4913 results about "Brake force" patented technology

The invention discloses a braking pressure degradation strategy of an electronic mechanical braking system, and belongs to the technical field of vehicle braking control, and the braking pressure degradation strategy of the electronic mechanical braking system comprises the following steps: S1, multi-sensor fusion is carried out to correct a friction coefficient in real time, and a high-precision gridding pavement model is constructed; s2, performing time sequence prediction on braking torque distribution, dynamically constraining a braking pressure threshold value and performing pre-adjustment; s3, reinforcement learning is carried out to generate a prospective degradation sequence, and thermal coupling and pressure fluctuation control are optimized; s4, dynamically encrypting the hierarchical communication architecture, and ensuring that the instruction is complete and consistent with the time sequence through redundancy switching; s5, generating an adversarial network compensation failure signal, and dynamically adjusting the weight of the sensor to resist interference; s6, triggering a man-machine interaction strategy in a grading manner, and dynamically adjusting a safety threshold in combination with a driving behavior; s7, carrying out simulation verification on the digital twin platform, and carrying out fault injection encryption to update full-life-cycle parameters; the method has the beneficial effects that self-adaptive optimization and hierarchical fault tolerance of the brake pressure are realized, and the system safety and response efficiency are improved.

To provide a braking control device of a vehicle that can execute starting-assist control of suppressing a vehicle from moving backward on an uphill road, which can improve hill-climbing performance.SOLUTION: A braking control device comprises an actuator that can individually adjust braking torque applied to a plurality of wheels, and a controller that holds the braking torque so as to prevent a vehicle from moving backward on an uphill road through the actuator and then executes starting-assist control of gradually reducing the braking torque. The controller can execute traction control by which the braking torque is increased in a slip wheel in which an acceleration slip of the wheel becomes larger than a predetermined slip to reduce the acceleration slip. Further, the controller determines a final control amount Qt on the basis of a first control amount Qa of the braking torque relating to the starting-assist control and a second control amount Qb of the braking torque relating to the traction control, and controls the braking torque on the basis of the final control amount Qt.SELECTED DRAWING: Figure 5

The invention discloses a dual-electric brake boosting system for a heavy-duty vehicle and a coordinated control method of the dual-electric brake boosting system, and relates to the technical field of vehicle brake control. The invention discloses a dual-electric brake power-assisted system for a heavy-duty vehicle and a coordinated control method thereof. The coordinated control method comprises the following steps that S1, a multi-source sensor synchronously collects and preprocesses wheel speed, current, suspension and pedal signals; s2, estimating the load in real time through Kalman filtering, and outputting a dynamic load coefficient to guide distribution; s3, triggering interruption when the pedal force change rate exceeds the threshold value, and directly outputting the maximum braking force; s4, dynamically distributing the braking force, predicting the temperature rise, and adjusting the output weights of the double boosters; s5, outputting a digital twinborn verification theory, and starting a compensation algorithm after deviation overrun; s6, encrypting an instruction by a TSN protocol, and ensuring low-delay transmission and communication security; s7, a closed-loop optimization link is formed based on the actual braking data calibration model; the method has the beneficial effect that the real-time performance, safety and reliability of the braking system are comprehensively improved.

The invention discloses an intelligent automobile electro-hydraulic composite braking system integrating driver intention, and belongs to the field of intelligent automobile braking control. The system comprises a vehicle environment fusion sensing module, a braking intention identification module, a multi-target braking force distribution module, a regenerative braking torque constraint module and an optimal distribution coefficient decision module. When a driver brakes, the vehicle environment fusion sensing module is used for acquiring vehicle driving state information, road adhesion coefficient information, driving environment information and driver state information; the braking intention identification module adopts a neural network algorithm to accurately identify the braking intention of the driver; the multi-target braking force distribution module optimizes the required braking torque by using an NSGA-II multi-target optimization algorithm; the regenerative braking torque constraint module dynamically corrects the calculation result of the regenerative braking torque through a comprehensive constraint condition; and the optimal distribution coefficient decision module screens out the optimal braking distribution coefficient under the current working condition from the Pareto solution set through dynamic weighting.

The invention belongs to an electromechanical braking system in the technical field of vehicles, and discloses a driving and parking braking torque mutual coupling redundancy electromechanical braking system which comprises a brake assembly, an MGU and shell, a driving braking motor and gear reducing mechanism assembly, a gear system bearing support and an ECU controller assembly. The service braking gear reduction mechanism assembly comprises a service braking first-stage reduction gear train mounting mechanism, a second-stage reduction gear train mounting mechanism and a bearing, and the parking braking gear reduction mechanism assembly comprises a parking first-stage reduction worm and gear mechanism, a second-stage reduction worm and gear mechanism and a mounting bearing. The braking torque of the driving braking and the braking torque of the parking braking are mutually coupled, the two systems can share the braking output gear shaft assembly, the driving braking and the parking braking can be independently operated, and meanwhile the parking braking can assist the driving braking when needed. By means of the design, the safety and reliability of the braking system are improved.

