoided, vehicle instability caused by too large slip rate of rear axle wheels can be avoided, the acceleration and acceleration fluctuation are reduced, the comfort is improved, and the safety in the comfortable braking process is ensured.

The invention discloses a vehicle braking energy recovery method and device, a vehicle and a storage medium. The method comprises the steps that under the condition that a current vehicle is in a braking mode, the real-time acceleration and the brake pedal depth of the current vehicle are obtained; determining a target deceleration of the current vehicle based on the brake pedal depth; calculating the total required braking force of the current vehicle based on the target deceleration and the real-time acceleration; the maximum value of regenerative braking force of the current vehicle is determined, and the upper limit of the regenerative braking force is obtained; determining a target regenerative braking force based on the total demand braking force and a regenerative braking force upper limit; and the motor output torque of the current vehicle is determined according to the target regenerative braking force, and braking energy recovery is conducted based on the motor output torque. According to the technical scheme, the braking energy recovery efficiency of the vehicle is improved.

The invention discloses a braking control optimization method and system combined with vehicle multi-state perception, and belongs to the technical field of vehicle intelligent control, and the method comprises five steps of multi-source data acquisition, data preprocessing, multi-state risk modeling, multi-target braking force distribution and braking control optimization. Based on a tire dynamic model and a semantic physical double-source weighting mechanism, generating high-precision vehicle multi-state sensing feature data; a multi-state risk modeling method based on path prediction and a physical constraint model is combined with a dynamic risk weight adjustment mechanism to calculate a comprehensive target deceleration; a multi-objective optimization function including the braking distance, the stability and the tire reliability is constructed, and four-wheel braking force distribution and coaxial cooperative control are carried out; and pressure control is executed according to the optimization result, and brake control optimization is achieved. According to the method, real-time self-adaptive adjustment of the brake control strategy can be achieved under the complex environment and multiple working conditions, and the safety, stability and response precision of braking are improved.

The invention discloses an ABS real-time self-adaptive control method and system based on hub sensing signal fusion, and relates to the field of automobile safety control. The method comprises the steps that S1, multi-source hub sensing signals of all wheels are synchronously collected; s2, calculating a hub response coupling factor based on the multi-source hub sensing signal; s3, calculating an instantaneous slip rate based on the coupling factor and the wheel speed in combination with vehicle dynamic parameters; s4, on the basis of the wheel speed, the braking torque and the tangential acceleration, the coupling factor and the instantaneous slip rate are combined, and the normal load is calculated; s5, calculating an adhesion coefficient according to the instantaneous slip rate, the normal load and the wheel speed; s6, according to the slip rate deviation, a fusion weight is generated in combination with the coupling factor, and the adhesion capacity of the whole vehicle is calculated; and S7, according to the adhesion coefficient, the normal load, the slip rate and the adhesion capacity of the whole vehicle, the target braking force is calculated, and the wheel braking strength is adjusted. By monitoring the state of the wheels in real time, the slip rate is accurately controlled, braking force distribution is optimized, and the response precision and stability of the ABS are improved.

The invention discloses a high-temperature protection control method of a vehicle braking system and a vehicle, belongs to the technical field of vehicle control, and aims to solve the problems that an existing vehicle braking system lacks high-temperature trend prediction capacity and a dynamic braking force adjusting mechanism, heat accumulation is prone to occurring under the high-load working condition, braking performance declines, and the service life is poor. And therefore, the technical problem of insufficient braking stability and safety is solved. The method comprises the following steps: constructing a generative diffusion model; constructing a temperature control trend prediction model; training the temperature control trend prediction model through the high-temperature time sequence and the braking heat data sample set; constructing a multi-target reinforcement learning strategy model; performing multi-model fusion processing on the generative diffusion model, the temperature control trend prediction model and the multi-target reinforcement learning strategy model to obtain a high-temperature protection control system; and inputting the real-time braking heat data of the target vehicle into a high-temperature protection control system to obtain a corresponding control action vector so as to carry out high-temperature protection control on a vehicle braking system.

