987 results about "Brake torque" patented technology

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 embodiment of the invention provides a vehicle low-temperature heat management control method and device, a vehicle and a storage medium. The method comprises the following steps that the temperature of the environment where the vehicle is located, the module temperature of a power battery and the maximum allowable charging power are obtained; based on the environment temperature, the module temperature and the maximum allowable charging power, the vehicle is controlled to enter a low-temperature heat management working condition, and the braking energy recovery torque of the vehicle is determined according to the motor rotating speed and the maximum allowable charging power; based on the braking energy recovery torque and the motor rotating speed, the driving motor is controlled to execute the braking energy recovery action, meanwhile, the working efficiency of the driving motor is adjusted to generate heat, and the cooling system heats the power battery through the heat. On the premise that the safety of the battery is guaranteed, optimization of braking torque limitation is achieved, and the problems that in the related technology, due to the fact that the motor braking torque in the low-temperature environment is strictly limited and excessively depends on a mechanical braking system, the energy utilization efficiency of the whole vehicle is reduced, and abrasion of the braking system is aggravated are solved.

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

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

In some embodiments, techniques are provided for autonomously backing a vehicle (such as a Class 8 truck) to a trailer. In some embodiments, environment sensors such as image sensors and range sensors mounted to the vehicle detect a trailer and determine distances between the trailer and the vehicle as well as relative angles of the trailer and the vehicle. In some embodiments, the vehicle determines a path to the trailer based on this information, and autonomously controls braking, torque, and / or steering of the vehicle to autonomously back the vehicle along the determined path.

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle braking control method and device and a vehicle. The vehicle braking control method comprises the steps that under the condition that the vehicle is in a sliding state, an electric braking correction coefficient is determined based on road surface information and speed information of the vehicle; the road surface information is used for representing parameter values of road surface parameters influencing the braking performance; based on the electric braking correction coefficient and the maximum allowable electric braking torque of the sliding working condition of the braking motor, the target electric braking torque of the vehicle is determined; determining a hydraulic compensation torque based on a total braking torque of the vehicle and the target electric braking torque; and brake control is conducted on the vehicle based on the target electric brake torque and the hydraulic compensation torque. By means of the technical scheme, the target electric braking torque can be accurately matched with the road surface information and the speed information of the vehicle, and therefore the braking control accuracy 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.

The invention provides a cooperative control method and system for an electric trailer and a main vehicle and a vehicle, and relates to the technical field of new energy vehicles and intelligent control. The method comprises the steps that the states of a main vehicle and an electric trailer are obtained, and when the states meet preset state conditions, a driving mode is entered; in the driving mode, the main vehicle electric driving system and the electric trailer electric driving system are controlled to output driving torque based on the torque required by a driver and a torque distribution strategy; acquiring a braking request signal and mode switching information; if the braking request signal indicates that the multi-stage energy recovery switch is pressed down or the brake pedal is stepped down and the mode switching information meets a first switching condition, switching to a braking mode; if the mode switching information meets a second switching condition, switching to a driving mode; and in the braking mode, the main vehicle electric driving system and the electric trailer electric driving system are controlled to conduct braking energy recovery based on the required braking torque and the allowable recovery power of the battery. The control efficiency and the system adaptability are improved.

The invention discloses a wheel end braking device, a braking system and a vehicle. The wheel end braking device comprises a braking unit, a parking unit and a wheel end controller, the braking unit comprises a braking motor and braking calipers, the braking motor is used for outputting braking torque to drive the braking calipers to output clamping force to a brake disc of a vehicle, and the parking unit is used for locking the braking motor. And in the process that the wheel end controller controls the braking unit to output the first clamping force for a first preset duration, the wheel end controller responds to the situation that the temperature of the braking motor is larger than or equal to a first temperature threshold value or the single-plate temperature of the wheel end controller is larger than or equal to a second temperature threshold value, and the parking unit is controlled to lock the braking motor. The probability that braking is lost due to the fact that the temperature of the braking motor is too high can be reduced, and braking safety of a vehicle is improved.