The invention relates to the technical field of vehicle energy recovery, and particularly discloses a braking force distribution method and device based on double-layer self-adaption, a vehicle and a storage medium, and the method comprises the steps that in response to a braking signal, the battery pack remaining capacity, a vehicle speed signal, the wheel longitudinal adhesive force, the wheel vertical force and the braking demand strength of the vehicle are obtained; the remaining electric quantity of the battery pack and the vehicle speed signal are used for entering the precondition of braking force distribution, and a real-time adhesion coefficient is determined based on a preset tire-road adhesion coefficient recognition model; based on the real-time adhesion coefficient, the wheel longitudinal adhesion force and the wheel vertical force, the optimal slip rate and the optimal adhesion coefficient of the vehicle are determined; and according to the optimal slip rate, the optimal adhesion coefficient and the braking demand strength and based on the braking force distribution model, the braking force distribution of the front and rear wheels of the vehicle is determined, the direction stability of the vehicle is effectively improved, and meanwhile, the braking energy recovery efficiency is improved to the maximum extent on the premise that the braking direction stability is met.

The invention relates to a vehicle braking method, a braking controller, a storage medium and a vehicle, and relates to the technical field of vehicle control, the method comprises the steps that braking data of the vehicle are obtained, the braking data comprise braking strength data and braking torque parameters, the braking strength data comprise actual deceleration and target deceleration, and the braking torque parameters comprise running resistance; the method comprises the following steps: acquiring braking strength data of a vehicle, determining pre-control dynamic torque according to running resistance and target deceleration, acquiring target braking torque according to actual deceleration, the target deceleration and the pre-control dynamic torque under the condition that the braking strength data meets a torque correction condition, and finally performing braking control on the vehicle according to the target braking torque. According to the method, the pre-control kinetic torque can be corrected under the condition that the braking strength is large, so that the braking effect is improved.

The invention discloses a switch loop data extraction method, device and equipment based on phase locking, and the method comprises the steps: carrying out the interval change analysis of operation data in a ring main unit, and recognizing a communication abnormal node through a phase locking technology; associating a mechanical vibration source based on the communication abnormal nodes, detecting a vibration conduction path, extracting current fluctuation characteristics, and determining position deviation; the operation current intensity is adjusted in combination with fluctuation characteristic parameters, and accurate off-position control is achieved through reverse braking force; constructing a dynamic threshold reference based on frequency domain analysis, and generating a complete operation record according to the dynamic threshold reference and the accurate parking data; performing typed grouping and transmission optimization on the data, and controlling data switching by adopting a gradually migrated beat sequence; and finally, through signal reconstruction and data fusion technologies, a switch loop data set with continuous time sequence and complete space is generated. The method can effectively cope with communication interference, mechanical vibration and other complex environmental factors, and improves the integrity and accuracy of data acquisition.

The invention relates to the technical field of elevator fault prediction, in particular to an elevator fault prediction method and system. The method comprises the following steps: collecting an operation vibration signal of an elevator brake through a vibration sensor, performing frequency domain conversion, performing vibration frequency disorder structure analysis, analyzing abnormal vibration frequency intensity, analyzing elevator braking force increment loss, and obtaining time sequence increment data; thirdly, incremental gradient nonlinear induction is carried out on the time sequence incremental data, and an elevator fault prediction model is constructed based on a K-nearest neighbor algorithm; the elevator fault prediction technology is optimized, so that the elevator fault prediction technology is more accurate.

The invention relates to a vehicle brake-by-wire method and system, and relates to the technical field of brake-by-wire, and the method comprises the steps: obtaining environment information around a vehicle and vehicle attitude information; identifying road conditions based on the environment information and obtaining dynamic parameters of the vehicle based on the vehicle attitude information and a vehicle dynamics model; obtaining a vehicle state evaluation result based on the identified road condition and the vehicle dynamic parameters; the vehicle state evaluation result is obtained based on the driving state and the potential risk of the vehicle under the current road condition; determining a braking force distribution proportion and an adjustment amount of each wheel by using a braking force distribution matrix and a braking force adjustment algorithm based on the vehicle state evaluation result; and adjusting the brake fluid pressure of each wheel based on the determined brake force distribution ratio and adjustment amount of each wheel.

