2064 results about "Brake torque" 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 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.

A vehicle control system may include a first friction brake member that rotates with a wheel of the vehicle, a second friction brake member that is displaced from an initial position to initiate contact with the first friction brake member to apply braking torque to the wheel, a displacement assembly operably coupled to the second friction brake member to move the second friction brake member responsive to a brake torque request, a sensor network to measure displacement information of the displacement assembly from the initial position to a point of contact between the first and second friction brake members, and a control module operably coupled to the sensor network to record the displacement information to define recorded displacement information, and to determine tapering of the second friction brake member based on the recorded displacement information.

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 an auxiliary braking control method, device and equipment and a storage medium, and relates to the technical field of vehicles, and the auxiliary braking control method comprises the steps that when the current braking state is a constant-speed braking state and the whole vehicle working condition parameters meet the constant-speed braking condition, the target speed difference is determined according to the target braking vehicle speed and the current driving speed; a target speed regulation torque is obtained according to the target speed difference, the current vehicle load, the current vehicle slope and a preset mapping relation; and performing auxiliary braking control on the vehicle according to the target speed regulation torque. Different braking torques are adaptively adjusted according to different load slopes, under the condition that the set vehicle speed is reached, the braking torque gradually approaches 0, the vehicle speed is kept constant, the continuous and effective braking effect can be guaranteed without operation of a driver, the auxiliary braking torque is adaptively adjusted, the auxiliary braking control method adapts to the full-slope and full-load working condition, and the driving safety is improved. The problem that the auxiliary braking torque is too large or too small and cannot be adjusted is solved.

The invention relates to an electric vehicle self-adaptive energy recovery method and system fusing driver behaviors, and the method comprises the following steps: analyzing the current driving data and historical driving data of a vehicle, judging a driving style, and predicting the occurrence probability of the driving style; according to the current driving data of the vehicle, the mass of the whole vehicle is estimated, and two values of the gradient are calculated through two different algorithms respectively; setting a weight according to a preset vehicle speed critical value, and weighting the two values to obtain a fusion gradient; according to the current driving data of the vehicle, the whole vehicle mass, the fusion gradient and the driving style occurrence probability, corresponding correction factors are determined respectively, the initial braking torque corresponding to the current motor rotating speed is corrected to obtain a reference braking torque, and the reference braking torque is compared with a preset motor torque range; and the optimal braking torque is obtained, braking is executed, and energy recovery is achieved. According to the method, distribution of regenerative braking energy is effectively optimized, and the energy recovery rate is increased.

Systems, methods, and computer program products for controlling a yaw system of a wind turbine. The yaw system includes mechanical brakes that provide a first amount of braking torque when closed. The yaw system is configured to transition from a yawing state to a parked by brake state by closing mechanical brakes in a first subset of the mechanical brakes and opening each mechanical brake in a second subset of the mechanical brakes. The second subset provides a second amount of braking torque that is less than the first amount of braking torque. In response to detecting a rotation of the nacelle while in the parked by brake state, the yaw system is configured to transition from the parked by brake state to a parked by motor state in which yaw drives are activated to provide a counter acting torque in opposition to the detected rotation of the nacelle.

An axle assembly comprising a differential carrier, a differential assembly, a drive pinion, and a drive pinion brake. The drive pinion brake is mounted to the differential carrier. The differential carrier supports the differential assembly. The drive pinion brake is operable to apply a brake torque to inhibit rotation of the drive pinion.

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 invention relates to the field of friction materials, and discloses a high-reliability friction material for an electromagnetic brake and a preparation method of the high-reliability friction material. Raw materials of the friction material comprise benzoxazine, phenolic resin, butyronitrile rubber powder, modified basalt fibers, PBO pulp, ceramic fibers, plant fibers, carbon fiber powder, potassium titanate lamellar crystals, barite, light calcium carbonate, friction particles, wollastonite powder, aluminum-titanium powder, feldspar powder, aluminum oxide, zircon powder, garnet powder, crystalline flake graphite, artificial graphite, flexible graphite and composite metal sulfide. And polymer lubricating material micro powder. The friction material provided by the invention is suitable for a high-temperature and high-humidity environment, the stability of the braking performance of a brake is improved, and the phenomenon that the brake slips due to attenuation of braking torque is reduced.