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 relates to a driving dynamics system for a vehicle, comprising at least one wheel brake (RB1, RB2.RB3, RB4) for dissipatively braking a wheel of the vehicle; at least one brake unit (EMB, EHB) assigned to the at least one wheel brake (RB1, RB2, RB3, RB4) and configured to generate a dissipative braking torque by means of the at least one wheel brake (RB1, RB2, RB3, RB4); at least one electric traction motor (TM1, TM2, TM3, TM4) controllable 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 control 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).The braking function relates to a control case in which a basic braking torque and a controlled additional braking torque are controlled and / or regulated simultaneously; wherein optionally the basic braking torque is generated by the at least one braking unit (EMB, EHB) and the controlled additional braking torque is generated by the at least one electric traction motor (TM1, TM2, TM3, TM4); or the basic braking torque is generated by the at least one electric traction motor (TM1, TM2, TM3, TM4) and the controlled additional braking torque is generated by the at least one braking unit (EMB, EHB); or the at least one braking unit (EMB, EHB) and the at least one electric traction motor (TM1, TM2, TM3, TM4) each jointly generate the basic braking torque and the controlled additional braking torque.

A control device and method for a braking system. The method includes reading out or checking, based on at least one signal, whether a predefined error state exists at a brake-actuation hydraulic unit, which is mounted on an ESC hydraulic unit, and performing at least one of the following steps if it is determined that the at least one predefined error state exists at the brake-actuation hydraulic unit: activating at least one pump of the ESC hydraulic unit in order to draw in a firmly predefined or specified brake fluid volume from a brake fluid reservoir of the braking system, and / or controlling at least one electric motor of the vehicle which can be operated in a regenerative mode, to effect a firmly predefined or specified motor braking torque not equal to zero at at least one wheel of the vehicle and / or at least one axle of the vehicle.

The invention relates to the technical field of automobiles, and particularly provides a heavy-duty automobile cruise control method, system and device and a storage medium, and the method comprises the steps: obtaining real-time road condition information and vehicle operation data through the fusion of a vehicle-mounted sensor and a driving assistance map; predicting a future vehicle weight, and predicting a future road adhesion coefficient based on the vehicle operation data and the historical road adhesion coefficient data; constructing a state variable based on the real-time road condition information, the vehicle operation data and the road adhesion coefficient, and defining a control variable; establishing a cost function including a safety item, a fuel saving item and a stability item, and setting constraint conditions of a vehicle state variable and a control variable; based on a dynamic programming algorithm, solving a minimum value of a cost function under the condition of satisfying constraint conditions, and obtaining an optimal control variable sequence; and according to the optimal control variable sequence, the gear, the driving torque and the braking torque of the vehicle are adjusted. Through multi-source information fusion and layered dynamic planning, the cruise control performance of the heavy-duty car is remarkably improved.

The invention relates to the technical field of vehicle chassis cooperative control, in particular to a distributed driving special vehicle severe road condition chassis cooperative control method, which comprises the following steps: estimating the whole vehicle mass through a recursive least square method, and estimating a road adhesion coefficient in combination with unscented Kalman filtering and a tire model; dividing into three types of no-load, half-load and full-load according to the mass of the whole vehicle, and dividing into three types of high-attachment, middle-attachment and low-attachment according to a road adhesion coefficient, so as to obtain nine types of driving working conditions; the yaw velocity, the side slip angle and the roll control threshold value based on the transverse load transfer rate are adjusted in a self-adaptive mode according to different working conditions; additional yawing moment is calculated through a PID controller; in combination with a four-wheel vertical force distribution result, a four-wheel independent torque distribution algorithm is used for determining driving torque or braking torque of four wheels, and a corresponding instruction is output through a drive-by-wire chassis interface; the problems of insufficient model precision, poor parameter adaptability and fixed control threshold value existing in the traditional control of the distributed driving special vehicle under the severe road condition are solved.