The invention discloses an enhanced braking system for a mountain railway vehicle, which relates to the technical field of railway vehicle braking control, and comprises the following steps: acquiring a rail position vector and an arc length, calculating a rail curvature and a rail gradient, and combining the current speed and the target speed of the vehicle to solve a braking demand acceleration value and generate a gradient parameter and a curve parameter; according to the braking force distribution proportion, a wheel rail hydraulic braking torque value is adjusted, the meshing depth and the vibration frequency of a rack rail brake are controlled through a rack rail action instruction, and a wheel rail system state report and a rack rail work log are generated; and gradient parameters, actual adhesive force numerical values and toothed rail meshing efficiency in the braking process are extracted from a wheel-rail system state report and a toothed rail work log, and closed-loop optimization is carried out in combination with a terrain braking curve. Self-learning and self-adaptive adjustment are carried out on the braking process through closed-loop feedback and parameter optimization, so that the energy utilization efficiency is improved and the service life of key components is prolonged while the braking efficiency is guaranteed.

The invention discloses a redundant braking control method of an automatic driving vehicle and a storage medium, which are applied to a vehicle control unit. According to the method, when it is detected that an automatic driving module, anti-collision early warning or remote monitoring triggers a braking demand, the target deceleration is calculated in combination with the vehicle speed and the obstacle distance. By collecting the actual acceleration, the parking air chamber air pressure and the motor torque, the total braking force is estimated, the electronic parking braking force is separated out, and then the road adhesion coefficient is calculated. And in the redundant braking mode, according to the target deceleration, the attachment condition and the capacity upper limit of the two systems, performance indexes including deceleration deviation and a parking penalty term are constructed, and the target motor deceleration and the target electronic parking deceleration are obtained through joint distribution. And finally, the target parking deceleration is converted into target air pressure through the deceleration air pressure mapping table containing the online correction amount, the air pressure is adjusted through closed-loop control, and accurate and stable redundant service braking is achieved.

The application discloses a control method and device of a vehicle and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: in response to the fault level being a target level and the first detection result indicating that the engine and the ISG motor are in a series working mode, setting the charging target power of the power battery connected in the high-voltage loop to 0, and performing speed closed-loop control on the ISG motor with a speed threshold value as a target speed; in response to the actual torque of the engine being less than 0 and the direct-current bus current being less than a current threshold value, controlling the power battery to be disconnected from the high-voltage loop, performing speed closed-loop control on the engine and voltage closed-loop control on the ISG motor; and supplying power to the traction motor (TM) motor by the ISG motor. The DC bus voltage can be stabilized in the case that the power battery is disconnected, so that the TM motor can stably drive the vehicle to safely travel in the case that the power battery fails.

The invention discloses a comfortable braking cooperative control method capable of preventing slope sliding, which comprises the following steps of: firstly, preliminarily obtaining information of a slope where a vehicle is located, and then synchronously carrying out related compensation of a slope difference value and compensation of a vehicle attitude; and the minimum target deceleration required for preventing the vehicle from sliding on the slope and the damping force required for restraining pitching motion in the vehicle braking process are calculated, and the comfortable braking grade is selected. In the whole process, the ramp acceleration of the vehicle needs to be calculated in real time to obtain compensation, longitudinal and vertical control strategies are used for cooperative control, a brake-by-wire product is utilized, a non-adhesion coefficient is analyzed, braking force is distributed, load transfer is weakened through rear braking force during ramp parking, the pitching characteristic of the vehicle can be weakened under the non-emergency working condition, and the vehicle safety is improved. And the riding comfort of a driver and passengers is improved.

The invention relates to an auxiliary braking constant-speed downhill control method and device, electronic equipment and a storage medium, and belongs to the technical field of vehicle braking. The method comprises the steps that when a vehicle starts an auxiliary braking function, running parameters of the vehicle are obtained, and the total braking force of the vehicle is determined based on the running parameters; the operation parameters comprise load, vehicle speed and gradient; determining a braking mode of the vehicle based on the engine braking force and the total braking force of the vehicle; the braking mode is engine braking, or the braking mode is engine braking and service braking; and controlling the vehicle to go downhill at constant speed based on the braking mode. According to the auxiliary braking constant-speed downhill control method, when the auxiliary braking function of the vehicle is started, the load, the vehicle speed and the gradient of the vehicle are obtained, the total braking force is calculated, traveling braking is supplemented when engine braking is insufficient, and it is guaranteed that the vehicle keeps the constant speed to go downhill by combining engine braking and traveling braking; the braking device can flexibly adapt to different road conditions, improves the braking effect and the driving safety, and is low in cost.

