2766 results about "Brake force" patented technology

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 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.

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 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 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 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.

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.

The invention discloses a suspension pitching cooperative control system and method combining dynamic vertical force distribution and multi-mode braking, and particularly relates to the field of vehicle suspensions. Meanwhile, the braking torque distribution unit and the suspension system are controlled in real time by defining a state machine; vehicle low-speed target braking torque and tire vertical force are calculated through the expected deceleration and correspondingly input into a braking torque distribution unit and a four-degree-of-freedom suspension model; converting the four-degree-of-freedom suspension model into a state-space equation and discretizing the state-space equation to obtain a prediction model, and further deriving a state prediction equation of the future N steps; designing a cost function comprising a state quantity weight matrix Q, an input quantity weight matrix R and a state final value weight matrix F, substituting a prediction state into the cost function to obtain an optimal input sequence, dynamically adjusting suspension rigidity, damping and a braking force distribution strategy, and correcting a control instruction in real time by using closed-loop feedback of a vehicle body attitude sensor, so as to improve the stability of a vehicle body. And the suspension pitching control is realized.

The invention discloses an electronic mechanical brake preset time control method based on disturbance estimation, which comprises the following steps that a dynamic model of an electronic mechanical brake is constructed, and the dynamic model of the electronic mechanical brake takes a braking force and a braking force change rate as state variables and takes q-axis current as control input; designing a predetermined time disturbance observer through the dynamical model of the electromechanical brake, and estimating lumped disturbance within a predetermined time based on the predetermined time disturbance observer; and designing a preset time sliding mode controller, compensating lumped disturbance of the system based on preset time, solving a control rate, and tracking the reference braking force. The transient and steady-state performance of braking force tracking control is improved.

The invention discloses a regenerative braking compound control method for an electronic mechanical braking system, and relates to the technical field of electronic mechanical braking. The defects in the prior art are overcome. The method specifically comprises the following steps: acquiring vehicle state information in real time; calculating a total required braking force and a current required deceleration areq based on a vehicle brake pedal signal; according to the vehicle state information, the currently available maximum regenerative braking force of the regenerative braking system is calculated in real time; calculating a dynamic distribution coefficient K1 based on the required deceleration, the vehicle speed, the wheel sliding rate and a vehicle stability control signal; carrying out braking force distribution according to a preset multi-level threshold strategy; based on the braking force distribution result, regenerative braking target force and compensation braking force instructions of all wheel ends of the EMB are generated; and feedforward-feedback composite control logic is established. The problems that in the composite braking process, braking force distribution is not smooth, switching is paused, and the energy recovery efficiency is not high are effectively solved.

The embodiment of the invention discloses a vehicle anti-lock braking control method, a medium, equipment and a product. The vehicle anti-lock braking control method comprises the steps that the braking pressure difference of a vehicle in the braking process and multi-modal data used for representing the current road surface where the vehicle is located are obtained; determining a pavement adhesion coefficient of a pavement where the vehicle is currently located, load data of the vehicle and an actual slip rate of the vehicle according to the multi-modal data; calculating a target slip rate of the vehicle according to the road adhesion coefficient, the load data and a preset load; a braking force distribution instruction is generated according to the road adhesion coefficient, the target slip rate, the actual slip rate and the braking pressure difference of the vehicle in the braking process; a brake pressure for anti-lock braking of the vehicle is controlled based on the braking force distribution command. The limitation that a traditional method depends on a single wheel speed signal can be broken through, the control target is dynamically adjusted according to the real-time road surface and the vehicle state, and the problem that traditional fixed slip rate control is insufficient in performance under the complex working condition is solved.

A vehicle control method and apparatus, and a storage medium, which belong to the technical field of vehicle control. The method comprises: in response to the fault level being a target level and a first detection result indicating that an engine and an ISG are in a series operation mode, setting a target charging power of a traction battery to be 0, and performing rotational speed closed-loop control on the ISG by using a first rotational speed as a target rotational speed; in response to an actual torque of the engine being less than 0 and the current of a direct-current bus being less than a current threshold value, controlling the traction battery to disconnect from a high-voltage loop, performing rotational speed closed-loop control on the engine, and performing voltage closed-loop control on the ISG; and supplying power to a traction motor (TM) by means of the ISG. Therefore, the stability of the voltage of a direct-current bus can still be ensured when a traction battery is disconnected, thereby ensuring that a TM can still stably drive a vehicle to safely travel when the traction battery has a fault.

The invention relates to the technical field of vehicle control, and discloses a steering-braking cooperative control method, system and equipment during brake-by-wire failure, and the method comprises the steps that running state information of a vehicle is acquired; on the basis of the running state information, whether electronic mechanical brake wheels fail or not is judged; if yes, the braking force deviation of the failed wheel is determined according to the running state information; yawing moment deviation is generated according to the braking force deviation; generating a feed-forward compensation rotation angle based on the yawing moment deviation; determining a feedback compensation rotation angle according to the operation state information; and generating a steering compensation angle for steer-by-wire based on the feedforward compensation rotation angle and the feedback compensation rotation angle. The control system has the beneficial effect that the safety performance and the control reliability of the whole vehicle are improved.

The invention discloses an electronic brake system of a fishing reel, and belongs to the technical field of fishing gears. The system comprises a side cover, an adjusting drive plate, a brake adjusting execution assembly, a supporting cover plate, a coil base, an electric control board and a wire cup assembly, wherein the electric control board integrates an optical detection module, a conductive detection module and a control unit; a stop block of the brake adjusting execution assembly and an adjusting drive plate move synchronously, a conducting circuit and a conducting contact can be selectively conducted through a conducting layer on the bottom face of the brake adjusting execution assembly, discrete electric signals identifying gears are output, meanwhile, the shielding degree of the stop block on an optical path of the optical detection module changes continuously, and continuous light sensation analog signals are formed. And the control unit locks the gear according to the discrete electric signal, and responds to the light sensation analog signal to realize stepless regulation of the braking force in the same gear. The device adopts dual-mode cooperative detection, has the characteristics of no mechanical wear, high precision and strong interference resistance, is compact in structure and controllable in cost, effectively improves the casting stability of the fishing reel and the user experience, and is suitable for various fishing reels with precise brake requirements.

The invention provides a method and device for estimating the abrasion degree of a vehicle brake pad and a medium, and belongs to the technical field of vehicles. The method comprises the steps that braking parameters are obtained, and the current remaining thickness of each wheel brake pad is estimated according to the braking parameters; and according to the current residual thickness of each wheel brake pad, the braking force distribution proportion and the braking duration of each wheel brake pad are dynamically adjusted, and whether the current residual thickness smaller than the set replacement threshold exists or not is judged. And when the current remaining thickness of the wheel brake pad is smaller than the set replacement threshold value, a warning mark corresponding to the wheel brake pad is generated. The brake pad abrasion loss is accurately calculated in real time, a user is reminded of the brake pad abrasion condition in time, the service life of a brake system is prolonged, and safety of the brake system is improved.