The invention provides an energy recovery control method and device, a vehicle and a storage medium, and the method comprises the steps: monitoring the current driving working condition of the vehicle, and obtaining vehicle operation parameters, the current hydraulic braking force of vehicle braking and the current feedback braking force of a vehicle motor when the current driving working condition is a braking working condition; and the vehicle operation parameters, the current hydraulic braking force and the current feedback braking force are subjected to torque prediction through a pre-trained prediction model, target recovery torque is obtained, and a vehicle motor and a vehicle brake are controlled to output braking torque to a vehicle power system according to the target recovery torque. According to the method, it is monitored that the vehicle is in the braking working condition, the target recovery torque matched with the vehicle running parameters, the hydraulic braking force and the feedback braking force is rapidly and accurately predicted by combining the prediction model with the real-time vehicle running condition in time, cooperative control is conducted on a motor and braking through the recovery torque, and energy recovery with the maximum vehicle efficiency is achieved.

The present invention relates to methods for pre-diagnosis and online detection of a brake of a conveying device, comprising a method for pre-diagnosis of a brake during a non-working period of a conveying device and a method for online detection of a brake during a working period of a conveying device. According to the present invention, by means of detecting a braking torque of a brake used on an elevator, an escalator, or a cage tower crane before being put into use and during use, faulty conditions of a brake used on a conveying device can be promptly detected, so as to effectively prevent motor brake drag during operation due to an insufficient braking torque of the brake of the conveying device, or due to the brake not being actuated or not being fully actuated. Moreover, a warning prompt can be promptly issued to a brake having a potential risk of failure, so as to effectively prevent a faulty brake during operation, and facilitate targeted maintenance and repair by maintenance personnel, thus eliminating potential safety risks in the brake and preventing the occurrence of a significant safety incident during subsequent operations.

The invention belongs to the technical field of new energy automobile transmission gear shifting control, and discloses an AMT gear shifting control method in an electric truck combined braking constant-speed downhill process, which comprises the following steps: judging whether a vehicle enters a combined constant-speed control state or not, and if the vehicle enters the combined constant-speed control state, selecting an AMT gear shifting rule based on a preset AMT gear shifting rule; the AMT optimal gear is obtained according to the current vehicle speed and the required regenerative braking torque, the limitation that only the motor efficiency is considered in a traditional method is broken through, the transmission system and the battery charging and discharging efficiency are synchronously covered, meanwhile, a braking torque cooperative change mechanism is creatively adopted, and the optimal gear is obtained. In the gear shifting process, braking force distribution of the motor and the hydraulic retarder is coordinated according to the preset AMT gear shifting rule, vehicle speed fluctuation caused by power interruption is eliminated, the energy loss and speed control instability risks caused by frequent gear shifting are overcome, driving comfort is guaranteed through gear shifting hysteresis control and the minimum vehicle speed threshold value, and safe and energy-saving closed-loop control is formed.

The invention discloses an anti-skid control method for a high-speed train at a higher speed, which comprises the following steps of: firstly, acquiring basic information such as the speed and the axle load of the high-speed train in real time through a sensor, establishing a real-time analysis model by virtue of data, then calculating a real-time adhesion coefficient, and further judging the rail surface state of wheel-rail contact of the high-speed train; the optimal creep rate under the current rail surface condition is calculated based on the information, the traction or braking torque is adjusted through a control strategy by comparing the optimal creep rate with the actual creep rate in real time, anti-skid control adjustment is conducted, and the adhesion utilization rate and operation safety are improved. According to the method, for a high-speed train at a higher speed, the torque is changed through adhesion control, so that anti-skid control is carried out, the adhesion utilization rate and the operation safety are improved, and wheel skid and abnormal abrasion can be effectively restrained.