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.

Disclosed is a corner module apparatus for a vehicle. The corner module includes a driving unit that provides drive power to a wheel of the vehicle, a braking unit that interferes with rotation of the wheel to generate braking power, and a suspension unit connected to the driving unit. The suspension unit absorbs shock transferred from a road surface. The corner module also includes a steering unit connected to the suspension unit and rotated about a steering axis inclined with respect to the wheel. The steering unit adjusts a steering angle of the wheel.

The invention discloses a motor-driven tractor-semitrailer driving stability control method which comprises the following steps: firstly, establishing a tractor-semitrailer three-degree-of-freedom dynamic model, and solving yaw velocity expected values and side slip angle expected values of a tractor and a semitrailer according to driver input and actual vehicle states; secondly, according to the deviation between the expected value and the actual value of the vehicle state quantity, an upper-layer controller outputs the expected additional yaw moment, and the adaptive capacity to the parameter change of the semitrailer is achieved; the lower layer controller then outputs a torque on each wheel according to the desired additional yaw moment and the vehicle state, including a driving torque on the driving wheel and a braking torque on all wheels. By the adoption of the method for controlling the running stability of the motor-driven tractor-semitrailer, unstable working conditions such as rollover and folding of the tractor-semitrailer in the running process can be avoided, the running stability is improved, and meanwhile the method has the self-adaptive capacity for load changes of the semitrailer.

The utility model relates to the technical field of motors, and discloses a brake structure of a motor, which is characterized by comprising an inner pipe connected with the motor and an output piece, the output end of the motor extends into the inner pipe, a connecting pipe is detachably connected in the inner pipe, the output end of the motor is detachably connected with a driving piece, and the driving piece extends into the connecting pipe. When the motor stops rotating, the plane on the output piece abuts against the column body, so that the column body is clamped between the plane and the inner wall of the connecting pipe, the output piece stops rotating, braking is achieved, and during braking, due to the fact that braking force provided by the column body is enough to meet the stopping function of ascending or descending of the roller shutter, the column body and the inner wall of the connecting pipe cannot slip; therefore, the braking force cannot reversely act on the driving part, the motor is protected, and slipping failure is avoided.

The invention discloses a vehicle braking performance control method and system based on multi-sensor detection fusion, and belongs to the technical field of vehicle braking, and the method comprises the steps: building a basic braking force function of vehicle braking control under a normal road condition; obtaining road surface sensing parameters collected by at least two sensors; based on the road surface sensing parameters, constructing a road surface slippery degree function used for evaluating the current road slippery degree; according to the basic braking force function and the road surface slippery degree function, a braking force function of the current road is obtained through calculation; and controlling the braking force of the vehicle based on the braking force function of the current road. The vehicle braking force can be dynamically adjusted according to the real-time road condition, the vehicle braking performance weakening early warning function is achieved, and a driver can visually master the current braking performance.

An electric brake for a wheel rotor having a brake pad includes a housing with a passage. A piston assembly in the passage includes a spindle and a piston. The spindle is rotatable to cause the piston to move axially relative to the brake pad. A drive assembly includes a motor. A gear train is connected to the motor and the spindle. A coupling mechanism is coupled to the gear train and has a first condition enabling torque transmission from the motor to the spindle to axially move the piston to apply braking force to the brake pad. The coupling mechanism has a second condition disabling torque transmission from the motor to the spindle is prevented which permits the piston to retract and reduce the braking force on the brake pad without stopping or reversing the motor.

The invention provides a regenerative braking-based dynamic energy distribution method for a new energy automobile, which belongs to the technical field of braking systems and comprises the following steps: step 1, determining the total braking force currently required by the automobile, and further determining the distribution proportion of mechanical braking and regenerative braking; 2, evaluating the current acceptable charging power of the battery and the feedback power range of the motor, and further determining limit data of regenerative braking energy distribution; 3, the optimal regenerative braking force and mechanical braking force distribution proportion under the current working condition is determined; 4, the optimal regenerative braking force distribution proportion is converted into a regenerative braking force instruction, then a motor is controlled to generate corresponding regenerative braking torque based on the regenerative braking force instruction, the vehicle is braked, and energy is recycled; and 5, the mechanical braking force distribution proportion is converted into a mechanical braking force instruction, and then a mechanical braking device is controlled to generate corresponding braking force based on the mechanical braking force instruction. And more accurate brake control and energy management are realized.