A brake system may include: a drum; a brake shoe including a frictional member applying frictional force to the drum; a motor moving the brake shoe; a force sensor detecting clamping force of the frictional member to the drum; and a controller electrically connected to the motor and the force sensor, and the controller may determine a first position of the frictional member to the drum at a braking force generation start time based on current applied to the motor or torque of the motor upon controlling the motor for braking, and control the motor so that an interval between the drum and the frictional member is adjusted based on the first position when the force sensor is in a failure state upon controlling the motor for releasing the braking.

The invention relates to a vehicle braking control method and device, computer equipment and a storage medium. The method comprises the steps that in response to a braking instruction of a vehicle, target braking deceleration of the vehicle is determined according to braking pedal information and driving mode information of the vehicle; determining a target braking force and a target braking torque of the vehicle according to the target braking deceleration, the whole vehicle mass and the wheel rolling radius of the vehicle; under the condition that the target braking deceleration is larger than a preset deceleration threshold value, the mechanical braking torque of the vehicle is determined according to the target braking torque and the energy recovery torque; according to the real-time acceleration of the vehicle, the wheel static load is corrected, and the wheel dynamic load of the vehicle is obtained; according to the mechanical braking torque and the wheel dynamic load, the mechanical braking force of each wheel of the vehicle is determined; the mechanical braking force is used for controlling the vehicle to conduct mechanical braking, and the braking effect of the vehicle is improved.

The utility model discloses a fishing reel floating magnetic brake device, which relates to the technical field of fishing tackles, and comprises a reel seat, a magnet component and an adjusting mechanism, the adjusting mechanism drives the magnet component to move up and down to adjust the brake force of the reel, and the magnet component comprises a base, a sliding block, a spring, a magnet array and a bottom plate. A plurality of protruding spring installation grooves are formed in the bottom end face of the base, guide grooves matched with the spring installation grooves are formed in the sliding blocks, the spring installation grooves are inserted into the guide grooves so that the sliding blocks can slide outwards, the springs are arranged in the spring installation grooves, and the two ends of each spring abut against the inner wall of the corresponding spring installation groove and the inner wall of the corresponding guide groove respectively. The bottom plate is fixed to the bottom of the base and axially limits the sliding block. Electromagnetic attraction force generated by rotation of the spool is utilized to drive the sliding block and the magnet array to move, the distance between the magnet and the spool is automatically changed, braking force is automatically and smoothly adjusted along with the rotating speed of the spool, wire explosion is prevented, the throwing distance and stability are improved, the structure is compact, and work is reliable.

An electric hydraulic brake includes: wheel brakes configured to braking force to wheels of a vehicle; a reservoir storing brake oil; a master cylinder connected to the reservoir, and operated in conjunction with a main brake motor to generate pressure of the brake oil; a first controller configured to control the main brake motor; a hydraulic controller including a pump configured to form pressure of the brake oil in conjunction with an auxiliary brake motor, and a hydraulic block configured to selectively transmit the pressure of the brake oil formed in the master cylinder or the pump to the wheel brakes; and a second controller configured to control the auxiliary brake motor when the master cylinder or the first controller malfunctions. The hydraulic controller is provided with an auxiliary flow path to transmit the brake oil from the reservoir to the pump directly through the auxiliary flow path.

A coordinated control method and apparatus for the lateral stability of an electric vehicle and a storage medium. The method comprises: acquiring the current yaw velocity, the current sideslip angle, the current longitudinal velocity and a steering angle input by a driver; on the basis of the current yaw velocity, the current sideslip angle, the current longitudinal velocity and the steering angle, using a preset hybrid control rule to determine an additional yaw moment and an additional front wheel steering angle; sending the additional yaw moment to a DYC system, so that the DYC system allocates the additional yaw moment on the basis of a preset allocation rule, so as to obtain respective longitudinal braking forces of four hubs; and sending the additional front wheel steering angle to an AFWS system, so that the AFWS system allocates the additional front wheel steering angle on the basis of a preset steering control rule, so as to obtain respective steering angles of the four hubs. The present application avoids a lack of driving comfort and stability during single-system yaw control, ultimately remarkably improving the lateral control stability of vehicles.