The invention discloses a pre-judgment type braking force dynamic distribution method based on multi-source sensing fusion, and belongs to the field of vehicle braking, and the method comprises the following steps: S1, multi-source sensing data acquisition and preprocessing: synchronously acquiring vehicle state data and road conditions; s2, on the basis of the vehicle state data and the road condition collected in the step S1, the braking force requirement is recognized in advance through feed-forward logic, and feed-forward braking torque is determined; s3, based on the real-time braking state, feedback braking torque is determined through a PID algorithm; and S4, the feedforward braking torque and the feedback braking torque are fused through dynamic weight distribution, and a four-wheel unified pre-judgment type synthetic braking force torque is generated. By adopting the pre-judgment type braking force dynamic distribution method based on the multi-source sensing fusion, a real-time sensing layer is constructed through the multi-source sensing fusion, a feedforward-feedback double-loop controller and a curve pre-execution mechanism are designed, efficient and accurate dynamic distribution of braking force is achieved, and the braking performance and stability of a vehicle are remarkably improved.

The invention discloses a brake torque overload prediction and self-adaptive protection control method and system, and relates to the technical field of robot brakes, and the method comprises the steps: S1, collecting operation data related to the overload state of a robot joint brake in real time through a sensor; s2, the torque value of the current joint brake is calculated in real time according to the collected operation data; s3, predicting the risk of torque overload in the future through the real-time torque value and historical braking data; s4, generating a corresponding adaptive protection strategy based on the risk condition of torque overload; and S5, the brake is made to execute the self-adaptive protection strategy through a robot joint control system. According to the method, the real-time data of the sensor is combined with the historical brake torque data of the brake, overload prediction of the brake torque is achieved, and the technical problem that torque overload of an existing brake cannot be protected in time is solved.

The invention discloses a vehicle obstacle avoidance control method and control equipment fusing a stability boundary under a transverse and longitudinal coupling working condition and a vehicle, and the method comprises the steps: firstly, building a stability analysis model under a braking-steering coupling condition based on a phase plane bifurcation theory, and quantifying a driving safety domain boundary; secondly, taking an improved model prediction path integral algorithm as a core, optimizing a control sequence in tire transverse and longitudinal attachment constraints through cost function accumulation, and adjusting a lateral attachment margin through a braking torque to update a stable steering boundary; and finally, under a dangerous working condition, according to real-time vehicle state estimation, a preferable risk avoiding path is generated by adopting steering-braking cooperative guidance, so that the vehicle keeps running stably within a limit control range.

The invention relates to the technical field of new energy automobile braking control, and discloses an electro-hydraulic hybrid electric vehicle braking force coordination control method based on the braking demand change rate, and the method comprises the steps: collecting the opening degree of a brake pedal in real time, and calculating the braking demand torque and the change rate thereof; based on the battery SOC, the braking demand change rate and the vehicle speed, the braking force distribution allowable proportion and the braking torque of the motor / battery power system are determined through a nonlinear mapping module; collecting the pressure state of the hydraulic system and determining the braking torque of the hydraulic system; on the premise that the total braking demand torque is met, the braking torque of a motor / battery power system, a hydraulic system and a mechanical system is distributed in a layered and coordinated mode. The braking intention emergency degree can be dynamically recognized, the braking safety, the response speed and the energy recovery efficiency are considered, and the stability, smoothness and engineering applicability of a braking system are improved.

The invention relates to the technical field of vehicle braking control, and discloses a turning braking force distribution control method and system for a vehicle carrying an electronic mechanical braking system. The method comprises the following steps: acquiring real-time state information of a vehicle; initial braking force distribution is conducted on the vehicle; calculating an expected yaw velocity and an expected side slip angle of the vehicle by adopting a linear two-degree-of-freedom vehicle steady-state model; a torque adjusting controller is adopted to calculate the torque adjusting quantity of the yaw velocity and the torque adjusting quantity of the side slip angle; dynamically adjusting the torque adjusting quantity of the yaw velocity and the torque adjusting quantity of the side slip angle by adopting an error weight proportion distribution method to obtain an expected braking torque needing to be applied to a wheel; a compensation torque controller is adopted to calculate the slip rate compensation torque of each wheel; and secondary braking force distribution is conducted on all the wheels of the vehicle according to the expected braking torque of the wheels and the slip rate compensation torque of all the wheels. According to the method, yaw stability improvement, sideslip suppression and braking efficiency optimization of the vehicle in the turning braking process can be achieved.