The invention relates to a commercial vehicle integrated brake control and sensor system. The system comprises a multi-source sensor module used for acquiring sensor signals of operation of the commercial vehicle brake control system. The feature extraction module carries out filtering processing on sensor signals and extracts key feature parameters to construct a feature parameter matrix. In the braking decision execution module, a front and rear axle control unit calculates a front and rear axle braking force distribution coefficient based on the characteristic parameter matrix and generates an intelligent braking instruction; and the braking execution unit dynamically adjusts single-wheel braking force distribution according to the intelligent braking instruction to obtain braking execution parameters. And the evaluation optimization module judges the stability of the braking system according to the braking execution parameters and the operation real-time feedback data, and adjusts the braking force distribution parameters of each wheel to generate an optimized braking control strategy. By adopting the system, the multi-source data fusion precision, the dynamic adaptability of braking force distribution and the communication stability under complex working conditions in the braking process of the commercial vehicle can be improved, and the safety and reliability of the braking system are enhanced.

The invention discloses a vehicle braking control method, system and device based on multi-mode perception and a medium. The method comprises the steps that the power battery charge state, the vehicle speed, the current braking strength and real-time road condition information of a target vehicle are obtained; performing data fusion on the charge state of the power battery, the vehicle speed, the current braking strength and the real-time road condition information to obtain multi-mode sensing time sequence data; inputting the multi-modal sensing time sequence data into a pre-trained braking force distribution prediction model to obtain a braking force distribution result; and a target braking mode is determined according to the braking force distribution result, and braking control is conducted on the target vehicle according to the target braking mode. According to the embodiment of the invention, the corresponding braking mode can be adaptively switched according to the real-time driving scene and the energy demand, the braking performance of the vehicle and the energy recovery efficiency are improved, more flexible braking control is realized, the driving experience of a user is improved, and the method can be widely applied to the technical field of vehicle control.

A system is operable for controlling a force applied on a trailer being towed by a vehicle is described to a desired force Fd. The trailer has brakes and an optional motor for providing a propelling force to the trailer. A force sensor senses fore-aft forces between the vehicle and trailer at all times while the trailer is being towed. A controller receives signals from the force sensor and is operatively connected to the trailer brakes and the motor. The system controls the force between a towing vehicle and a trailer to the desired force Fd, by any one of: (a) operating the brakes to apply a braking force to the trailer; (b) activating the motor to apply a propelling force to the trailer; and (c) operating the brakes and activating the motor to apply both a braking and a propelling force to the trailer.

The embodiment of the invention provides a vehicle energy recovery control method and device, a medium and a vehicle, and relates to the technical field of brake control. The method comprises the steps that a braking request of a target vehicle is responded, and current braking judgment parameters of the target vehicle are obtained; under the condition that it is determined that the target vehicle meets the preset energy recovery condition based on the current braking judgment parameters, the vehicle operation parameters are input into an intelligent decision-making model, and a braking force distribution strategy result is obtained; based on the braking force distribution strategy result, braking control is conducted on a motor control system and a braking system; the motor control system is used for providing regenerative braking force and generating recovery energy suitable for supplementing energy to the power battery. According to the embodiment of the invention, the vehicle operation parameters collected in real time are input into the self-adaptive adjustment intelligent decision-making model, and the braking force distribution strategy suitable for the current operation condition can be output, so that the accuracy and adaptability of braking force distribution are effectively improved.

The invention provides a vehicle control method, a vehicle and a computer readable storage medium, and relates to the field of vehicle control, the method comprises the following steps: when it is judged that the vehicle slides downwards due to the action of gravity during a climbing period, if a brake pedal stroke is received, obtaining a first braking force distributed for wheels according to the brake pedal stroke, under the condition that the first braking force is larger than the wheel braking force extreme value, the first braking force is reduced to be smaller than the wheel braking force extreme value, second braking force is obtained, the service braking system is controlled to apply braking force to the wheels based on the second braking force, the slip rate of the wheels is obtained, and when the slip rate of the wheels is smaller than the minimum value of the threshold value interval, braking is conducted. And a power system and / or a parking braking system are / is controlled to conduct braking force compensation on the wheels so that the slip rate of the wheels can be within the threshold value interval. According to the method, the vehicle can be prevented from losing stability under the condition that the vehicle falls down or slips, and the stability and safety of the vehicle in a cross-country scene can be improved.

The invention provides a vehicle quick escape method and system, a medium and electronic equipment, and relates to the technical field of vehicle brake control, and the method comprises the steps that the running road surface working condition and motion state parameters of a vehicle are acquired in real time, and the running road surface working condition comprises road surface composition materials and distribution of pits in a road surface; predicting a driving track of the vehicle in a preset time period according to the motion state parameters; based on a Bayesian network model, determining the probability that a target wheel of the vehicle falls into the pit at the target moment according to the driving track and the driving road surface working condition; under the condition that the probability is larger than a threshold value, target braking force needed by the target wheel to break away from the potholes is determined; and according to the target braking force, braking control is conducted on the target wheel at the target moment, so that the vehicle is out of order. According to the invention, the problem in the prior art that a long time is delayed when the wheels of the vehicle sink into the pits until the wheels are separated is solved.