The invention relates to a driving dynamics system for a vehicle, comprising: at least one wheel brake (RB1, RB2, RB3, RB4) for dissipative braking of one wheel of the vehicle; at least one brake unit (EMB, EHB) associated with the at least one wheel brake (RB1, RB2, RB3, RB4) and configured for generating a dissipative brake torque by means of the at least one wheel brake (RB1, RB2, RB3, RB4); at least one electric traction motor (TM1, TM2, TM3, TM4) which can be controlled to generate a regenerative braking torque for at least one wheel or axle of the vehicle; and a central control unit (M-ECU domain), which is configured to actuate the at least one brake unit (EMB, EHB) and the at least one electric traction motor (TM1, TM2, TM3, TM4) for a braking function in combination with one another such that a combined braking torque can be generated by means of the at least one brake unit (EMB, EHB) and the at least one electric traction motor (TM1, TM2, TM3, TM4). In this case, the braking function relates to a control situation in which the base braking torque and the adjusted additional braking torque are controlled and / or adjusted at the same time; wherein a base braking torque is optionally generated by means of the at least one braking unit (EMB, EHB) and an adjusted additional braking torque is generated by means of the at least one electric traction motor (TM1, TM2, TM3, TM4); or a base braking torque is generated by at least one electric traction motor (TM1, TM2, TM3, TM4) and an adjusted additional braking torque is generated by at least one braking unit (EMB, EHB); or the at least one brake unit (EMB, EHB) and the at least one electric traction motor (TM1, TM2, TM3, TM4) each jointly generate a base brake torque and an adjusted additional brake torque.

A method for controlling a steer-by-wire steering system for a motor vehicle having steerable front and rear wheels in emergency steering operation comprises checking the steering system for the presence of a fault state and performing the emergency steering operation to maintain original driving behaviour if a fault state is detected, including: determining a target lateral acceleration on the basis of a current steering wheel position and a current vehicle speed, determining a yaw moment and, from the yaw moment, a general wheel steering angle for the original driving behaviour, where the general wheel steering angle is equal to a difference between a front wheel steering angle and a rear wheel steering angle, determining a front wheel steering angle correction and a rear wheel steering angle correction, and determining drive torques and / or braking torques for the front wheels and the rear wheels, which are distributed appropriately by the torque vectoring system.

The invention provides a tractor semitrailer full-working-condition active stability control system and method, and belongs to the technical field of vehicle engineering. The system comprises a kinetic model module, a reference quantity determination module and an active stability controller module. The dynamic model module constructs a linear three-degree-of-freedom tractor semitrailer model, a hub motor model and a longitudinal driver model. The reference quantity determination module generates an ideal state value according to the steady state condition of the system and corrects the ideal state value in combination with the road attachment condition. The active stability controller module is divided into three layers, an MIMO-IMFAC controller calculates additional yawing moment, a torque optimization controller optimizes tire load distribution through a quadratic programming algorithm, and a driving / braking torque distribution controller preferentially uses regenerative braking and dynamically adjusts braking torque of the semitrailer according to the yawing moment. By adopting the control system and the control method, the stability and the dynamic response capability of the vehicle under complex working conditions are remarkably improved.

The invention discloses a heavy commercial vehicle yaw control system with delay compensation and slip suppression. A state sensing unit collects signals and sends data to a yaw control unit and a braking force control unit. The yaw control unit acquires a desired yaw moment and a braking moment. A yaw velocity tracking module calculates a desired yaw velocity. And the wheel slip suppression module obtains a brake torque for avoiding slip through control. The braking force control unit addresses braking force distribution under yaw moment control and wheel slip suppression, and compensates for the delay of the pneumatic brake system. And the braking force cooperative distribution module calculates the expected braking chamber pressure of each wheel according to the required yawing moment and the braking moment. The braking force delay compensation module calculates and predicts the pressure of a braking chamber through a prediction model, and obtains control input of a braking actuator through a PID controller so as to compensate delay. According to the system, the driving safety of the heavy commercial vehicle under the complex road condition is improved through cooperative control.

A braking energy recovery control method, comprising: when a vehicle satisfies a preset energy recovery condition, determining a required braking torque on the basis of a pre-stored correspondence between a moving depth and a braking torque of a braking pedal of the vehicle; on the basis of a preset priority distribution motor braking torque principle, an energy recovery maximum torque limit value and the required braking torque, determining an expected motor braking torque and an expected hydraulic braking torque; and on the basis of the expected motor braking torque, the real-time rotating speed and efficiency of a front-wheel drive motor of the vehicle, and the real-time rotating speed and efficiency of a rear-wheel drive motor of the vehicle, determining a target distribution ratio that maximizes the sum of recovery power of the front-wheel drive motor and recovery power of the rear-wheel drive motor. In this way, torque distribution of the front-wheel drive motor and the rear-wheel drive motor based on the target distribution ratio is conducive to performing braking energy recovery with maximum power, so as to increase the braking energy recovery efficiency. In addition, the present invention further relates to a braking energy recovery apparatus, a control system, a vehicle, and a medium.