The invention relates to a cooperative braking control method and device based on a road adhesion coefficient and energy recovery. The method comprises the steps that vehicle state parameters of a current control period are obtained, and the vehicle state parameters comprise the vehicle longitudinal speed, the vehicle transverse speed, the vehicle yaw velocity and the angular velocity of each wheel; a preset prediction model is solved according to the vehicle state parameters and the constraint conditions, and the control quantity of each wheel in the next control period is obtained; wherein the prediction model takes closer actual longitudinal speed to expected longitudinal speed, maximization of regenerated energy, stable change of controlled quantity and convergence of slip rate of each wheel as targets, and the constraint conditions comprise a wheel constraint condition, a motor hydraulic system constraint condition, a battery charging power constraint condition and a braking force constraint condition. The wheel constraint condition is related to the road adhesion coefficient corresponding to each wheel. By the adoption of the method, the energy recovery efficiency can be maximized, and the stability and safety of the vehicle are guaranteed.

A device and method for electromechanically braking rail vehicles, wherein the brake system includes a brake control unit configured to provide braking functions and output a force manipulated variable, an actuator control unit configured to provide functions for generating a frictional braking force based on the force manipulated variable and to output an actuation variable, a braking force unit configured to provide functions for generating a frictional braking force based on the actuation variable, a first braking path from functions that are active between control inputs by the brake system and the generation of a braking force, and a second braking path from functions that are active between control inputs by the brake system and the generation of a braking force.

The invention relates to a whole vehicle stability control method for a composite braking system, which comprises the following steps of: quickly obtaining target braking requirements of each braking execution unit by adopting an NSGA-II algorithm, solving the response speed difference between a hub motor and an EMB through an EMB response delay model and a hub motor feedforward compensation algorithm, and eliminating braking force oscillation. In a four-wheel pure EMB vehicle stability control strategy, a sliding mode control strategy and a model prediction control strategy are respectively adopted based on control demand difference and algorithm characteristic matching of a drifting risk and an understeering working condition, and meanwhile, an actuator physical constraint and a multi-stage fault monitoring mechanism are embedded, so that the basic stability of the vehicle can still be kept under an extreme working condition.

A method for controlling an electromechanical brake). The electromechanical brake includes an electric motor which acts on a brake actuator via a gear unit to generate a braking force. A switchable and bistable freewheel locking device, via which a brake release direction of the brake actuator can be locked, is provided to lock the gear unit. The method includes moving back the brake actuator after a braking operation by a fixed predefined distance and controlling the locking device to fix the brake actuator in the retracted position.

A brake force control method includes: obtaining temperature data of a braking system of a vehicle and driving data of the vehicle during braking of the vehicle; and controlling a brake force output from a brake motor in the braking system according to the temperature data and the driving data.

The invention belongs to the technical field of intelligent automobiles, and particularly relates to a load estimation method and system for a vehicle electronic braking system. The method aims at solving the core problems that an existing vehicle load estimation technology seriously depends on specific ideal working conditions such as uniform acceleration and uniform deceleration, so that estimation lags behind, and results are not accurate. The method comprises the following steps of: judging parameters such as accelerator pedal opening, vehicle speed, steering wheel angle, acceleration and road slope condition to confirm that the vehicle is in an estimation triggering condition of stable acceleration, and then calculating theoretical acceleration corresponding to all assumed weights in parallel in a no-load to full-load mass interval; and finally, matching the theoretical acceleration with a measured value and selecting a solution with the minimum error as a load result, so that the real-time performance and accuracy of load estimation are remarkably improved, and the precision of self-adaptive braking force adjustment of the electronic braking system is further improved.

A vehicle auxiliary steering control method, which is applied to a vehicle having a controller, and comprises: in response to the vehicle satisfying a preset auxiliary steering condition, controlling the vehicle to execute an auxiliary steering operation, wherein the auxiliary steering operation comprises adjusting the braking force of an inner front wheel and controlling two rear wheels to slip.