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 vehicle braking control, and discloses a vehicle braking control system based on a high-speed permanent magnet synchronous motor, which comprises a state sensing module, a braking force calculation module, a braking force control module and a braking force control module, the torque distribution module distributes the total braking torque into a predictable regenerative component and a precisely matched friction component, a deterministic regenerative braking force datum line is established, a braking system is converted into stable output control from passive response energy fluctuation, and linear mapping of pedal travel and deceleration is achieved; and meanwhile, by combining road bumping degree perception and model online correction, the output stability is kept under the complex working condition, and the technical problem that energy recovery and control quality in a hybrid braking system are difficult to consider at the same time is solved.

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 embodiment of the invention discloses a braking force distribution method and device for chassis control of an unmanned vehicle. The method comprises the steps that according to an acceleration instruction, a vehicle dynamics model and a PI controller are applied to obtain required torque; determining whether the vehicle is in a driving mode or a braking mode according to the required torque; and if it is determined that the vehicle is in a braking mode, according to the required torque, under the criterion of feeding back electric energy as much as possible, an electric braking torque instruction and an air braking reference value are obtained, the air braking reference value is adjusted based on control parameters adjusted by a neural network, and an air braking instruction is obtained. By means of the mode, on the premise that the maximum electric braking is guaranteed, the rapidity and accuracy of braking distribution and composite braking are improved, and meanwhile the accuracy and real-time performance of pneumatic braking are improved.

The invention discloses an integrated joint motor module and a robot. The joint motor module comprises an output mechanism used for outputting rotation power; the speed reduction and sensing mechanism is used for improving torque output and detecting output torque; the power mechanism is used for providing power; the control mechanism is used for controlling the power mechanism to work according to the position information, the rotating speed information and the output torque; the power mechanism comprises a motor rotor, a motor stator, a rotating shaft, a stator shell cover, a first bearing, a bearing pressing ring and an axial elastic deformation piece. The bearing pressing ring is arranged between the first bearing and the stator shell cover, and the axial elastic deformation piece is arranged between the bearing pressing ring and the stator shell cover; the control mechanism comprises an encoder rotor, an encoder stator and a driver. According to the motor module, the axial elastic deformation piece is arranged between the bearing pressing ring of the power mechanism and the stator shell cover, so that the relative position between the encoder rotor and the encoder stator below the stator shell cover is stable, and the size of the motor module is reduced.

The invention provides a retarding braking method and device, a vehicle control unit and a vehicle, and can be applied to the technical field of vehicle braking. The method comprises the steps that under the condition that it is determined that a vehicle enters a long downhill working condition, driving data of the vehicle are collected; determining a required braking force required by the vehicle based on the driving data; based on the battery SOC of the vehicle, a corresponding retarding braking strategy is determined and executed; wherein the retarding braking strategy is used for distributing respective target braking force of an electric driving system and a hydraulic retarding system in the vehicle, so that the braking force output by the vehicle is consistent with the required braking force. The corresponding retarding braking strategy is executed according to the SOC condition of the battery of the vehicle, the braking force of the electric driving system and the braking force of the hydraulic retarding system in the vehicle are dynamically distributed, and the energy recovery efficiency and the braking safety performance of the vehicle are both considered.

The invention discloses a high-speed train multi-mass-point cooperative control method, system, equipment and medium, and relates to the field of high-speed train operation control, the method comprises the following steps: dividing carriages of a high-speed train into multiple groups, and constructing a discretization kinetic equation of the high-speed train; performing multi-objective optimization on the control gain and the sliding mode surface parameters according to the displacement tracking error and the coupler force of the high-speed train in the set time period; based on the optimal control gain, the inter-group equivalent coupler force and composite resistance of the high-speed train are estimated in real time; determining a nonsingular fast terminal sliding mode surface based on the optimal sliding mode surface parameter and a displacement tracking error of the high-speed train; and according to the nonsingular fast terminal sliding mode surface, the inter-group equivalent coupler force estimated value, the composite resistance estimated value and the discretization kinetic equation, solving control input in real time so as to control the traction braking force of the front drive group and the traction braking force of the rear drive group in real time. The control precision, the anti-interference capability and the safety of the coupler force of the high-speed train are improved.