The invention relates to an engine braking stepless regulation method, device and equipment and a medium, and belongs to the technical field of engine braking. The method comprises the steps that a negative torque request and basic driving data sent when a vehicle is braked are obtained, and the required negative torque is determined according to the negative torque request; according to the basic driving data and the required negative torque, the engine braking starting state is determined; when the engine braking starting state is starting, and engine braking of the vehicle does not meet the required negative torque, a pneumatic supercharger is adjusted, and first engine braking torque is obtained; when the first engine braking torque meets the required negative torque, stepless adjustment of engine braking is completed, and the braking effect can be improved through engine braking and adjustment of a pneumatic supercharger; the engine braking torque of the vehicle is controlled according to the required negative torque, continuous and variable torque adjustment can be carried out, and then stepless adjustment of engine braking is achieved.

The invention relates to a performance calibration method for a pure electric vehicle, which comprises the following steps of: calibrating a driving coefficient corresponding to the opening degree of an accelerator pedal on the premise of smooth driving according to a driving torque under the opening degree of the specific accelerator pedal in the normal driving process of the vehicle; electric braking torque is calibrated according to the current running speed of the vehicle and the opening degree of a brake pedal; in the running process of the vehicle, according to the size relation of different gears, target torque and actual torque, a torque change value # imgabs0 # is obtained through table look-up, and then a torque request is subjected to filtering processing; aiming at different subdivided market requirements of the driving condition, the altitude, the environment temperature and the like of the pure electric vehicle, the vehicle driving force, the energy recovery capability and the torque filtering calibration can be quickly completed, and the software development efficiency of the vehicle control unit is improved. And effective balance among driving safety, comfort and economical efficiency of the pure electric vehicle is realized.

The invention discloses a vehicle stability control method, system and device, a medium and a program product, and relates to the technical field of vehicle dynamic control, and the method comprises the steps: calculating a vehicle speed, a pavement friction coefficient, a slip rate, a load transfer rate and a preview path curvature; the vehicle speed, the road friction coefficient, the load transfer rate and the preview path curvature serve as input, the yaw velocity deviation and the slip rate serve as reward signals, and a yaw velocity dynamic threshold value is generated; according to the actual yaw velocity, the expected yaw velocity and the yaw velocity dynamic threshold, obtaining a judgment result that the current vehicle is under-steering or over-steering, and generating a control strategy in combination with a vehicle driving form; and the optimal braking torque adjustment amount is calculated with the minimum yaw velocity deviation and the slip rate as the optimization target, and the front and rear shaft driving torque is obtained according to the deviation between the actual side slip angle and the expected side slip angle. The self-adaptive dynamic environment and the differentiated adaptive driving form are realized, and the safety and the controllability under the complex working condition are improved.

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 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 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.

The invention discloses an electric brake control system and method for an electrically-driven mining dump truck, and the system comprises a vehicle control unit VCU which is connected with an accelerator pedal, a brake pedal, a tilt angle sensor, a weighing sensor, an intelligent brake switch, a motor controller, a power battery and a retarder. The vehicle control unit VCU, the motor controller and the power battery sequentially form a closed loop, and the motor controller is further sequentially connected with the driving motor, the gearbox and the axle. Whether a vehicle is in a downhill state or not at present is analyzed through the vehicle control unit VCU, the slope angle and the vehicle weight are converted, the vehicle speed, the friction coefficient and the like are combined, appropriate electric braking torque of the vehicle is converted to keep the vehicle speed lower than a certain speed for downhill, and a driving motor is preferentially used for generating electricity and feeding back the electricity to a power battery to achieve braking. When the power generation braking force is insufficient, the retarder intervenes to supplement the braking torque, so that the electrically-driven mine truck automatically goes downhill at a stable speed, energy recovery is realized to the greatest extent, the cruising ability of the electrically-driven mine truck is improved, the electric quantity configuration of a power battery is reduced, and the effects of saving energy, reducing emission and reducing cost are achieved.