The application discloses a compound brake slip rate control system and method based on a wheel hub motor and EMB, and the method comprises the following steps: acquiring vehicle information; calculating a target slip rate according to the vehicle information; calculating a slip rate threshold for starting and exiting ABS according to the target slip rate; giving an ABS start-stop flag according to the vehicle speed, brake pedal opening degree, actual slip rate and slip rate threshold; calculating parameters of a slip rate tracking controller according to the vehicle speed, using the adhesion coefficient, slip rate and slip rate change rate, and then calculating a total target braking torque; selecting a braking torque distribution mode according to a motion mode switch and a slope, and distributing the target braking torque to the wheel hub motor and EMB; the wheel hub motor and EMB execute the target braking torque command, and timely disconnect the connection between the inverter and the battery. The application can more finely calculate the slip rate, adaptively adjust the target slip rate and the controller parameters according to the working conditions, effectively improve the utilization rate of the road adhesion coefficient, and improve the braking efficiency and stability.

The present embodiments relate to a slip control device and method. Specifically, a slip control device according to an embodiment may include a determiner configured to determine, in response to an input of a braking signal, a target slip rate for a wheel corresponding to the braking signal, an adjuster configured to adjust a gain of a switching term constituting a slip controller model based on a vehicle speed of a host vehicle, and a controller configured to generate a braking torque so that a slip rate of the wheel converges to the target slip rate based on the slip controller model.

A lift device and a method of controlling the lift device are provided. The lift device has a lifting mechanism supporting a lifting platform relative to the chassis. An electric motor is drivingly coupled to a traction device, and a traction battery is in electrical communication with the electric motor. A user input is provided to control a speed of the lift device by inputting a requested speed. A controller is configured to, in response to the lift device being on a non-zero grade and if the requested speed is greater than a predetermined speed, command the electric motor to output a braking torque and provide electrical power to the traction battery, and limit the speed of the lift device to the predetermined speed.

The invention relates to a vehicle engine shutdown control method and device, a controller, a storage medium and a vehicle. The method comprises the steps that after a parking instruction is received, state information of an engine is obtained; determining a predicted position of an engine piston according to the state information of the engine; determining a target braking torque of the motor according to the predicted position and the target position; and the target braking torque is sent to a controller of the motor, and the target braking torque is used for controlling an engine to stop, so that an engine piston is positioned to the target position. The original random shutdown process is converted into a predictable and repeatable control result, so that the response speed and smoothness of restarting of the engine are optimized, and vibration and noise in the shutdown stage are effectively reduced; meanwhile, the adaptive capacity to different working conditions is also improved by a state-based decision-making mechanism, the overall robustness and reliability of the vehicle-mounted system are enhanced, and the requirements of shutdown control on software and hardware resources in the vehicle are reduced.

The utility model provides a test bed for brake torque detection and material running-in, which relates to the technical field of brake detection and brake material test, and comprises a brake system, a detection system and a control system, the brake system comprises a brake wheel, two ends of the brake wheel are rotatably connected with a support shaft, and the brake wheel is rotatably connected with a bracket through two ends of the support shaft; a base is fixed to the bottom of the support, a driving hydraulic cylinder is fixed to the upper end of the base, a force sensor is fixed to the upper end of the driving hydraulic cylinder, a lever is rotationally connected to the upper end of the force sensor, an angle sensor is fixed to the surface of the lever, and the side end of the lever is rotationally connected with the upper end of the support. In combination with an existing advanced data processing algorithm, high-precision detection of the braking torque of the large belt brake can be realized, and the detection precision technology is improved.

The present disclosure provides a method and apparatus for monitoring electromechanical brake actuator health. Disclosed examples include measuring, via a sensor, a brake torque generated by a brake of a brake system; providing a first current to a motor to actuate the brake, the first current for causing the measured brake torque to meet a target brake torque; determining a residual value based on the first current and a second current of the motor associated with a first gap between a friction material of the brake and a braking surface; detecting a condition of the braking system based on the residual value and a difference between the second current and a third current of the motor, the third current being associated with a second gap between the friction material and the braking surface; and outputting an indication representative of the detected condition.