A method for determining a braking torque at at least one fixing interface between a brake caliper body and a brake caliper support includes inserting at least one washer device at the at least one fixing interface, the washer device having at least one fiber-optic strain sensor of fiber Bragg grating type, detecting, by the at least one fiber-optic strain sensor, local deformation and / or strain acting in a respective detecting position, and generating at least one respective photonic signal representative of the detected deformation and / or strain, receiving the at least one first photonic signal, by an optical reading / interrogation unit optically connected to the at least one fiber-optic strain sensor, generating at least one electric signal representative of the detected local deformation and / or strain, based on the received first photonic signal, and determining the braking torque based on the at least one electrical signal.

The invention discloses a vehicle queue model prediction control method under a time-varying communication network, and the method comprises the steps: building a communication topological structure of a vehicle queue, and carrying out the modeling of the communication topology under the condition of considering the switching of the communication topological structure, the vehicle queue system under the condition of communication topological structure switching is a heterogeneous vehicle queue composed of a pilot vehicle and N following vehicles; only longitudinal dynamics of the vehicle is considered, it is assumed that under the ideal conditions of vehicle body rigidity and driving conditions, driving torque and braking torque are unified and simplified into single control input calculation, only part of physical conditions are considered, and a dynamic model of the vehicle is established; determining a control target of the vehicle queue system; designing a distributed model predictive control mode: firstly determining a local control problem, and then designing a vehicle queue distributed MPC algorithm under a communication topology switching condition; according to the invention, the internal stability and the chained stability of the system under communication topology switching are ensured.

The invention discloses a slipping wheel braking control method and device and a vehicle, and is applied to the technical field of vehicle running control, and the method comprises the steps that under the condition that the vehicle is controlled to start a braking torque control function, according to the wheel speed deviation value of a target slipping wheel, the initial braking torque of the target slipping wheel or the brake torque of the vehicle is combined, and the braking torque of the target slipping wheel is controlled; obtaining a candidate braking torque of the target slipping wheel; the candidate braking torque is limited, and the target braking torque of the target slipping wheel is obtained; and according to the target braking torque, braking control is conducted on the target slipping wheel. According to the technical scheme of the embodiment of the invention, the accuracy of the braking torque of the wheel can be effectively improved, so that the braking control precision of the slipping wheel is effectively improved, and the driving safety and the driving stability of the vehicle during slipping are ensured.

The invention discloses a composite braking slip rate control system and method based on a hub motor and an EMB. The method comprises the steps that vehicle information is obtained; calculating a target slip rate according to the vehicle information; according to the target slip rate, calculating a slip rate threshold value for opening and exiting the ABS; according to the vehicle speed, the opening degree of a brake pedal, the actual slip rate and the slip rate threshold value, an ABS start-stop mark is given; according to the vehicle speed, parameters of a slip rate tracking controller are calculated through the attachment coefficient, the slip rate and the slip rate change rate, and then the total target braking torque is calculated; selecting a braking torque distribution mode according to a motion mode switch, gradient and the like, and distributing target braking torque to the hub motor and the EMB; and the hub motor and the EMB execute the target braking torque command, and connection between the inverter and the battery is cut off in time. According to the method, the slip rate can be calculated more finely, the target slip rate and controller parameters are adaptively adjusted according to working conditions, the road adhesion coefficient utilization rate can be effectively improved, and the braking efficiency and stability are improved.

A braking device for a driveable part includes a driveable loading device which can be brought into radial contact with the driveable part having a first holding position and a second releasing position. At least one breaking member of the holding position bears frictionally against a radial circumference of the driveable part and secures the driveable part against rotation with a pre-settable force. The releasing position of the braking member permits a freewheeling of the driveable part. The loading device is adjustable between the holding position and the releasing position. The driveable part is coupled to an at least one permanent brake. A braking torque of the holding position of the permanent brake acts on the driveable part. The releasing position of the driveable part is freely rotatable with the permanent brake.

To restrict a reduction in the life of a power source, resulting from a brake torque inspection.SOLUTION: An elevator control device according to an embodiment includes a power source that supplies electric power to a motor that drives lifting / lowering of a car of an elevator device. The power source performs a switching operation at a first frequency when a car for carrying a user is lifted / lowered, and performs a switching operation at a second frequency lower than the first frequency when the car is lifted / lowered during brake torque measurement of a brake that restricts rotation of a motor.SELECTED DRAWING: Figure 10